GCC Code Coverage Report

Directory: ./
File: src/windows-manager.cpp
Date: 2025-04-14 11:18:00
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Lines: 0 652 0.0%
Branches: 0 1482 0.0%
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1 // Copyright (c) 2015, Joseph Mirabel
2 // Authors: Joseph Mirabel (joseph.mirabel@laas.fr)
3 //
4 // This file is part of gepetto-viewer.
5 // gepetto-viewer is free software: you can redistribute it
6 // and/or modify it under the terms of the GNU Lesser General Public
7 // License as published by the Free Software Foundation, either version
8 // 3 of the License, or (at your option) any later version.
9 //
10 // gepetto-viewer is distributed in the hope that it will be
11 // useful, but WITHOUT ANY WARRANTY; without even the implied warranty
12 // of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
13 // General Lesser Public License for more details. You should have
14 // received a copy of the GNU Lesser General Public License along with
15 // gepetto-viewer. If not, see <http://www.gnu.org/licenses/>.
16
17 #include "gepetto/viewer/windows-manager.h"
18
19 #include <gepetto/viewer/blender-geom-writer.h>
20 #include <gepetto/viewer/config-osg.h>
21 #include <gepetto/viewer/group-node.h>
22 #include <gepetto/viewer/leaf-node-arrow.h>
23 #include <gepetto/viewer/leaf-node-box.h>
24 #include <gepetto/viewer/leaf-node-capsule.h>
25 #include <gepetto/viewer/leaf-node-collada.h>
26 #include <gepetto/viewer/leaf-node-cone.h>
27 #include <gepetto/viewer/leaf-node-cylinder.h>
28 #include <gepetto/viewer/leaf-node-face.h>
29 #include <gepetto/viewer/leaf-node-ground.h>
30 #include <gepetto/viewer/leaf-node-light.h>
31 #include <gepetto/viewer/leaf-node-line.h>
32 #include <gepetto/viewer/leaf-node-sphere.h>
33 #include <gepetto/viewer/leaf-node-xyzaxis.h>
34 #include <gepetto/viewer/macros.h>
35 #include <gepetto/viewer/node-rod.h>
36 #include <gepetto/viewer/node.h>
37 #include <gepetto/viewer/roadmap-viewer.h>
38 #include <gepetto/viewer/urdf-parser.h>
39 #include <gepetto/viewer/window-manager.h>
40 #include <sys/stat.h>
41 #include <sys/types.h>
42 #include <unistd.h>
43
44 #include <OpenThreads/ScopedLock>
45 #include <algorithm>
46 #include <osgDB/ReaderWriter>
47 #include <osgDB/Registry>
48 #include <osgDB/WriteFile>
49
50 #include "log.hh"
51
52 #define RETURN_FALSE_IF_NODE_EXISTS(name) \
53 if (nodeExists(name)) { \
54 std::cerr << "Node \"" << name << "\" already exists." << std::endl; \
55 return false; \
56 }
57
58 #define RETURN_FALSE_IF_NODE_DOES_NOT_EXIST(name) \
59 if (!nodeExists(name)) { \
60 std::cerr << "Node \"" << name << "\" does not exist." << std::endl; \
61 return false; \
62 }
63
64 #define THROW_IF_NODE_EXISTS(name) \
65 if (nodeExists(name)) { \
66 std::ostringstream oss; \
67 oss << "Node \"" << name << "\" already exists."; \
68 throw std::invalid_argument(oss.str().c_str()); \
69 }
70
71 #define THROW_IF_NODE_DOES_NOT_EXIST(name) \
72 if (!nodeExists(name)) { \
73 std::ostringstream oss; \
74 oss << "Node \"" << name << "\" does not exist."; \
75 throw std::invalid_argument(oss.str().c_str()); \
76 }
77
78 #define FIND_NODE_OF_TYPE_OR_THROW(NodeType, varname, nodename) \
79 NodeType##Ptr_t varname( \
80 dynamic_pointer_cast<NodeType>(getNode(nodename, true))); \
81 if (!varname) { \
82 std::ostringstream oss; \
83 oss << "Node \"" << nodename << "\" is not of type " #NodeType; \
84 throw std::invalid_argument(oss.str().c_str()); \
85 }
86
87 #define RETURN_FALSE_IF_WINDOW_DOES_NOT_EXIST(var, name) \
88 WindowManagerPtr_t var = getWindowManager(name, false); \
89 if (!var) { \
90 std::cerr << "Window \"" << name << "\" does not exist." << std::endl; \
91 return false; \
92 }
93
94 namespace gepetto {
95 namespace viewer {
96 namespace {
97 typedef std::map<std::string, NodePtr_t>::iterator NodeMapIt;
98 typedef std::map<std::string, NodePtr_t>::const_iterator NodeMapConstIt;
99
100 typedef std::map<std::string, GroupNodePtr_t>::iterator GroupNodeMapIt;
101 typedef std::map<std::string, GroupNodePtr_t>::const_iterator
102 GroupNodeMapConstIt;
103
104 typedef ScopedLock ScopedLock;
105 } // namespace
106
107 ✗ BlenderFrameCapture::BlenderFrameCapture()
108 ✗ : writer_visitor_(new TransformWriterVisitor(
109 ✗ new YamlTransformWriter("gepetto_viewer.yaml"))),
110 ✗ nodes_() {}
111
112 ✗ void BlenderFrameCapture::captureFrame() {
113 using std::invalid_argument;
114 ✗ if (!writer_visitor_) throw invalid_argument("Capture writer not defined");
115 ✗ if (nodes_.empty()) throw invalid_argument("No node to capture");
116 ✗ writer_visitor_->captureFrame(nodes_.begin(), nodes_.end());
117 }
118
119 ✗ WindowsManager::WindowsManager()
120 ✗ : windowManagers_(),
121 ✗ nodes_(),
122 ✗ groupNodes_(),
123 ✗ roadmapNodes_(),
124 ✗ osgFrameMtx_(),
125 ✗ configListMtx_(),
126 ✗ newNodeConfigurations_(),
127 ✗ autoCaptureTransform_(false) {}
128
129 ✗ WindowsManager::WindowID WindowsManager::addWindow(
130 std::string winName, WindowManagerPtr_t newWindow) {
131 ✗ WindowManagerMap_t::const_iterator it = windowManagers_.find(winName);
132 ✗ if (it != windowManagers_.end())
133 ✗ throw std::invalid_argument("A window with this name already exists.");
134
135 ✗ windowManagers_.insert(std::make_pair(winName, newWindow));
136 ✗ addGroup(winName, newWindow->getScene(), false);
137 ✗ return winName;
138 }
139
140 ✗ WindowsManagerPtr_t WindowsManager::create() {
141 ✗ WindowsManagerPtr_t shPtr(new WindowsManager());
142 ✗ return shPtr;
143 }
144
145 ✗ osgVector4 WindowsManager::getColor(const std::string& colorName) {
146 ✗ if (colorName == "blue")
147 ✗ return osgVector4(0.f, 0.f, 1.f, 1.f);
148 ✗ else if (colorName == "green")
149 ✗ return osgVector4(0.f, 1.f, 0.f, 1.f);
150 ✗ else if (colorName == "red")
151 ✗ return osgVector4(1.f, 0.f, 0.f, 1.f);
152 ✗ else if (colorName == "white")
153 ✗ return osgVector4(1.f, 1.f, 1.f, 1.f);
154 else
155 ✗ return osgVector4(0.f, 0.f, 0.f, 1.f);
156 }
157
158 ✗ VisibilityMode WindowsManager::getVisibility(const std::string& vName) {
159 ✗ if (vName == "OFF")
160 ✗ return VISIBILITY_OFF;
161 ✗ else if (vName == "ALWAYS_ON_TOP")
162 ✗ return ALWAYS_ON_TOP;
163 ✗ else if (vName == "ON")
164 ✗ return VISIBILITY_ON;
165 else {
166 ✗ log() << "Visibility mode not known, visibility mode can be"
167 " \"ON\",\"OFF\" or \"ALWAYS_ON_TOP\".\n"
168 ✗ "Visibility mode set to default = \"ON\"."
