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// BSD 2-Clause License |
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// Copyright (c) 2015 - 2018, hpp-plot |
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// Authors: Heidy Dallard, Joseph Mirabel |
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// All rights reserved. |
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// Redistribution and use in source and binary forms, with or without |
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// modification, are permitted provided that the following conditions |
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// are met: |
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// * Redistributions of source code must retain the above copyright |
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// notice, this list of conditions and the following disclaimer. |
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// * Redistributions in binary form must reproduce the above copyright |
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// notice, this list of conditions and the following disclaimer in |
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// the documentation and/or other materials provided with the |
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// distribution. |
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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// FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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// COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, |
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// INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES |
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// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR |
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// SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) |
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// HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, |
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// STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED |
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// OF THE POSSIBILITY OF SUCH DAMAGE. |
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#include "hppmonitoringplugin.hh" |
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#include <QDockWidget> |
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#include <QHBoxLayout> |
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#include <QtGlobal> |
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#include <limits> |
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#if (QT_VERSION >= QT_VERSION_CHECK(5, 0, 0)) |
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#include <QtConcurrent> |
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#else |
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#include <QtCore> |
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#endif |
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#include <gepetto/gui/mainwindow.hh> |
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using gepetto::gui::MainWindow; |
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namespace hpp { |
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namespace plot { |
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HppMonitoringPlugin::HppMonitoringPlugin() |
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: cgWidget_(NULL), manip_(NULL), basic_(NULL), hppPlugin_(NULL) {} |
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HppMonitoringPlugin::~HppMonitoringPlugin() { |
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MainWindow* main = MainWindow::instance(); |
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foreach (QDockWidget* dock, docks_) { |
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main->removeDockWidget(dock); |
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delete dock; |
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} |
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docks_.clear(); |
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closeConnection(); |
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} |
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void HppMonitoringPlugin::init() { |
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openConnection(); |
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MainWindow* main = MainWindow::instance(); |
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QDockWidget* dock; |
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// Constraint graph widget |
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dock = new QDockWidget("Constraint &Graph", main); |
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dock->setObjectName("hppmonitoringplugin.constraintgraph"); |
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cgWidget_ = new hpp::plot::HppManipulationGraphWidget(manip_, main); |
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dock->setWidget(cgWidget_); |
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main->insertDockWidget(dock, Qt::RightDockWidgetArea, Qt::Horizontal); |
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dock->toggleViewAction()->setShortcut(gepetto::gui::DockKeyShortcutBase + |
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Qt::Key_G); |
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main->registerShortcut(dock->windowTitle(), "Toggle view", |
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dock->toggleViewAction()); |
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hpp::plot::GraphAction* a = new hpp::plot::GraphAction(cgWidget_); |
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a->setShortcut(Qt::Key_C); |
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a->setText("Generate from ¤t config"); |
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connect(a, SIGNAL(activated(hpp::ID)), SLOT(projectCurrentConfigOn(hpp::ID))); |
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cgWidget_->addNodeContextMenuAction(a); |
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cgWidget_->addAction(a); |
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main->registerShortcut(dock->windowTitle(), a); |
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a = new hpp::plot::GraphAction(cgWidget_); |
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a->setShortcut(Qt::Key_G); |
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a->setText("&Generate config"); |
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connect(a, SIGNAL(activated(hpp::ID)), SLOT(projectRandomConfigOn(hpp::ID))); |
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cgWidget_->addNodeContextMenuAction(a); |
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cgWidget_->addAction(a); |
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main->registerShortcut(dock->windowTitle(), a); |
