From 089998169de3efeb81786393b0898d0c94e4e7e2 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Sat, 9 Feb 2019 17:52:55 +0100
Subject: [PATCH] Add WindowsManager::refresh and provide asynchronous refresh.
---
idl/gepetto/viewer/graphical-interface.idl | 5 ++
include/gepetto/gui/windows-manager.hh | 13 ++++-
src/graphical-interface.impl.cpp | 2 +
src/graphical-interface.impl.hh | 1 +
src/gui/windows-manager.cc | 63 ++++++++++++++++++++++
5 files changed, 82 insertions(+), 2 deletions(-)
diff --git a/idl/gepetto/viewer/graphical-interface.idl b/idl/gepetto/viewer/graphical-interface.idl
index 782ec99..2fc2306 100644
--- a/idl/gepetto/viewer/graphical-interface.idl
+++ b/idl/gepetto/viewer/graphical-interface.idl
@@ -351,6 +351,11 @@ typedef sequence<Transform> TransformSeq;
/// Change configurations according to the last applyConfigurations.d
void refresh() raises (Error);
+
+ /// Set to false if you do not want refresh to be synchronized
+ /// with the rendering loop.
+ /// \note This is an experimental features.
+ void setRefreshIsSynchronous (in boolean synchonous) raises (Error);
/// Return the Position + Quaternion orientation of an object in the global frame
/// \param input nodeName : name of the node.
diff --git a/include/gepetto/gui/windows-manager.hh b/include/gepetto/gui/windows-manager.hh
index 1b3eaf6..080e406 100644
--- a/include/gepetto/gui/windows-manager.hh
+++ b/include/gepetto/gui/windows-manager.hh
@@ -54,8 +54,13 @@ namespace gepetto {
const std::string& extension);
bool stopCapture (const WindowID windowId);
- public slots:
- int createWindow(QString windowName);
+ void refresh ();
+ void setRefreshIsSynchronous (bool synchonous);
+
+ public slots:
+ int createWindow(QString windowName);
+ void asyncRefresh ();
+
protected:
WindowsManager (BodyTreeWidget* bodyTree);
@@ -75,6 +80,10 @@ namespace gepetto {
void deleteBodyItem(const std::string& nodeName);
std::vector<OSGWidget*> widgets_;
+
+ bool refreshIsSynchronous_;
+ graphics::Mutex configsAsyncMtx_;
+ NodeConfigurations_t configsAsync_;
};
} // namespace gui
} // namespace gepetto
diff --git a/src/graphical-interface.impl.cpp b/src/graphical-interface.impl.cpp
index 6ee2959..eb1b01c 100644
--- a/src/graphical-interface.impl.cpp
+++ b/src/graphical-interface.impl.cpp
@@ -292,6 +292,8 @@ namespace graphics {
BIND_TO_WINDOWS_MANAGER_0(VOID, refresh)
+ BIND_TO_WINDOWS_MANAGER_1(VOID, setRefreshIsSynchronous, BOOL)
+
BIND_TO_WINDOWS_MANAGER_1(VOID, createScene, STRING)
BIND_TO_WINDOWS_MANAGER_1(VOID, createSceneWithFloor, STRING)
diff --git a/src/graphical-interface.impl.hh b/src/graphical-interface.impl.hh
index 68968fa..3b70e61 100644
--- a/src/graphical-interface.impl.hh
+++ b/src/graphical-interface.impl.hh
@@ -56,6 +56,7 @@ public:
virtual Names_t* getWindowList() throw (Error);
virtual void refresh() throw (Error);
+ virtual void setRefreshIsSynchronous(bool synchronous) throw (Error);
virtual WindowID createWindow(const char* windowNameCorba) throw (Error);
virtual WindowID getWindowID (const char* windowNameCorba) throw (Error);
diff --git a/src/gui/windows-manager.cc b/src/gui/windows-manager.cc
index b0fffac..1589747 100644
--- a/src/gui/windows-manager.cc
+++ b/src/gui/windows-manager.cc
@@ -26,6 +26,8 @@
namespace gepetto {
namespace gui {
+ using graphics::ScopedLock;
+
Qt::ConnectionType connectionType (QObject* o, int blocking)
{
if (o->thread() == QThread::currentThread())
@@ -72,6 +74,7 @@ namespace gepetto {
WindowsManager::WindowsManager(BodyTreeWidget* bodyTree)
: Parent_t ()
, bodyTree_ (bodyTree)
+ , refreshIsSynchronous_ (true)
{
}
@@ -244,5 +247,65 @@ namespace gepetto {
Q_RETURN_ARG (bool, res));
return res;
}
+
+ struct ApplyConfigurationFunctor
+ {
+ void operator() (const graphics::NodeConfiguration& nc) const
+ {
+ nc.node->applyConfiguration ( nc.position, nc.quat);
+ }
+ };
+
+ void WindowsManager::refresh ()
+ {
+ if (refreshIsSynchronous_) {
+ {
+ ScopedLock lock(configListMtx_);
+ {
+ ScopedLock lock(osgFrameMutex());
+ //refresh scene with the new configuration
+ std::for_each(newNodeConfigurations_.begin(),
+ newNodeConfigurations_.end(), ApplyConfigurationFunctor());
+ }
+ newNodeConfigurations_.resize (0);
+ }
+ if (autoCaptureTransform_) captureTransform ();
+ } else {
+ {
+ ScopedLock lock1(configsAsyncMtx_);
+ ScopedLock lock2(configListMtx_);
+ if (configsAsync_.size() == 0) {
+ configsAsync_.swap (newNodeConfigurations_);
+ QMetaObject::invokeMethod (this, "asyncRefresh", Qt::QueuedConnection);
+ } else {
+ configsAsync_.insert (configsAsync_.end(),
+ newNodeConfigurations_.begin(),
+ newNodeConfigurations_.end());
+ newNodeConfigurations_.resize(0);
+ // No need to reinvoke asyncRefresh as it hasn't been ran yet.
+ }
+ }
+ }
+ }
+
+ void WindowsManager::asyncRefresh ()
+ {
+ NodeConfigurations_t& cfgs = configsAsync_;
+ {
+ ScopedLock lock(configsAsyncMtx_);
+ {
+ ScopedLock lock(osgFrameMutex());
+ //refresh scene with the new configuration
+ std::for_each(cfgs.begin(), cfgs.end(), ApplyConfigurationFunctor());
+ }
+ cfgs.resize (0);
+ }
+ if (autoCaptureTransform_) captureTransform ();
+ }
+
+ void WindowsManager::setRefreshIsSynchronous (bool synchonous)
+ {
+ refreshIsSynchronous_ = synchonous;
+ }
} // namespace gui
} // namespace gepetto
--
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