169 ✗ << std::endl;
170 ✗ return VISIBILITY_ON;
171 }
172 }
173
174 ✗ WireFrameMode WindowsManager::getWire(const std::string& wireName) {
175 ✗ if (wireName == "WIREFRAME")
176 ✗ return WIREFRAME;
177 ✗ else if (wireName == "FILL_AND_WIREFRAME")
178 ✗ return FILL_AND_WIREFRAME;
179 ✗ else if (wireName == "FILL")
180 ✗ return FILL;
181 else {
182 ✗ log() << "Wire mode not known, wire mode can be \"FILL\","
183 "\"WIREFRAME\" or \"FILL_AND_WIREFRAME\".\n"
184 ✗ "Wire mode set to default = \"FILL\"."
185 ✗ << std::endl;
186 ✗ return FILL;
187 }
188 }
189
190 ✗ LightingMode WindowsManager::getLight(const std::string& lightName) {
191 ✗ if (lightName == "OFF")
192 ✗ return LIGHT_INFLUENCE_OFF;
193 ✗ else if (lightName == "ON")
194 ✗ return LIGHT_INFLUENCE_ON;
195 else {
196 ✗ log() << "Lighting mode not known, lighting mode can be "
197 "\"ON\" or \"OFF\".\n"
198 ✗ "Lighting mode set to default = \"ON\"."
199 ✗ << std::endl;
200 ✗ return LIGHT_INFLUENCE_ON;
201 }
202 }
203
204 ✗ std::string WindowsManager::parentName(const std::string& name) {
205 ✗ std::string::size_type slash = name.find_last_of('/');
206 ✗ if (slash == std::string::npos)
207 ✗ return "";
208 else
209 ✗ return name.substr(0, slash);
210 }
211
212 ✗ NodePtr_t WindowsManager::find(const std::string name, GroupNodePtr_t) {
213 ✗ NodeMapIt it = nodes_.find(name);
214 ✗ if (it == nodes_.end()) {
215 ✗ std::string::size_type slash = name.find_first_of('/');
216 ✗ if (slash == std::string::npos) return NodePtr_t();
217 ✗ GroupNodeMapIt itg = groupNodes_.find(name.substr(0, slash));
218 ✗ if (itg == groupNodes_.end()) return NodePtr_t();
219 ✗ return find(name.substr(slash + 1), itg->second);
220 }
221 ✗ return it->second;
222 }
223
224 ✗ bool WindowsManager::nodeExists(const std::string& name) {
225 ✗ NodeMapConstIt it = nodes_.find(name);
226 ✗ return (it != nodes_.end());
227 }
228
229 ✗ NodePtr_t WindowsManager::getNode(const std::string& name,
230 bool throwIfDoesntExist) const {
231 ✗ NodeMapConstIt it = nodes_.find(name);
232 ✗ if (it == nodes_.end()) {
233 ✗ if (throwIfDoesntExist) {
234 ✗ std::ostringstream oss;
235 ✗ oss << "No node with name \"" << name << "\".";
236 ✗ throw std::invalid_argument(oss.str().c_str());
237 ✗ } else
238 ✗ return NodePtr_t();
239 }
240 ✗ return it->second;
241 }
242
243 template <typename Iterator, typename NodeContainer_t>
244 ✗ std::size_t WindowsManager::getNodes(const Iterator& begin, const Iterator& end,
245 NodeContainer_t& nodes) {
246 ✗ const std::size_t l = nodes.size();
247 ✗ for (Iterator it = begin; it != end; ++it) {
248 ✗ std::string name(*it);
249 ✗ NodePtr_t n = getNode(name);
250 ✗ if (n)
251 ✗ nodes.push_back(n);
252 else
253 ✗ log() << "Node \"" << name << "\" doesn't exist." << std::endl;
254 }
255 ✗ return nodes.size() - l;
256 }
257
258 ✗ void WindowsManager::initParent(NodePtr_t node, GroupNodePtr_t parent) {
259 ✗ if (parent && !parent->hasChild(node)) parent->addChild(node);
260 }
261
262 ✗ void WindowsManager::addNode(const std::string& nodeName, NodePtr_t node,
263 bool guessParent) {
264 ✗ GroupNodePtr_t parent;
265 ✗ if (guessParent) parent = getGroup(parentName(nodeName));
266 ✗ addNode(nodeName, node, parent);
267 }
268
269 ✗ void WindowsManager::addNode(const std::string& nodeName, NodePtr_t node,
270 GroupNodePtr_t parent) {
271 ✗ initParent(node, parent);
272 ✗ nodes_[nodeName] = node;
273 }
274
275 ✗ void WindowsManager::addGroup(const std::string& groupName,
276 GroupNodePtr_t group, bool guessParent) {
277 ✗ GroupNodePtr_t parent;
278 ✗ if (guessParent) parent = getGroup(parentName(groupName));
279 ✗ addGroup(groupName, group, parent);
280 }
281
282 ✗ void WindowsManager::addGroup(const std::string& groupName,
283 GroupNodePtr_t group, GroupNodePtr_t parent) {
284 ✗ initParent(group, parent);
285 ✗ nodes_[groupName] = group;
286 ✗ groupNodes_[groupName] = group;
287 }
288
289 // Public functions
290
291 ✗ WindowsManager::WindowID WindowsManager::getWindowID(const std::string& wn) {
292 ✗ WindowManagerMap_t::const_iterator it = windowManagers_.find(wn);
293 ✗ if (it == windowManagers_.end())
294 ✗ throw std::invalid_argument("There is no windows with that name");
295 ✗ return wn;
296 }
297
298 ✗ void WindowsManager::createScene(const std::string& sceneName) {
299 ✗ createGroup(sceneName);
300 }
301
302 ✗ void WindowsManager::createSceneWithFloor(const std::string& sceneName) {
303 ✗ createScene(sceneName);
304 ✗ addFloor((sceneName + "/floor").c_str());
305 }
306
307 ✗ bool WindowsManager::addSceneToWindow(const std::string& sceneName,
308 WindowID windowId) {
309 ✗ GroupNodePtr_t group = getGroup(sceneName, true);
310 ✗ RETURN_FALSE_IF_WINDOW_DOES_NOT_EXIST(window, windowId);
311 ✗ ScopedLock lock(osgFrameMutex());
312 ✗ window->addNode(group);
313 ✗ return true;
314 }
315
316 ✗ bool WindowsManager::attachCameraToNode(const std::string& nodeName,
317 const WindowID windowId) {
318 ✗ NodePtr_t node = getNode(nodeName, true);
319 ✗ RETURN_FALSE_IF_WINDOW_DOES_NOT_EXIST(window, windowId);
320 ✗ ScopedLock lock(osgFrameMutex());
321 ✗ window->attachCameraToNode(node);
322 ✗ return true;
323 }
324
325 ✗ bool WindowsManager::detachCamera(const WindowID windowId) {
326 ✗ RETURN_FALSE_IF_WINDOW_DOES_NOT_EXIST(window, windowId);
