diff --git a/cmake b/cmake
index 5c8c19f491f2c6f8488f5f37ff81d711d69dbb3f..8f68dc14b0dbc92ea376794d6c7d71f9a8648098 160000
--- a/cmake
+++ b/cmake
@@ -1 +1 @@
-Subproject commit 5c8c19f491f2c6f8488f5f37ff81d711d69dbb3f
+Subproject commit 8f68dc14b0dbc92ea376794d6c7d71f9a8648098
diff --git a/idl/hpp/corbaserver/rbprm/rbprmbuilder.idl b/idl/hpp/corbaserver/rbprm/rbprmbuilder.idl
index a339420f497a4b07a1f1211a288597dd4d98a3e8..8582d7b35771193c4651a153bce08315fb1c9b97 100644
--- a/idl/hpp/corbaserver/rbprm/rbprmbuilder.idl
+++ b/idl/hpp/corbaserver/rbprm/rbprmbuilder.idl
@@ -18,7 +18,7 @@
#ifndef HPP_RBPRM_CORBA_BUILDER_IDL
# define HPP_RBPRM_CORBA_BUILDER_IDL
-# include <hpp/corbaserver/common.idl>
+# include <hpp/common.idl>
module hpp
{
diff --git a/script/scenarios/demos/run.sh b/script/scenarios/demos/run.sh
index c249455bcb37f8e2ae1c60795925cc6660ab54f3..6c19fae83f59f6c36f9314521e7fd7def6090e51 100755
--- a/script/scenarios/demos/run.sh
+++ b/script/scenarios/demos/run.sh
@@ -1,8 +1,8 @@
#!/bin/bash
-gepetto-viewer-server &
+gepetto-gui &
hpp-rbprm-server &
ipython -i --no-confirm-exit ./$1
-pkill -f 'gepetto-viewer-server'
+pkill -f 'gepetto-gui'
pkill -f 'hpp-rbprm-server'
diff --git a/script/scenarios/demos/rund.sh b/script/scenarios/demos/rund.sh
index eab7645220a9bb27f8fee067d65204a90e897868..bd7311a825b4b075321eafaadd5d31522f8f5c0c 100755
--- a/script/scenarios/demos/rund.sh
+++ b/script/scenarios/demos/rund.sh
@@ -1,6 +1,6 @@
#!/bin/bash
-gepetto-viewer-server &
+gepetto-gui &
ipython -i --no-confirm-exit ./$1
-pkill -f 'gepetto-viewer-server'
+pkill -f 'gepetto-gui'
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 786dbdbf630ca66a74043fff6ea3651060801e40..24c7008ec2162f3eb613417bbad617b69125ab37 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -20,10 +20,6 @@ SET(IDL_SOURCES
rbprmbuilder
)
-SET(HPP_CORBASERVER_IDL_SOURCES
- common
-)
-
OMNIIDL_INCLUDE_DIRECTORIES(
${HPP_CORBASERVER_DATAROOTDIR}/idl ${CMAKE_SOURCE_DIR}/idl
)
@@ -33,46 +29,33 @@ FINDPYTHON(2.7 EXACT REQUIRED)
INCLUDE_DIRECTORIES(${CMAKE_BINARY_DIR}/src)
FILE(MAKE_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/hpp/corbaserver/rbprm)
-FOREACH(IDL ${IDL_SOURCES})
- GENERATE_IDL_CPP (${IDL}
- ${CMAKE_SOURCE_DIR}/idl/hpp/corbaserver/rbprm
- )
- GENERATE_IDL_PYTHON (${IDL}
- ${CMAKE_SOURCE_DIR}/idl/hpp/corbaserver/rbprm
- )
-ENDFOREACH()
FOREACH(IDL ${IDL_SOURCES})
GENERATE_IDL_CPP (hpp/corbaserver/rbprm/${IDL}
- ${CMAKE_SOURCE_DIR}/idl/hpp/corbaserver/rbprm)
- GENERATE_IDL_PYTHON (hpp/corbaserver/rbprm/${IDL}
- ${CMAKE_SOURCE_DIR}/idl/hpp/corbaserver/rbprm)