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a = new hpp::plot::GraphAction(cgWidget_); |
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a->setShortcut(Qt::Key_T); |
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a->setText("Set as &target state"); |
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connect(a, SIGNAL(activated(hpp::ID)), SLOT(setTargetState(hpp::ID))); |
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cgWidget_->addNodeContextMenuAction(a); |
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cgWidget_->addAction(a); |
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main->registerShortcut(dock->windowTitle(), a); |
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a = new hpp::plot::GraphAction(cgWidget_); |
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// a->setShortcut(Qt::Key_C); |
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a->setText("Display &node constraints"); |
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cgWidget_->connect(a, SIGNAL(activated(hpp::ID)), |
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SLOT(displayNodeConstraint(hpp::ID))); |
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cgWidget_->addNodeContextMenuAction(a); |
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// cgWidget_->addAction(a); |
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// main->registerShortcut(dock->windowTitle(), a); |
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a = new hpp::plot::GraphAction(cgWidget_); |
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a->setShortcut(Qt::Key_E); |
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a->setText("&Extend current config"); |
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connect(a, SIGNAL(activated(hpp::ID)), |
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SLOT(extendFromCurrentToCurrentConfigOn(hpp::ID))); |
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cgWidget_->addEdgeContextMenuAction(a); |
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cgWidget_->addAction(a); |
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main->registerShortcut(dock->windowTitle(), a); |
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a = new hpp::plot::GraphAction(cgWidget_); |
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a->setShortcut(Qt::Key_R); |
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a->setText("&Extend current config to random config"); |
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connect(a, SIGNAL(activated(hpp::ID)), |
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SLOT(extendFromCurrentToRandomConfigOn(hpp::ID))); |
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cgWidget_->addEdgeContextMenuAction(a); |
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cgWidget_->addAction(a); |
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main->registerShortcut(dock->windowTitle(), a); |
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a = new hpp::plot::GraphAction(cgWidget_); |
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// a->setShortcut(Qt::Key_C); |
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a->setText("Display edge &constraints"); |
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cgWidget_->connect(a, SIGNAL(activated(hpp::ID)), |
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SLOT(displayEdgeConstraint(hpp::ID))); |
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cgWidget_->addEdgeContextMenuAction(a); |
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cgWidget_->addAction(a); |
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main->registerShortcut(dock->windowTitle(), a); |
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a = new hpp::plot::GraphAction(cgWidget_); |
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// a->setShortcut(Qt::Key_T); |
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a->setText("Display edge &target constraints"); |
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cgWidget_->connect(a, SIGNAL(activated(hpp::ID)), |
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SLOT(displayEdgeTargetConstraint(hpp::ID))); |
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cgWidget_->addEdgeContextMenuAction(a); |
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// cgWidget_->addAction(a); |
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// main->registerShortcut(dock->windowTitle(), a); |
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connect(main, SIGNAL(refresh()), cgWidget_, SLOT(updateGraph())); |
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connect(main, SIGNAL(applyCurrentConfiguration()), |
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SLOT(applyCurrentConfiguration())); |
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main->connectSignal(SIGNAL(appliedConfigAtParam(int, double)), |
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SLOT(appliedConfigAtParam(int, double)), this); |
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} |
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QString HppMonitoringPlugin::name() const { |
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return QString("Monitoring for hpp-manipulation-corba"); |
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} |
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static QString getHppIIOPurl() { |
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auto* settings = gepetto::gui::MainWindow::instance()->settings_; |
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QString host("localhost"), port("13331"); |
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QByteArray env = qgetenv("HPP_HOST"); |
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if (!env.isNull()) host = env; |
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env = qgetenv("HPP_PORT"); |
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if (!env.isNull()) port = env; |
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host = settings->getSetting("hpp/host", host).toString(); |
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port = settings->getSetting("hpp/port", port).toString(); |
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return QString("corbaloc:iiop:%1:%2").arg(host).arg(port); |
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} |
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static QString getHppContext() { |
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QString context = |
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gepetto::gui::MainWindow::instance() |
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->settings_->getSetting("hpp/context", QString("corbaserver")) |
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.toString(); |
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return context; |
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} |
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void HppMonitoringPlugin::openConnection() { |
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closeConnection(); |