327 ✗ ScopedLock lock(osgFrameMutex());
328 ✗ window->detachCamera();
329 ✗ return true;
330 }
331
332 ✗ bool WindowsManager::addFloor(const std::string& floorName) {
333 ✗ RETURN_FALSE_IF_NODE_EXISTS(floorName);
334 ✗ LeafNodeGroundPtr_t floor = LeafNodeGround::create(floorName);
335 ✗ ScopedLock lock(osgFrameMutex());
336 ✗ addNode(floorName, floor, true);
337 ✗ return true;
338 }
339
340 ✗ bool WindowsManager::addBox(const std::string& boxName, const float& boxSize1,
341 const float& boxSize2, const float& boxSize3,
342 const Color_t& color) {
343 ✗ RETURN_FALSE_IF_NODE_EXISTS(boxName);
344
345 LeafNodeBoxPtr_t box = LeafNodeBox::create(
346 ✗ boxName, osgVector3(.5f * boxSize1, .5f * boxSize2, .5f * boxSize3),
347 ✗ color);
348 ✗ ScopedLock lock(osgFrameMutex());
349 ✗ addNode(boxName, box, true);
350 ✗ return true;
351 }
352
353 ✗ bool WindowsManager::addCapsule(const std::string& capsuleName,
354 const float radius, const float height,
355 const Color_t& color) {
356 ✗ RETURN_FALSE_IF_NODE_EXISTS(capsuleName);
357
358 LeafNodeCapsulePtr_t capsule =
359 ✗ LeafNodeCapsule::create(capsuleName, radius, height, color);
360 ✗ ScopedLock lock(osgFrameMutex());
361 ✗ addNode(capsuleName, capsule, true);
362 ✗ return true;
363 }
364
365 ✗ bool WindowsManager::addArrow(const std::string& arrowName, const float radius,
366 const float length, const Color_t& color) {
367 ✗ RETURN_FALSE_IF_NODE_EXISTS(arrowName);
368
369 LeafNodeArrowPtr_t arrow =
370 ✗ LeafNodeArrow::create(arrowName, color, radius, length);
371 ✗ ScopedLock lock(osgFrameMutex());
372 ✗ addNode(arrowName, arrow, true);
373 ✗ return true;
374 }
375
376 ✗ bool WindowsManager::addRod(const std::string& rodName, const Color_t& color,
377 const float radius, const float length,
378 short maxCapsule) {
379 ✗ RETURN_FALSE_IF_NODE_EXISTS(rodName);
380
381 NodeRodPtr_t rod =
382 ✗ NodeRod::create(rodName, color, radius, length, maxCapsule);
383 ✗ ScopedLock lock(osgFrameMutex());
384 ✗ addNode(rodName, rod, true);
385 ✗ for (size_t i = 0; i < (size_t)maxCapsule; i++)
386 ✗ addNode(rod->getCapsuleName(i), rod->getCapsule(i), false);
387 ✗ return true;
388 }
389
390 ✗ bool WindowsManager::resizeCapsule(const std::string& capsuleName,
391 float newHeight) {
392 ✗ FIND_NODE_OF_TYPE_OR_THROW(LeafNodeCapsule, cap, capsuleName);
393 ✗ ScopedLock lock(osgFrameMutex());
394 ✗ cap->setHeight(newHeight);
395 ✗ return true;
396 }
397
398 ✗ bool WindowsManager::resizeArrow(const std::string& arrowName, float newRadius,
399 float newLength) {
400 ✗ FIND_NODE_OF_TYPE_OR_THROW(LeafNodeArrow, arrow, arrowName);
401 ✗ ScopedLock lock(osgFrameMutex());
402 ✗ arrow->resize(newRadius, newLength);
403 ✗ return true;
404 }
405
406 ✗ bool WindowsManager::addMesh(const std::string& meshName,
407 const std::string& meshPath) {
408 ✗ RETURN_FALSE_IF_NODE_EXISTS(meshName);
409 ✗ LeafNodeColladaPtr_t mesh;
410 try {
411 ✗ mesh = LeafNodeCollada::create(meshName, urdfParser::getFilename(meshPath));
412 ✗ } catch (const std::exception& exc) {
413 ✗ log() << exc.what() << std::endl;
414 ✗ return false;
415 }
416 ✗ ScopedLock lock(osgFrameMutex());
417 ✗ addNode(meshName, mesh, true);
418 ✗ return true;
419 }
420
421 ✗ void WindowsManager::removeLightSources(const std::string& meshName) {
422 ✗ FIND_NODE_OF_TYPE_OR_THROW(LeafNodeCollada, mesh, meshName);
423 ✗ ScopedLock lock(osgFrameMutex());
424 ✗ mesh->removeLightSources();
425 }
426
427 ✗ bool WindowsManager::addCone(const std::string& coneName, const float radius,
428 const float height, const Color_t& color) {
429 ✗ RETURN_FALSE_IF_NODE_EXISTS(coneName);
430
431 LeafNodeConePtr_t cone =
432 ✗ LeafNodeCone::create(coneName, radius, height, color);
433 ✗ ScopedLock lock(osgFrameMutex());
434 ✗ addNode(coneName, cone, true);
435 ✗ return true;
436 }
437
438 ✗ bool WindowsManager::addCylinder(const std::string& cylinderName,
439 const float radius, const float height,
440 const Color_t& color) {
441 ✗ RETURN_FALSE_IF_NODE_EXISTS(cylinderName);
442
443 LeafNodeCylinderPtr_t cylinder =
444 ✗ LeafNodeCylinder::create(cylinderName, radius, height, color);
445 ✗ ScopedLock lock(osgFrameMutex());
446 ✗ addNode(cylinderName, cylinder, true);
447 ✗ return true;
448 }
449
450 ✗ bool WindowsManager::addSphere(const std::string& sphereName,
451 const float radius, const Color_t& color) {
452 ✗ RETURN_FALSE_IF_NODE_EXISTS(sphereName);
453
454 LeafNodeSpherePtr_t sphere =
455 ✗ LeafNodeSphere::create(sphereName, radius, color);
456 ✗ ScopedLock lock(osgFrameMutex());
457 ✗ addNode(sphereName, sphere, true);
458 ✗ return true;
459 }
460
461 ✗ bool WindowsManager::addLight(const std::string& lightName, const WindowID wid,
462 const float radius, const Color_t& color) {
463 ✗ RETURN_FALSE_IF_NODE_EXISTS(lightName);
464
465 ✗ WindowManagerPtr_t wm = getWindowManager(wid, true);
466 ✗ LeafNodeLightPtr_t light = LeafNodeLight::create(lightName, radius, color);
467 ✗ ScopedLock lock(osgFrameMutex());
468 ✗ addNode(lightName, light, true);
469 ✗ light->setRoot(wm->getScene());
470 ✗ return true;
471 }
472
473 ✗ bool WindowsManager::addLine(const std::string& lineName,
474 const osgVector3& pos1, const osgVector3& pos2,
475 const Color_t& color) {
476 ✗ RETURN_FALSE_IF_NODE_EXISTS(lineName);