+ ${CMAKE_SOURCE_DIR}/idl/hpp/corbaserver/rbprm
+ HEADER_SUFFIX -idl.hh)
+ GENERATE_IDL_PYTHON (${IDL}
+ ${CMAKE_SOURCE_DIR}/idl/hpp/corbaserver/rbprm
+ ENABLE_DOCSTRING
+ STUBS hpp_stubs.rbprm
+ ARGUMENTS
+ -Wbmodules=hpp_idl
+ -Wbextern=common:hpp_stubs
+ )
INSTALL(
- FILES ${CMAKE_CURRENT_BINARY_DIR}/hpp/corbaserver/rbprm/${IDL}.hh
+ FILES ${CMAKE_CURRENT_BINARY_DIR}/hpp/corbaserver/rbprm/${IDL}-idl.hh
DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/hpp/corbaserver/rbprm)
- INSTALL(
- FILES ${CMAKE_CURRENT_BINARY_DIR}/hpp/corbaserver/rbprm/${IDL}_idl.py
- DESTINATION ${PYTHON_SITELIB}/hpp/corbaserver/rbprm)
-ENDFOREACH()
-
-FOREACH(IDL ${HPP_CORBASERVER_IDL_SOURCES})
- GENERATE_IDL_CPP (${IDL}
- ${HPP_CORBASERVER_DATAROOTDIR}/idl/hpp/corbaserver
- )
- GENERATE_IDL_PYTHON (${IDL}
- ${HPP_CORBASERVER_DATAROOTDIR}/idl/hpp/corbaserver
- )
- INSTALL(FILES
- ${CMAKE_CURRENT_BINARY_DIR}/${IDL}_idl.py
- DESTINATION ${PYTHON_SITELIB}/hpp/corbaserver/rbprm)
ENDFOREACH()
+INSTALL(
+ DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/hpp_idl/hpp/corbaserver/rbprm
+ DESTINATION ${PYTHON_SITELIB}/hpp_idl/hpp/corbaserver)
+INSTALL(
+ DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/hpp_stubs/rbprm
+ DESTINATION ${PYTHON_SITELIB}/hpp_stubs)
ADD_LIBRARY(${LIBRARY_NAME} SHARED
- common.hh
- commonSK.cc
- ${CMAKE_CURRENT_BINARY_DIR}/hpp/corbaserver/rbprm/rbprmbuilder.hh
- ${CMAKE_CURRENT_BINARY_DIR}/hpp/corbaserver/rbprm/rbprmbuilderSK.cc
+ ${ALL_IDL_CPP_STUBS}
rbprmbuilder.impl.cc
rbprmbuilder.impl.hh
server.cc
diff --git a/src/hpp/corbaserver/rbprm/__init__.py b/src/hpp/corbaserver/rbprm/__init__.py
index 5191ae20a4eaabf4ef102cf57bff1d81ffb0d5f4..32c1be5fec19deb386b588745a7a265145f5e529 100644
--- a/src/hpp/corbaserver/rbprm/__init__.py
+++ b/src/hpp/corbaserver/rbprm/__init__.py
@@ -1,7 +1 @@
-import omniORB
-omniORB.updateModule("hpp.corbaserver.rbprm")
-
-import rbprmbuilder_idl
-
from client import Client
-
diff --git a/src/hpp/corbaserver/rbprm/client.py b/src/hpp/corbaserver/rbprm/client.py
index eb3dd49d4fa17b8a06446a53f7627b89835c711d..1e0fc144ffeefb42d8c955ee9cf23d11bb32767a 100755
--- a/src/hpp/corbaserver/rbprm/client.py
+++ b/src/hpp/corbaserver/rbprm/client.py
@@ -17,51 +17,29 @@
# hpp-manipulation-corba. If not, see
# <http://www.gnu.org/licenses/>.
-from omniORB import CORBA
-import CosNaming
+from hpp.corbaserver.client import Client as _Parent
+from hpp_idl.hpp.corbaserver.rbprm import RbprmBuilder
-from hpp.corbaserver.rbprm import RbprmBuilder
-
-class CorbaError(Exception):
- """
- Raised when a CORBA error occurs.