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basic_ = new hpp::corbaServer::Client(0, 0); |
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manip_ = new hpp::corbaServer::manipulation::Client(0, 0); |
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QByteArray iiop = getHppIIOPurl().toLatin1(); |
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QByteArray context = getHppContext().toLatin1(); |
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try { |
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basic_->connect(iiop.constData(), context.constData()); |
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manip_->connect(iiop.constData(), context.constData()); |
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hpp::Names_t_var for_deletion = manip_->problem()->getAvailable("type"); |
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} catch (const CORBA::Exception& e) { |
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QString error("Could not find the manipulation server. Is it running ?"); |
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error += "\n"; |
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error += e._name(); |
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error += " : "; |
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error += e._rep_id(); |
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gepetto::gui::MainWindow* main = gepetto::gui::MainWindow::instance(); |
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if (main != NULL) |
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main->logError(error); |
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else |
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qDebug() << error; |
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closeConnection(); |
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return; |
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} |
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if (cgWidget_) cgWidget_->client(manip_); |
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} |
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void HppMonitoringPlugin::closeConnection() { |
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if (basic_) delete basic_; |
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basic_ = NULL; |
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if (manip_) delete manip_; |
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manip_ = NULL; |
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} |
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bool HppMonitoringPlugin::corbaException(int jobId, |
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const CORBA::Exception& excep) const { |
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try { |
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const hpp::Error& error = dynamic_cast<const hpp::Error&>(excep); |
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MainWindow::instance()->logJobFailed(jobId, QString(error.msg)); |
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return true; |
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} catch (const std::bad_cast&) { |
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// dynamic_cast failed. |
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} |
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return false; |
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} |
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void HppMonitoringPlugin::projectRandomConfigOn(hpp::ID idNode) { |
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QFutureWatcher<bool>* fw = new QFutureWatcher<bool>(this); |
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QDialog* d = new QDialog(NULL, Qt::Dialog); |
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QLabel* l = new QLabel("Projecting..."); |
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d->setLayout(new QHBoxLayout); |
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d->layout()->addWidget(l); |
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connect(this, SIGNAL(projectionStatus(QString)), l, SLOT(setText(QString))); |
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d->show(); |
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fw->setFuture(QtConcurrent::run( |
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this, &HppMonitoringPlugin::projectRandomConfigOn_impl, idNode)); |
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connect(fw, SIGNAL(finished()), d, SLOT(deleteLater())); |
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connect(fw, SIGNAL(finished()), fw, SLOT(deleteLater())); |
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} |
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bool HppMonitoringPlugin::projectRandomConfigOn_impl(hpp::ID idNode) { |
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if (manip_ == NULL) return false; |
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hpp::floatSeq_var qRand; |
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hpp::floatSeq_var res; |
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::CORBA::Double error, minError = std::numeric_limits<double>::infinity(); |
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int i = 0; |
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try { |
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do { |
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qRand = basic_->robot()->shootRandomConfig(); |
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i++; |
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bool success = manip_->graph()->applyNodeConstraints(idNode, qRand.in(), |
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res.out(), error); |
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if (success) { |
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setCurrentConfig(res.in()); |
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return true; |
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} |
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if (error < minError) { |
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minError = error; |
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} |
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if (i >= 20) { |
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qDebug() << "Projection failed after 20 trials."; |
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break; |
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} |
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emit projectionStatus( |
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QString("Tried %1 times. Minimal residual error is %2") |
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.arg(i) |
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.arg(minError)); |
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} while (true); |
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} catch (const hpp::Error& e) { |