477
478 ✗ LeafNodeLinePtr_t line = LeafNodeLine::create(lineName, pos1, pos2, color);
479 ✗ ScopedLock lock(osgFrameMutex());
480 ✗ addNode(lineName, line, true);
481 ✗ return true;
482 }
483
484 ✗ bool WindowsManager::setLineStartPoint(const std::string& lineName,
485 const osgVector3& pos1) {
486 ✗ FIND_NODE_OF_TYPE_OR_THROW(LeafNodeLine, line, lineName);
487 ✗ ScopedLock lock(osgFrameMutex());
488 ✗ line->setStartPoint(pos1);
489 ✗ return true;
490 }
491
492 ✗ bool WindowsManager::setLineEndPoint(const std::string& lineName,
493 const osgVector3& pos2) {
494 ✗ FIND_NODE_OF_TYPE_OR_THROW(LeafNodeLine, line, lineName);
495 ✗ ScopedLock lock(osgFrameMutex());
496 ✗ line->setEndPoint(pos2);
497 ✗ return true;
498 }
499
500 ✗ bool WindowsManager::setLineExtremalPoints(const std::string& lineName,
501 const osgVector3& pos1,
502 const osgVector3& pos2) {
503 ✗ FIND_NODE_OF_TYPE_OR_THROW(LeafNodeLine, line, lineName);
504 ✗ ScopedLock lock(osgFrameMutex());
505 ✗ line->setStartPoint(pos1);
506 ✗ line->setEndPoint(pos2);
507 ✗ return true;
508 }
509
510 ✗ bool WindowsManager::addCurve(const std::string& curveName,
511 const Vec3ArrayPtr_t& pos, const Color_t& color) {
512 ✗ RETURN_FALSE_IF_NODE_EXISTS(curveName);
513 ✗ if (pos->size() < 2) {
514 ✗ throw std::invalid_argument("Need at least two points");
515 }
516 ✗ LeafNodeLinePtr_t curve = LeafNodeLine::create(curveName, pos, color);
517 ✗ curve->setMode(GL_LINE_STRIP);
518 ✗ ScopedLock lock(osgFrameMutex());
519 ✗ addNode(curveName, curve, true);
520 ✗ return true;
521 }
522
523 ✗ bool WindowsManager::setCurvePoints(const std::string& curveName,
524 const Vec3ArrayPtr_t& pos) {
525 ✗ FIND_NODE_OF_TYPE_OR_THROW(LeafNodeLine, curve, curveName);
526 ✗ if (pos->size() < 2) {
527 ✗ throw std::invalid_argument("Need at least two points");
528 }
529 ✗ ScopedLock lock(osgFrameMutex());
530 ✗ curve->setPoints(pos);
531 ✗ return true;
532 }
533
534 ✗ bool WindowsManager::setCurveColors(const std::string& curveName,
535 const Vec4ArrayPtr_t& colors) {
536 ✗ FIND_NODE_OF_TYPE_OR_THROW(LeafNodeLine, curve, curveName);
537 ✗ ScopedLock lock(osgFrameMutex());
538 ✗ curve->setColors(colors);
539 ✗ return true;
540 }
541
542 ✗ bool WindowsManager::setCurveMode(const std::string& curveName,
543 const GLenum mode) {
544 ✗ FIND_NODE_OF_TYPE_OR_THROW(LeafNodeLine, curve, curveName);
545 ✗ ScopedLock lock(osgFrameMutex());
546 ✗ curve->setMode(mode);
547 ✗ return true;
548 }
549
550 ✗ bool WindowsManager::setCurvePointsSubset(const std::string& curveName,
551 const int first,
552 const std::size_t count) {
553 ✗ FIND_NODE_OF_TYPE_OR_THROW(LeafNodeLine, curve, curveName);
554 ✗ ScopedLock lock(osgFrameMutex());
555 ✗ curve->setPointsSubset(first, count);
556 ✗ return true;
557 }
558
559 ✗ bool WindowsManager::setCurveLineWidth(const std::string& curveName,
560 const float& width) {
561 ✗ FIND_NODE_OF_TYPE_OR_THROW(LeafNodeLine, curve, curveName);
562 ✗ setFloatProperty(curveName, "LineWidth", width);
563 ✗ return true;
564 }
565
566 ✗ bool WindowsManager::addTriangleFace(const std::string& faceName,
567 const osgVector3& pos1,
568 const osgVector3& pos2,
569 const osgVector3& pos3,
570 const Color_t& color) {
571 ✗ RETURN_FALSE_IF_NODE_EXISTS(faceName);
572
573 LeafNodeFacePtr_t face =
574 ✗ LeafNodeFace::create(faceName, pos1, pos2, pos3, color);
575 ✗ ScopedLock lock(osgFrameMutex());
576 ✗ addNode(faceName, face, true);
577 ✗ return true;
578 }
579
580 ✗ bool WindowsManager::addSquareFace(
581 const std::string& faceName, const osgVector3& pos1, const osgVector3& pos2,
582 const osgVector3& pos3, const osgVector3& pos4, const Color_t& color) {
583 ✗ RETURN_FALSE_IF_NODE_EXISTS(faceName);
584
585 LeafNodeFacePtr_t face =
586 ✗ LeafNodeFace::create(faceName, pos1, pos2, pos3, pos4, color);
587 ✗ ScopedLock lock(osgFrameMutex());
588 ✗ addNode(faceName, face, true);
589 ✗ return true;
590 }
591
592 ✗ bool WindowsManager::setTexture(const std::string& nodeName,
593 const std::string& filename) {
594 ✗ FIND_NODE_OF_TYPE_OR_THROW(LeafNodeFace, faceNode, nodeName);
595
596 ✗ if (faceNode->nbVertices() != 4) {
597 ✗ std::ostringstream oss;
598 oss << "Face should have 4 vertices to apply texture. " << nodeName
599 ✗ << " has " << faceNode->nbVertices() << ".";
600 ✗ throw std::runtime_error(oss.str());
601 }
602 ✗ faceNode->setTexture(filename);
603 ✗ return true;
604 }
605
606 ✗ bool WindowsManager::addXYZaxis(const std::string& nodeName,
607 const Color_t& color, float radius,
608 float sizeAxis) {
609 ✗ RETURN_FALSE_IF_NODE_EXISTS(nodeName);
610
611 LeafNodeXYZAxisPtr_t axis =
612 ✗ LeafNodeXYZAxis::create(nodeName, color, radius, sizeAxis);
613 ✗ ScopedLock lock(osgFrameMutex());
614 ✗ addNode(nodeName, axis, true);
615 ✗ return true;
616 }
617
618 ✗ bool WindowsManager::createRoadmap(const std::string& roadmapName,
619 const Color_t& colorNode, float radius,
620 float sizeAxis, const Color_t& colorEdge) {
621 ✗ RETURN_FALSE_IF_NODE_EXISTS(roadmapName);
622
623 RoadmapViewerPtr_t rm = RoadmapViewer::create(roadmapName, colorNode, radius,
624 ✗ sizeAxis, colorEdge);
625 ✗ ScopedLock lock(osgFrameMutex());
626 ✗ addNode(roadmapName, rm, true);
627 ✗ roadmapNodes_[roadmapName] = rm;
628 ✗ return true;
629 }
