From 4799ad78b84d0c098f28bfda06bcff47f5ca2820 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Thu, 20 Feb 2020 15:05:03 +0100
Subject: [PATCH] Update C++ client + example.
---
examples/CMakeLists.txt | 2 ++
examples/basic-scene.cc | 4 ++--
examples/display-urdf.cc | 9 ++------
include/gepetto/viewer/corba/client.hh | 5 ++++-
src/CMakeLists.txt | 2 +-
src/client.cc | 31 +++++++++++++++++++++-----
6 files changed, 37 insertions(+), 16 deletions(-)
diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt
index c69b163..27a44a9 100644
--- a/examples/CMakeLists.txt
+++ b/examples/CMakeLists.txt
@@ -20,7 +20,9 @@ SET(LIBRARY_NAME ${PROJECT_NAME})
ADD_EXECUTABLE (basic-scene basic-scene.cc)
TARGET_LINK_LIBRARIES(basic-scene ${LIBRARY_NAME})
PKG_CONFIG_USE_DEPENDENCY(basic-scene gepetto-viewer)
+PKG_CONFIG_USE_DEPENDENCY(basic-scene omniORB4)
ADD_EXECUTABLE (display-urdf display-urdf.cc)
TARGET_LINK_LIBRARIES(display-urdf ${LIBRARY_NAME})
PKG_CONFIG_USE_DEPENDENCY(display-urdf gepetto-viewer)
+PKG_CONFIG_USE_DEPENDENCY(display-urdf omniORB4)
diff --git a/examples/basic-scene.cc b/examples/basic-scene.cc
index fc51159..0ab1e77 100644
--- a/examples/basic-scene.cc
+++ b/examples/basic-scene.cc
@@ -10,8 +10,8 @@
int main(int, const char **)
{
- graphics::corbaServer::Client client (0, NULL);
- client.connect ();
+ gepetto::viewer::corba::Client client (0, NULL);
+ client.connect ("corbaloc:iiop:localhost:12321");
float white[4] = {1.,1.,1.,1.};
client.gui()->createWindow("window1");
diff --git a/examples/display-urdf.cc b/examples/display-urdf.cc
index 864aee4..e8eaec3 100644
--- a/examples/display-urdf.cc
+++ b/examples/display-urdf.cc
@@ -10,22 +10,17 @@
int main(int argc, const char ** argv)
{
- using namespace graphics;
- using namespace corbaServer;
-
if (argc != 2) {
std::cout << "Usage " << argv[0] << " <urdf-filename>"
<< std::endl;
return 1;
}
- Client client (0, NULL);
+ gepetto::viewer::corba::Client client (0, NULL);
client.connect ();
client.gui()->createWindow("urdf-display");
- // The second argument is deprecated and ignored. File link starting with
- // "package://" are resolved using ROS_PACKAGE_PATH environment variable.
- client.gui()->addURDF("urdf-display/urdf", argv[1], "");
+ client.gui()->addURDF("urdf-display/urdf", argv[1]);
client.gui()->refresh();
diff --git a/include/gepetto/viewer/corba/client.hh b/include/gepetto/viewer/corba/client.hh
index 8fc2ba4..3c8fb65 100644
--- a/include/gepetto/viewer/corba/client.hh
+++ b/include/gepetto/viewer/corba/client.hh
@@ -26,13 +26,16 @@ namespace corba {
~Client ();
- void connect (const char* iiop = "corbaloc:rir:/NameService");
+ void connect (const std::string& iiop = "corbaloc:iiop:");
gepetto::corbaserver::GraphicalInterface_var& gui () {
return gui_;
}
private:
+ bool createFromDirectLink(const std::string& iiop);
+ bool createFromNameService(const std::string& iiop);
+
corbaserver::GraphicalInterface_var gui_;
CORBA::ORB_var orb_;
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index b2125c0..35b6fdb 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -23,7 +23,6 @@ SET(IDL_SOURCES
)
OMNIIDL_INCLUDE_DIRECTORIES(${CMAKE_SOURCE_DIR}/idl)
-INCLUDE_DIRECTORIES(${CMAKE_BINARY_DIR}/src)
FOREACH(IDL ${IDL_SOURCES})
# C++
@@ -116,6 +115,7 @@ ENDIF(NOT CLIENT_ONLY)
# }}}
ADD_LIBRARY(${LIBRARY_NAME} SHARED ${${PROJECT_NAME}_SOURCES})
+TARGET_INCLUDE_DIRECTORIES(${LIBRARY_NAME} PUBLIC ${CMAKE_BINARY_DIR}/src)
ADD_DEPENDENCIES (${LIBRARY_NAME} generate_idl_cpp)
ADD_DEPENDENCIES (${LIBRARY_NAME} generate_idl_python)
IF(NOT CLIENT_ONLY)
diff --git a/src/client.cc b/src/client.cc
index 1d35cfc..e1dc6c1 100644
--- a/src/client.cc
+++ b/src/client.cc
@@ -33,14 +33,25 @@ namespace gepetto {
{
}
- void Client::connect (const char* iiop)
+ bool Client::createFromDirectLink (const std::string& iiop)
{
- // Get a reference to the Naming Service
- CORBA::Object_var rootContextObj = orb_->string_to_object(iiop);
+ std::string url = iiop + "/gepetto-gui";
+
+ CORBA::Object_var obj = orb_->string_to_object(url.c_str());
+ gui_ = gepetto::corbaserver::GraphicalInterface::_narrow(obj.in());
+ return !CORBA::is_nil(gui_);
+ }
+
+ bool Client::createFromNameService (const std::string& iiop)
+ {
+ std::string url = iiop + "/NameService";
+
+ CORBA::Object_var obj = orb_->string_to_object(url.c_str());
+ if (CORBA::is_nil(obj)) return false;
CosNaming::NamingContext_var nc =
- CosNaming::NamingContext::_narrow(rootContextObj.in());
+ CosNaming::NamingContext::_narrow(obj.in());
+ if (CORBA::is_nil(nc)) return false;
- // Bind robotObj with name Robot to the hppContext:
CosNaming::Name name;
name.length(2);
name[0].id = (const char *) "gepetto";
@@ -51,6 +62,16 @@ namespace gepetto {
CORBA::Object_var managerObj = nc->resolve(name);
// Narrow the previous object to obtain the correct type
gui_ = gepetto::corbaserver::GraphicalInterface::_narrow(managerObj.in());
+
+ return CORBA::is_nil(gui_);
+ }
+
+ void Client::connect (const std::string& iiop)
+ {
+ bool ok = createFromDirectLink(iiop);
+ if (!ok) ok = createFromNameService(iiop);
+ if (!ok) throw std::runtime_error ("Could not connect to gepetto-viewer "
+ "GUI at " + iiop);
}
/// \brief Shutdown CORBA server
--
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