- """
- def __init__(self, value):
- self.value = value
- def __str__(self):
- return repr(self.value)
-
-class Client:
+class Client (_Parent):
"""
Connect and create clients for hpp-rbprm library.
"""
- def __init__(self):
+
+ defaultClients = {
+ 'rbprmbuilder' : RbprmBuilder,
+ }
+
+ def __init__(self, url = None, context = "corbaserver"):
"""
Initialize CORBA and create default clients.
+ :param url: URL in the IOR, corbaloc, corbalocs, and corbanames formats.
+ For a remote corba server, use
+ url = "corbaloc:iiop:<host>:<port>/NameService"
"""
- import sys
- self.orb = CORBA.ORB_init (sys.argv, CORBA.ORB_ID)
- obj = self.orb.resolve_initial_references("NameService")
- self.rootContext = obj._narrow(CosNaming.NamingContext)
- if self.rootContext is None:
- raise CorbaError ('failed to narrow the root context')
-
- # client of Rbprm interface
- name = [CosNaming.NameComponent ("hpp", "corbaserver"),
- CosNaming.NameComponent ("rbprm", "rbprmbuilder")]
-
- try:
- obj = self.rootContext.resolve (name)
- except CosNaming.NamingContext.NotFound, ex:
- raise CorbaError ('failed to find rbprm service.')
- try:
- client = obj._narrow (RbprmBuilder)
- except KeyError:
- raise CorbaError ('invalid service name rbprm')
-
- if client is None:
- # This happens when stubs from client and server are not synchronized.
- raise CorbaError (
- 'failed to narrow client for service rbprm')
- self.rbprm = client
+ self._initOrb (url)
+ self._makeClients ("rbprm", self.defaultClients, context)
+ # self.rbprmbuilder is created by self._makeClients
+ # The old code stored the object as self.rbprm
+ # Make it backward compatible.
+ self.rbprm = self.rbprmbuilder
diff --git a/src/rbprmbuilder.impl.cc b/src/rbprmbuilder.impl.cc
index b82a0a66a9ab0afeef0834642922e01bf732dc72..cb25f6efcbe1a5303e7ed89ac3205b49c7781427 100644
--- a/src/rbprmbuilder.impl.cc
+++ b/src/rbprmbuilder.impl.cc
@@ -17,7 +17,7 @@
//#include <hpp/fcl/math/transform.h>
#include <hpp/util/debug.hh>
-#include <hpp/corbaserver/rbprm/rbprmbuilder.hh>
+#include <hpp/corbaserver/rbprm/rbprmbuilder-idl.hh>
#include "rbprmbuilder.impl.hh"
#include "hpp/rbprm/rbprm-device.hh"
#include "hpp/rbprm/rbprm-validation.hh"
diff --git a/src/rbprmbuilder.impl.hh b/src/rbprmbuilder.impl.hh
index 9e9ff7b3e93036aad80766a16f18ea47984945e9..4abbbb68380334045b06bfe887aa0724039cd5f6 100644
--- a/src/rbprmbuilder.impl.hh
+++ b/src/rbprmbuilder.impl.hh
@@ -20,7 +20,7 @@
# include <hpp/core/problem-solver.hh>
# include <hpp/core/path.hh>
-# include "rbprmbuilder.hh"
+# include "hpp/corbaserver/rbprm/rbprmbuilder-idl.hh"
# include <hpp/rbprm/rbprm-device.hh>
# include <hpp/rbprm/rbprm-fullbody.hh>
# include <hpp/rbprm/rbprm-shooter.hh>