630
631 ✗ bool WindowsManager::addEdgeToRoadmap(const std::string& nameRoadmap,
632 const osgVector3& posFrom,
633 const osgVector3& posTo) {
634 ✗ if (roadmapNodes_.find(nameRoadmap) == roadmapNodes_.end()) {
635 // no node named nodeName
636 ✗ log() << "No roadmap named \"" << nameRoadmap << "\"" << std::endl;
637 ✗ return false;
638 } else {
639 ✗ RoadmapViewerPtr_t rm_ptr = roadmapNodes_[nameRoadmap];
640 // ScopedLock lock(osgFrameMutex()); mtx is now locked only when required
641 // in addEdge
642 ✗ rm_ptr->addEdge(posFrom, posTo, osgFrameMutex());
643 ✗ return true;
644 }
645 }
646
647 ✗ bool WindowsManager::addNodeToRoadmap(const std::string& nameRoadmap,
648 const Configuration& conf) {
649 ✗ if (roadmapNodes_.find(nameRoadmap) == roadmapNodes_.end()) {
650 // no node named nodeName
651 ✗ log() << "No roadmap named \"" << nameRoadmap << "\"" << std::endl;
652 ✗ return false;
653 } else {
654 ✗ RoadmapViewerPtr_t rm_ptr = roadmapNodes_[nameRoadmap];
655 // ScopedLock lock(osgFrameMutex());
656 ✗ rm_ptr->addNode(conf.position, conf.quat, osgFrameMutex());
657 ✗ return true;
658 }
659 }
660
661 ✗ std::vector<std::string> WindowsManager::getNodeList() {
662 ✗ std::vector<std::string> l;
663 ✗ for (NodeMapIt it = nodes_.begin(); it != nodes_.end(); ++it) {
664 ✗ l.push_back(it->first);
665 }
666 ✗ return l;
667 }
668
669 ✗ std::vector<std::string> WindowsManager::getGroupNodeList(
670 const std::string& group) {
671 ✗ std::vector<std::string> l;
672 ✗ GroupNodePtr_t g(getGroup(group));
673 ✗ if (!g) return l;
674 ✗ l.reserve(g->getNumOfChildren());
675 ✗ for (std::size_t i = 0; i < g->getNumOfChildren(); ++i)
676 ✗ l.push_back(g->getChild(i)->getID());
677 ✗ return l;
678 }
679
680 ✗ std::vector<std::string> WindowsManager::getSceneList() {
681 ✗ std::vector<std::string> l;
682 ✗ l.reserve(groupNodes_.size());
683 ✗ for (GroupNodeMapConstIt it = groupNodes_.begin(); it != groupNodes_.end();
684 ✗ ++it)
685 ✗ l.push_back(it->first);
686 ✗ return l;
687 }
688
689 ✗ std::vector<std::string> WindowsManager::getWindowList() {
690 ✗ std::vector<std::string> l;
691 ✗ l.reserve(windowManagers_.size());
692 ✗ for (WindowManagerMap_t::const_iterator it = windowManagers_.begin();
693 ✗ it != windowManagers_.end(); ++it) {
694 ✗ l.push_back(it->first);
695 }
696 ✗ return l;
697 }
698
699 ✗ bool WindowsManager::createGroup(const std::string& groupName) {
700 ✗ RETURN_FALSE_IF_NODE_EXISTS(groupName);
701
702 ✗ GroupNodePtr_t groupNode = GroupNode::create(groupName);
703 ✗ ScopedLock lock(osgFrameMutex());
704 ✗ addGroup(groupName, groupNode, true);
705 ✗ return true;
706 }
707
708 ✗ bool WindowsManager::addURDF(const std::string& urdfName,
709 const std::string& urdfPath) {
710 ✗ return loadUDRF(urdfName, urdfPath, true, true);
711 }
712
713 ✗ bool WindowsManager::addURDF(const std::string& urdfName,
714 const std::string& urdfPath,
715 const std::string& /*urdfPackagePath*/) {
716 ✗ return addURDF(urdfName, urdfPath);
717 }
718
719 ✗ bool WindowsManager::addUrdfCollision(const std::string& urdfName,
720 const std::string& urdfPath) {
721 ✗ return loadUDRF(urdfName, urdfPath, false, true);
722 }
723
724 ✗ bool WindowsManager::addUrdfCollision(const std::string& urdfName,
725 const std::string& urdfPath,
726 const std::string& /*urdfPackagePath*/) {
727 ✗ return addUrdfCollision(urdfName, urdfPath);
728 }
729
730 ✗ void WindowsManager::addUrdfObjects(const std::string& urdfName,
731 const std::string& urdfPath, bool visual) {
732 ✗ loadUDRF(urdfName, urdfPath, visual, false);
733 }
734
735 ✗ void WindowsManager::addUrdfObjects(const std::string& urdfName,
736 const std::string& urdfPath,
737 const std::string& /*urdfPackagePath*/,
738 bool visual) {
739 ✗ return addUrdfObjects(urdfName, urdfPath, visual);
740 }
741
742 ✗ bool WindowsManager::loadUDRF(const std::string& urdfName,
743 const std::string& urdfPath, bool visual,
744 bool linkFrame) {
745 ✗ RETURN_FALSE_IF_NODE_EXISTS(urdfName);
746
747 GroupNodePtr_t urdf =
748 ✗ urdfParser::parse(urdfName, urdfPath, visual, linkFrame);
749 ✗ ScopedLock lock(osgFrameMutex());
750 ✗ addGroup(urdfName, urdf, true);
751 ✗ NodePtr_t link;
752 ✗ for (std::size_t i = 0; i < urdf->getNumOfChildren(); i++) {
753 ✗ link = urdf->getChild(i);
754 ✗ GroupNodePtr_t groupNode(dynamic_pointer_cast<GroupNode>(link));
755 ✗ if (groupNode) {
756 ✗ addGroup(link->getID(), groupNode, urdf);
757 ✗ for (std::size_t j = 0; j < groupNode->getNumOfChildren(); ++j) {
758 ✗ NodePtr_t object(groupNode->getChild(j));
759 ✗ addNode(object->getID(), object, groupNode);
760 }
761 } else {
762 ✗ addNode(link->getID(), link, urdf);
763 }
764 }
765 ✗ return true;
766 }
767
768 ✗ bool WindowsManager::addToGroup(const std::string& nodeName,
769 const std::string& groupName) {
770 ✗ NodePtr_t node = getNode(nodeName, true);
771 ✗ GroupNodePtr_t group = getGroup(groupName, true);
772
773 ✗ if (group->hasChild(node)) return false;
774
775 ✗ ScopedLock lock(osgFrameMutex()); // if addChild is called in the same time
776 // as osg::frame(), gepetto-viewer crash
777 ✗ groupNodes_[groupName]->addChild(nodes_[nodeName]);
778 ✗ return true;
779 }
780
781 ✗ bool WindowsManager::removeFromGroup(const std::string& nodeName,
782 const std::string& groupName) {