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MainWindow::instance()->logError(e.msg.in()); |
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} |
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return false; |
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} |
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bool HppMonitoringPlugin::projectCurrentConfigOn(ID idNode) { |
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hpp::floatSeq from = getCurrentConfig(); |
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return projectConfigOn(from, idNode); |
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} |
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void HppMonitoringPlugin::setTargetState(ID idNode) { |
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if (manip_ == NULL) return; |
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manip_->problem()->setTargetState(idNode); |
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} |
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bool HppMonitoringPlugin::extendFromCurrentToCurrentConfigOn(hpp::ID idEdge) { |
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hpp::floatSeq from = getCurrentConfig(); |
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return extendConfigOn(from, from, idEdge); |
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} |
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bool HppMonitoringPlugin::extendFromCurrentToRandomConfigOn(hpp::ID idEdge) { |
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hpp::floatSeq from = getCurrentConfig(); |
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hpp::floatSeq_var qRand = basic_->robot()->shootRandomConfig(); |
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return extendConfigOn(from, qRand.in(), idEdge); |
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} |
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bool HppMonitoringPlugin::projectConfigOn(hpp::floatSeq config, |
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hpp::ID idNode) { |
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if (manip_ == NULL) return false; |
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hpp::floatSeq_var res; |
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::CORBA::Double error; |
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bool success = |
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manip_->graph()->applyNodeConstraints(idNode, config, res.out(), error); |
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if (success) { |
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setCurrentConfig(res.in()); |
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} else { |
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MainWindow::instance()->logError( |
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QString("Unable to project configuration. Residual error is %1") |
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.arg(error)); |
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} |
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return success; |
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} |
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✗ |
bool HppMonitoringPlugin::extendConfigOn(hpp::floatSeq from, |
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hpp::floatSeq config, hpp::ID idEdge) { |
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if (manip_ == NULL) return false; |
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✗ |
hpp::floatSeq_var res; |
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::CORBA::Double error; |
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bool success = manip_->graph()->generateTargetConfig(idEdge, from, config, |
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res.out(), error); |
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if (success) { |
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setCurrentConfig(res.in()); |
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} else { |
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✗ |
MainWindow::instance()->logError( |
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QString("Unable to project configuration. Residual error is %1") |
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✗ |
.arg(error)); |
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} |
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return success; |
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|
|
} |
| 333 |
|
|
|
| 334 |
|
✗ |
void HppMonitoringPlugin::applyCurrentConfiguration() { |
| 335 |
|
✗ |
hpp::floatSeq q = getCurrentConfig(); |
| 336 |
|
✗ |
cgWidget_->showNodeOfConfiguration(q); |
| 337 |
|
|
} |
| 338 |
|
|
|
| 339 |
|
✗ |
void HppMonitoringPlugin::appliedConfigAtParam(int pid, double param) { |
| 340 |
|
✗ |
if (manip_ == NULL) return; |
| 341 |
|
✗ |
CORBA::String_var graphName; |
| 342 |
|
|
hpp::ID id; |
| 343 |
|
|
try { |
| 344 |
|
✗ |
id = manip_->problem()->edgeAtParam(pid, param, graphName.out()); |
| 345 |
|
✗ |
} catch (const hpp::Error& e) { |
| 346 |
|
✗ |
return; |
| 347 |
|
|
} |
| 348 |
|
✗ |
if (strcmp(graphName.in(), cgWidget_->graphName().c_str()) != 0) |
| 349 |
|
✗ |
cgWidget_->showEdge(id); |
| 350 |
|
|
} |
| 351 |
|
|
|
| 352 |
|
✗ |
hpp::floatSeq HppMonitoringPlugin::getCurrentConfig() { |
| 353 |
|
✗ |
QObject* plugin(hppPlugin()); |
| 354 |
|
|
hpp::floatSeq const* config; |
| 355 |
|
✗ |
bool ok = QMetaObject::invokeMethod( |
| 356 |
|
|
plugin, "getCurrentConfig", Qt::DirectConnection, |
| 357 |
|
✗ |
Q_RETURN_ARG(hpp::floatSeq const*, config)); |
| 358 |
|
✗ |
if (!ok) { |
| 359 |
|
✗ |
qDebug() << "HppMonitoringPlugin::getCurrentConfig failed"; |
| 360 |
|
|
} |
| 361 |
|
✗ |
return *config; |
| 362 |
|
|
} |
| 363 |
|
|
|
| 364 |
|
✗ |
void HppMonitoringPlugin::setCurrentConfig(const hpp::floatSeq& q) { |
| 365 |
|
✗ |
QObject* plugin(hppPlugin()); |
| 366 |
|
✗ |
bool ok = QMetaObject::invokeMethod(plugin, "setCurrentConfig", |
| 367 |
|
|
Qt::DirectConnection, |
| 368 |
|
✗ |
Q_ARG(const hpp::floatSeq&, q)); |
| 369 |
|
|
|
| 370 |
|
✗ |
if (!ok) { |
| 371 |
|
✗ |
qDebug() << "HppMonitoringPlugin::setCurrentConfig failed"; |
| 372 |
|
|
} |
| 373 |
|
|
} |
| 374 |
|
|
|
| 375 |
|
✗ |
QObject* HppMonitoringPlugin::hppPlugin() { |
| 376 |
|
✗ |
if (hppPlugin_ == NULL) { |
| 377 |
|
✗ |
MainWindow* main = MainWindow::instance(); |
| 378 |
|
✗ |
hppPlugin_ = main->getFromSlot("getCurrentConfig"); |
| 379 |
|
|
} |
| 380 |
|
✗ |
if (hppPlugin_ == NULL) { |
| 381 |
|
✗ |
throw std::runtime_error( |
| 382 |
|
✗ |
"unable to retrieve slot getCurrentConfig from HPP plugin"); |
| 383 |
|
|
} |
| 384 |
|
✗ |
return hppPlugin_; |
| 385 |
|
|
} |
| 386 |
|
|
} // namespace plot |
| 387 |
|
|
} // namespace hpp |
| 388 |
|
|
|
| 389 |
|
|
#if (QT_VERSION < QT_VERSION_CHECK(5, 0, 0)) |
| 390 |
|
|
Q_EXPORT_PLUGIN2(hppmonitoringplugin, hpp::plot::HppMonitoringPlugin) |
| 391 |
|
|
#endif |
| 392 |
|
|
|