783 ✗ if (nodes_.find(nodeName) == nodes_.end() ||
784 ✗ groupNodes_.find(groupName) == groupNodes_.end()) {
785 ✗ log() << "Node name \"" << nodeName << "\" and/or groupNode \"" << groupName
786 ✗ << "\" doesn't exist." << std::endl;
787 ✗ return false;
788 } else {
789 ✗ ScopedLock lock(osgFrameMutex());
790 ✗ groupNodes_[groupName]->removeChild(nodes_[nodeName]);
791 ✗ return true;
792 }
793 }
794
795 ✗ bool WindowsManager::deleteNode(const std::string& nodeName, bool all) {
796 ✗ NodePtr_t n = getNode(nodeName);
797 ✗ if (!n)
798 ✗ return false;
799 else {
800 /// Check if it is a group
801 ✗ GroupNodeMapIt it = groupNodes_.find(nodeName);
802 ✗ if (it != groupNodes_.end()) {
803 ✗ if (all) {
804 ✗ std::vector<std::string> names(it->second->getNumOfChildren());
805 ✗ for (std::size_t i = 0; i < names.size(); ++i)
806 ✗ names[i] = it->second->getChild(i)->getID();
807 {
808 ✗ ScopedLock lock(osgFrameMutex());
809 ✗ it->second->removeAllChildren();
810 }
811 ✗ for (std::size_t i = 0; i < names.size(); ++i)
812 ✗ deleteNode(names[i], all);
813 }
814 {
815 ✗ ScopedLock lock(osgFrameMutex());
816 ✗ groupNodes_.erase(nodeName);
817 }
818 }
819 ✗ GroupNodeMapConstIt itg;
820 ✗ ScopedLock lock(osgFrameMutex());
821 ✗ for (itg = groupNodes_.begin(); itg != groupNodes_.end(); ++itg) {
822 ✗ if (itg->second && itg->second->hasChild(n)) itg->second->removeChild(n);
823 }
824 ✗ nodes_.erase(nodeName);
825 ✗ return true;
826 }
827 }
828
829 ✗ bool WindowsManager::removeObjectFromCache(const std::string& nodeName) {
830 ✗ FIND_NODE_OF_TYPE_OR_THROW(LeafNodeCollada, lnc, nodeName);
831 ✗ lnc->removeFromCache();
832 ✗ return true;
833 }
834
835 ✗ bool WindowsManager::applyConfiguration(const std::string& nodeName,
836 const Configuration& configuration) {
837 // TODO should we throw ?
838 ✗ if (!configuration.valid()) return false;
839 ✗ NodePtr_t updatedNode = getNode(nodeName, false);
840 ✗ if (!updatedNode) return false;
841
842 ✗ NodeConfiguration newNodeConfiguration;
843 ✗ newNodeConfiguration.node = updatedNode;
844 ✗ ((Configuration&)newNodeConfiguration) = configuration;
845
846 ✗ ScopedLock lock(configListMtx_);
847 ✗ newNodeConfigurations_.push_back(newNodeConfiguration);
848 ✗ return true;
849 }
850
851 ✗ bool WindowsManager::applyConfigurations(
852 const std::vector<std::string>& nodeNames,
853 const std::vector<Configuration>& configurations) {
854 ✗ if (nodeNames.size() != configurations.size())
855 ✗ throw std::invalid_argument(
856 ✗ "Number of node names and configurations must be equal.");
857
858 ✗ ScopedLock lock(configListMtx_);
859 ✗ newNodeConfigurations_.reserve(newNodeConfigurations_.capacity() +
860 ✗ nodeNames.size());
861
862 ✗ bool success = true;
863 ✗ for (std::size_t i = 0; i < nodeNames.size(); ++i) {
864 ✗ NodePtr_t updatedNode = getNode(nodeNames[i], false);
865 ✗ if (!updatedNode) {
866 ✗ success = false;
867 ✗ continue;
868 }
869
870 ✗ NodeConfiguration newNodeConfiguration;
871 ✗ newNodeConfiguration.node = updatedNode;
872 ✗ newNodeConfiguration.position = configurations[i].position;
873 ✗ newNodeConfiguration.quat = configurations[i].quat;
874
875 ✗ newNodeConfigurations_.push_back(newNodeConfiguration);
876 }
877
878 ✗ return success;
879 }
880
881 ✗ bool WindowsManager::addLandmark(const std::string& nodeName, float size) {
882 ✗ RETURN_FALSE_IF_NODE_DOES_NOT_EXIST(nodeName);
883 ✗ ScopedLock lock(osgFrameMutex());
884 ✗ nodes_[nodeName]->addLandmark(size);
885 ✗ return true;
886 }
887
888 ✗ bool WindowsManager::deleteLandmark(const std::string& nodeName) {
889 ✗ RETURN_FALSE_IF_NODE_DOES_NOT_EXIST(nodeName);
890 ✗ ScopedLock lock(osgFrameMutex());
891 ✗ nodes_[nodeName]->deleteLandmark();
892 ✗ return true;
893 }
894
895 ✗ Configuration WindowsManager::getStaticTransform(
896 const std::string& nodeName) const {
897 ✗ NodePtr_t node = getNode(nodeName, true);
898 ✗ return Configuration(node->getStaticPosition(), node->getStaticRotation());
899 }
900
901 ✗ bool WindowsManager::setStaticTransform(const std::string& nodeName,
902 const Configuration& transform) {
903 ✗ RETURN_FALSE_IF_NODE_DOES_NOT_EXIST(nodeName);
904 ✗ ScopedLock lock(osgFrameMutex());
905 ✗ nodes_[nodeName]->setStaticTransform(transform.position, transform.quat);
906 ✗ return true;
907 }
908
909 ✗ bool WindowsManager::setVisibility(const std::string& nodeName,
910 const std::string& visibilityMode) {
911 ✗ RETURN_FALSE_IF_NODE_DOES_NOT_EXIST(nodeName);
912 ✗ VisibilityMode visibility = getVisibility(visibilityMode);
913 ✗ ScopedLock lock(osgFrameMutex());
914 ✗ nodes_[nodeName]->setVisibilityMode(visibility);
915 ✗ return true;
916 }
917
918 ✗ bool WindowsManager::setScale(const std::string& nodeName,
919 const osgVector3& scale) {
920 ✗ RETURN_FALSE_IF_NODE_DOES_NOT_EXIST(nodeName);
921 ✗ ScopedLock lock(osgFrameMutex());
922 ✗ nodes_[nodeName]->setScale(scale);
923 ✗ return true;
924 }
925
926 ✗ bool WindowsManager::setScale(const std::string& nodeName, const float& scale) {
927 ✗ return setScale(nodeName, osgVector3(scale, scale, scale));
928 }
929
930 ✗ bool WindowsManager::setScale(const std::string& nodeName,
931 const int& scalePercentage) {
932 ✗ return setScale(nodeName, (value_type)scalePercentage / 100);
933 }
934
935 ✗ bool WindowsManager::setAlpha(const std::string& nodeName, const float& alpha) {
936 ✗ RETURN_FALSE_IF_NODE_DOES_NOT_EXIST(nodeName);
937 ✗ ScopedLock lock(osgFrameMutex());
938 ✗ nodes_[nodeName]->setAlpha(alpha);
939 ✗ return true;
940 }
941
942 ✗ bool WindowsManager::setAlpha(const std::string& nodeName,
943 const int& alphaPercentage) {
944 ✗ return setAlpha(nodeName, (float)alphaPercentage / 100);
945 }
946
947 ✗ bool WindowsManager::setColor(const std::string& nodeName,
948 const Color_t& color) {
949 ✗ RETURN_FALSE_IF_NODE_DOES_NOT_EXIST(nodeName);
950 ✗ osgVector4 vecColor(color[0], color[1], color[2], color[3]);
951 ✗ ScopedLock lock(osgFrameMutex());
952 ✗ nodes_[nodeName]->setColor(vecColor);
953 ✗ return true;
954 }
955
956 ✗ bool WindowsManager::setWireFrameMode(const std::string& nodeName,
957 const std::string& wireFrameMode) {
958 ✗ RETURN_FALSE_IF_NODE_DOES_NOT_EXIST(nodeName);
959 ✗ WireFrameMode wire = getWire(wireFrameMode);
960 ✗ ScopedLock lock(osgFrameMutex());
961 ✗ nodes_[nodeName]->setWireFrameMode(wire);
962 ✗ return true;
963 }
964
965 ✗ bool WindowsManager::setLightingMode(const std::string& nodeName,
966 const std::string& lightingMode) {
967 ✗ RETURN_FALSE_IF_NODE_DOES_NOT_EXIST(nodeName);
968 ✗ LightingMode light = getLight(lightingMode);
969 ✗ ScopedLock lock(osgFrameMutex());
970 ✗ nodes_[nodeName]->setLightingMode(light);
971 ✗ return true;
972 }
973
974 ✗ bool WindowsManager::setHighlight(const std::string& nodeName, int state) {
975 ✗ RETURN_FALSE_IF_NODE_DOES_NOT_EXIST(nodeName);
976 ✗ ScopedLock lock(osgFrameMutex());
977 ✗ nodes_[nodeName]->setHighlightState(state);
978 ✗ return true;
979 }
980
981 ✗ bool WindowsManager::setCaptureTransform(
982 const std::string& filename, const std::vector<std::string>& nodeNames) {
983 ✗ blenderCapture_.nodes_.clear();
984 std::size_t nb =
985 ✗ getNodes(nodeNames.begin(), nodeNames.end(), blenderCapture_.nodes_);
986 ✗ blenderCapture_.writer_visitor_->writer_ = new YamlTransformWriter(filename);
987 ✗ return nb == nodeNames.size();
988 }
989
990 ✗ void WindowsManager::captureTransformOnRefresh(bool autoCapture) {
991 ✗ autoCaptureTransform_ = autoCapture;
992 }
993
994 ✗ void WindowsManager::captureTransform() {
995 // This requires only a read access to the scene.
996 // The only requirement is that no node get delete while accessing them.
997 // ScopedLock lock(osgFrameMutex());
998 ✗ blenderCapture_.captureFrame();
999 }
1000
1001 ✗ bool WindowsManager::writeBlenderScript(
1002 const std::string& filename, const std::vector<std::string>& nodeNames) {
1003 ✗ std::vector<NodePtr_t> nodes;
1004 ✗ std::size_t nb = getNodes(nodeNames.begin(), nodeNames.end(), nodes);
1005 ✗ if (nb != nodeNames.size())
1006 ✗ throw std::invalid_argument("Could not find one of the nodes");
1007 ✗ BlenderGeomWriterVisitor visitor(filename);
1008 ✗ for (std::size_t i = 0; i < nodes.size(); ++i) nodes[i]->accept(visitor);
1009 ✗ return true;
1010 }
1011
1012 ✗ bool WindowsManager::writeNodeFile(const std::string& nodeName,
1013 const std::string& filename) {
1014 ✗ RETURN_FALSE_IF_NODE_DOES_NOT_EXIST(nodeName);
1015 ✗ ScopedLock lock(osgFrameMutex());
1016 ✗ osg::ref_ptr<osgDB::Options> os = new osgDB::Options;
1017 ✗ os->setOptionString("NoExtras");
1018 osgDB::ReaderWriter::WriteResult wr = osgDB::Registry::instance()->writeNode(
1019 ✗ *nodes_[nodeName]->asGroup(), std::string(filename), os.get());
1020 ✗ if (!wr.success()) {
1021 ✗ std::ostringstream oss;
1022 ✗ oss << "Error writing file " << filename << ": " << wr.message();
1023 ✗ throw std::runtime_error(oss.str().c_str());
1024 }
1025 ✗ return wr.success();
1026 }
1027
1028 ✗ bool WindowsManager::writeWindowFile(const WindowID windowId,
1029 const std::string& filename) {
1030 ✗ RETURN_FALSE_IF_WINDOW_DOES_NOT_EXIST(window, windowId);
1031 ✗ ScopedLock lock(osgFrameMutex());
1032 ✗ bool ret = window->writeNodeFile(std::string(filename));
1033 ✗ return ret;
1034 }
1035
1036 ✗ WindowManagerPtr_t WindowsManager::getWindowManager(
1037 const WindowID wid, bool throwIfDoesntExist) const {
1038 ✗ WindowManagerMap_t::const_iterator it = windowManagers_.find(wid);
1039 ✗ if (it != windowManagers_.end())
1040 ✗ return it->second;
1041 ✗ else if (throwIfDoesntExist)
1042 ✗ throw std::invalid_argument("Window ID " + wid + " doesn't exist.");
1043 ✗ return WindowManagerPtr_t();
1044 }
1045
1046 ✗ GroupNodePtr_t WindowsManager::getGroup(const std::string groupName,
1047 bool throwIfDoesntExist) const {
1048 ✗ GroupNodeMapConstIt it = groupNodes_.find(groupName);
1049 ✗ if (it == groupNodes_.end()) {
1050 ✗ if (throwIfDoesntExist) {
1051 ✗ std::ostringstream oss;
1052 ✗ oss << "No group with name \"" << groupName << "\".";
1053 ✗ throw std::invalid_argument(oss.str().c_str());
1054 ✗ } else
1055 ✗ return GroupNodePtr_t();
1056 }
1057 ✗ return it->second;
1058 }
1059
1060 ✗ Configuration WindowsManager::getNodeGlobalTransform(
1061 const std::string nodeName) const {
1062 ✗ NodePtr_t node = getNode(nodeName, true);
1063 ✗ return node->getGlobalTransform();
1064 }
1065
1066 ✗ bool WindowsManager::setBackgroundColor1(const WindowID windowId,
1067 const Color_t& color) {
1068 ✗ WindowManagerPtr_t wm = getWindowManager(windowId, true);
1069 ✗ ScopedLock lock(osgFrameMutex());
1070 ✗ wm->setBackgroundColor1(color);
1071 ✗ return true;
1072 }
1073
1074 ✗ bool WindowsManager::setBackgroundColor2(const WindowID windowId,
1075 const Color_t& color) {
1076 ✗ WindowManagerPtr_t wm = getWindowManager(windowId, true);
1077 ✗ ScopedLock lock(osgFrameMutex());
1078 ✗ wm->setBackgroundColor2(color);
1079 ✗ return true;
1080 }
1081
1082 ✗ Configuration WindowsManager::getCameraTransform(const WindowID windowId) {
1083 ✗ osg::Quat rot;
1084 ✗ osg::Vec3d pos;
1085 ✗ WindowManagerPtr_t wm = getWindowManager(windowId, true);
1086 ✗ ScopedLock lock(osgFrameMutex());
1087 ✗ wm->getCameraTransform(pos, rot);
1088 ✗ return Configuration(pos, rot);
1089 }
1090
1091 ✗ bool WindowsManager::setCameraTransform(const WindowID windowId,
1092 const Configuration& configuration) {
1093 ✗ WindowManagerPtr_t wm = getWindowManager(windowId, true);
1094 ✗ ScopedLock lock(osgFrameMutex());
1095 ✗ wm->setCameraTransform(configuration.position, configuration.quat);
1096 ✗ return true;
1097 }
1098
1099 ✗ bool WindowsManager::setCameraToBestFit(const WindowID windowId) {
1100 ✗ WindowManagerPtr_t wm = getWindowManager(windowId, true);
1101 ✗ ScopedLock lock(osgFrameMutex());
1102 ✗ wm->getViewerClone()->home();
1103 ✗ return true;
1104 }
1105
1106 ✗ std::vector<std::string> WindowsManager::getPropertyNames(
1107 const std::string& nodeName) const {
1108 ✗ NodePtr_t node = getNode(nodeName, true);
1109 ✗ const Properties::PropertyMap_t& map = node->properties();
1110 ✗ std::vector<std::string> names;
1111 ✗ names.reserve(map.size());
1112 ✗ for (Properties::PropertyMap_t::const_iterator _prop = map.begin();
1113 ✗ _prop != map.end(); ++_prop)
1114 ✗ names.push_back(_prop->first);
1115 ✗ return names;
1116 }
1117
1118 ✗ std::vector<std::string> WindowsManager::getPropertyTypes(
1119 const std::string& nodeName) const {
1120 ✗ NodePtr_t node = getNode(nodeName, true);
1121 ✗ const Properties::PropertyMap_t& map = node->properties();
1122 ✗ std::vector<std::string> types;
1123 ✗ types.reserve(map.size());
1124 ✗ for (Properties::PropertyMap_t::const_iterator _prop = map.begin();
1125 ✗ _prop != map.end(); ++_prop)
1126 ✗ types.push_back(_prop->second->type());
1127 ✗ return types;
1128 }
1129
1130 template <typename Property_t>
1131 ✗ Property_t WindowsManager::getProperty(const std::string& nodeName,
1132 const std::string& propName) const {
1133 ✗ NodePtr_t node = getNode(nodeName, true);
1134 ✗ Property_t value;
1135 ✗ if (!node->getProperty<Property_t>(propName, value)) {
1136 ✗ throw std::invalid_argument("Could not get the property");
1137 }
1138 ✗ return value;
1139 }
1140
1141 template <typename Property_t>
1142 ✗ void WindowsManager::setProperty(const std::string& nodeName,
1143 const std::string& propName,
1144 const Property_t& value) {
1145 ✗ ScopedLock lock(osgFrameMutex());
1146 ✗ NodePtr_t node = getNode(nodeName, true);
1147 ✗ if (!node->setProperty<Property_t>(propName, value)) {
1148 ✗ throw std::invalid_argument("Could not set the property");
1149 }
1150 }
1151
1152 #define DEFINE_WINDOWS_MANAGER_GET_SET_PROPERTY_FOR_TYPE(Type, Name) \
1153 Type WindowsManager::get##Name##Property( \
1154 const std::string& nodeName, const std::string& propName) const { \
1155 return getProperty<Type>(nodeName, propName); \
1156 } \
1157 void WindowsManager::set##Name##Property(const std::string& nodeName, \
1158 const std::string& propName, \
1159 const Type& value) { \
1160 setProperty<Type>(nodeName, propName, value); \
1161 }
1162
1163 #define INSTANCIATE_WINDOWS_MANAGER_GET_SET_PROPERTY_FOR_TYPE(Type) \
1164 template Type WindowsManager::getProperty<Type>(const std::string&, \
1165 const std::string&) const; \
1166 template void WindowsManager::setProperty<Type>( \
1167 const std::string&, const std::string&, const Type&)
1168
1169 INSTANCIATE_WINDOWS_MANAGER_GET_SET_PROPERTY_FOR_TYPE(std::string);
1170 INSTANCIATE_WINDOWS_MANAGER_GET_SET_PROPERTY_FOR_TYPE(osgVector2);
1171 INSTANCIATE_WINDOWS_MANAGER_GET_SET_PROPERTY_FOR_TYPE(osgVector3);
1172 INSTANCIATE_WINDOWS_MANAGER_GET_SET_PROPERTY_FOR_TYPE(osgVector4);
1173 INSTANCIATE_WINDOWS_MANAGER_GET_SET_PROPERTY_FOR_TYPE(float);
1174 INSTANCIATE_WINDOWS_MANAGER_GET_SET_PROPERTY_FOR_TYPE(bool);
1175 INSTANCIATE_WINDOWS_MANAGER_GET_SET_PROPERTY_FOR_TYPE(int);
1176
1177 ✗ DEFINE_WINDOWS_MANAGER_GET_SET_PROPERTY_FOR_TYPE(std::string, String)
1178 ✗ DEFINE_WINDOWS_MANAGER_GET_SET_PROPERTY_FOR_TYPE(osgVector2, Vector2)
1179 ✗ DEFINE_WINDOWS_MANAGER_GET_SET_PROPERTY_FOR_TYPE(osgVector3, Vector3)
1180 ✗ DEFINE_WINDOWS_MANAGER_GET_SET_PROPERTY_FOR_TYPE(osgVector4, Color)
1181 ✗ DEFINE_WINDOWS_MANAGER_GET_SET_PROPERTY_FOR_TYPE(float, Float)
1182 ✗ DEFINE_WINDOWS_MANAGER_GET_SET_PROPERTY_FOR_TYPE(bool, Bool)
1183 ✗ DEFINE_WINDOWS_MANAGER_GET_SET_PROPERTY_FOR_TYPE(int, Int)
1184
1185 ✗ void WindowsManager::callVoidProperty(const std::string& nodeName,
1186 const std::string& propName) {
1187 ✗ NodePtr_t node = getNode(nodeName, true);
1188 ✗ ScopedLock lock(osgFrameMutex());
1189 ✗ if (!node->hasProperty(propName))
1190 ✗ throw std::invalid_argument("Could not find the property");
1191 ✗ node->callVoidProperty(propName);
1192 }
1193 } /* namespace viewer */
1194
1195 } // namespace gepetto
1196