From b7442a55d4042e0f68017e3afd7271d3d7b39ac8 Mon Sep 17 00:00:00 2001
From: Cedric Seehausen <usdnr@student.kit.edu>
Date: Tue, 17 May 2016 10:43:55 +0200
Subject: [PATCH] improved XmlScenarioParserTest + iceparser fixxes + Rewrote
AppInstance to use boost instead of Qt
---
.../cfgs/DebugObserver.untouched.cfg | 84 ++++
...ProviderDynamicSimulationApp.untouched.cfg | 286 ++++++++++++
.../cfgs/HeadIKUnit.untouched.cfg | 91 ++++
.../xmlCache/ArmarXCore.DebugObserver.xml | 200 ++++++++
...DepthImageProviderDynamicSimulationApp.xml | 439 ++++++++++++++++++
.../xmlCache/RobotAPI.HeadIKUnit.xml | 261 +++++++++++
.../data_structure/ApplicationInstance.cpp | 13 +-
.../data_structure/ApplicationInstance.h | 5 +
.../ScenarioManager/executor/LinuxStarter.cpp | 2 +-
.../gui/detailedapplicationview.cpp | 2 +-
.../ScenarioManager/parser/PackageBuilder.cpp | 2 +-
.../ScenarioManager/parser/iceparser.cpp | 49 +-
.../test/XMLScenarioParserTest.cpp | 243 ++++++++--
13 files changed, 1589 insertions(+), 88 deletions(-)
create mode 100644 data/ArmarXGui/ScenarioManagerTestData/cfgs/DebugObserver.untouched.cfg
create mode 100644 data/ArmarXGui/ScenarioManagerTestData/cfgs/DepthImageProviderDynamicSimulationApp.untouched.cfg
create mode 100644 data/ArmarXGui/ScenarioManagerTestData/cfgs/HeadIKUnit.untouched.cfg
create mode 100644 data/ArmarXGui/ScenarioManagerTestData/xmlCache/ArmarXCore.DebugObserver.xml
create mode 100644 data/ArmarXGui/ScenarioManagerTestData/xmlCache/ArmarXSimulation.DepthImageProviderDynamicSimulationApp.xml
create mode 100644 data/ArmarXGui/ScenarioManagerTestData/xmlCache/RobotAPI.HeadIKUnit.xml
diff --git a/data/ArmarXGui/ScenarioManagerTestData/cfgs/DebugObserver.untouched.cfg b/data/ArmarXGui/ScenarioManagerTestData/cfgs/DebugObserver.untouched.cfg
new file mode 100644
index 00000000..1806791a
--- /dev/null
+++ b/data/ArmarXGui/ScenarioManagerTestData/cfgs/DebugObserver.untouched.cfg
@@ -0,0 +1,84 @@
+# ==================================================================
+# ArmarX properties
+# ==================================================================
+
+# ArmarX.CachePath: Path for cache files
+# Attributes:
+# - Default: ${HOME}/.armarx/mongo/.cache
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.CachePath = ${HOME}/.armarx/mongo/.cache
+
+
+# ArmarX.DataPath: Semicolon-separated search list for data files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.DataPath = ""
+
+
+# ArmarX.Verbosity: Global logging level for whole application
+# Attributes:
+# - Default: Verbose
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
+# ArmarX.Verbosity = Verbose
+
+
+# ArmarX.DisableLogging: Turn logging off in whole application
+# Attributes:
+# - Default: 0
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DisableLogging = 0
+
+
+# ArmarX.ApplicationName: Application name
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.ApplicationName = ""
+
+
+# ArmarX.DatapathConfig: Path to the (usually generated) config file containing all data paths of all dependent projects. This property usually does not need to be edited.
+# Attributes:
+# - Default: ./config/datapath.cfg
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.DatapathConfig = ./config/datapath.cfg
+
+
+# ArmarX.Config: Comma-separated list of configuration files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.Config = ""
+
+
+# ==================================================================
+# ArmarX.DebugObserver properties
+# ==================================================================
+
+# ArmarX.DebugObserver.MinimumLoggingLevel: Local logging level only for this component
+# Attributes:
+# - Default: Undefined
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {Error, Fatal, Info, Undefined, Verbose, Warning}
+# ArmarX.DebugObserver.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.DebugObserver.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.DebugObserver.ObjectName = ""
+
+
+
diff --git a/data/ArmarXGui/ScenarioManagerTestData/cfgs/DepthImageProviderDynamicSimulationApp.untouched.cfg b/data/ArmarXGui/ScenarioManagerTestData/cfgs/DepthImageProviderDynamicSimulationApp.untouched.cfg
new file mode 100644
index 00000000..a81b702b
--- /dev/null
+++ b/data/ArmarXGui/ScenarioManagerTestData/cfgs/DepthImageProviderDynamicSimulationApp.untouched.cfg
@@ -0,0 +1,286 @@
+# ==================================================================
+# ArmarX properties
+# ==================================================================
+
+# ArmarX.EnableProfiling: Enable profiling of CPU load produced by this application
+# Attributes:
+# - Default: 0
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.EnableProfiling = 0
+
+
+# ArmarX.DataPath: Semicolon-separated search list for data files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.DataPath = ""
+
+
+# ArmarX.Verbosity: Global logging level for whole application
+# Attributes:
+# - Default: Verbose
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
+# ArmarX.Verbosity = Verbose
+
+
+# ArmarX.DisableLogging: Turn logging off in whole application
+# Attributes:
+# - Default: 0
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DisableLogging = 0
+
+
+# ArmarX.CachePath: Path for cache files
+# Attributes:
+# - Default: ${HOME}/.armarx/mongo/.cache
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.CachePath = ${HOME}/.armarx/mongo/.cache
+
+
+# ArmarX.ApplicationName: Application name
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.ApplicationName = ""
+
+
+# ArmarX.DefaultPackages: List of ArmarX packages which are accessible by default
+# Attributes:
+# - Default: ArmarXCore, ArmarXGui, MemoryX, RobotAPI, RobotComponents, RobotSkillTemplates, ArmarXSimulation, VisionX, SpeechX, Armar3, Armar4
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.DefaultPackages = ArmarXCore, ArmarXGui, MemoryX, RobotAPI, RobotComponents, RobotSkillTemplates, ArmarXSimulation, VisionX, SpeechX, Armar3, Armar4
+
+
+# ArmarX.DependenciesConfig: Path to the (usually generated) config file containing all data paths of all dependent projects. This property usually does not need to be edited.
+# Attributes:
+# - Default: ./config/dependencies.cfg
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.DependenciesConfig = ./config/dependencies.cfg
+
+
+# ArmarX.RedirectStdout: Redirect std::cout and std::cerr to ArmarXLog
+# Attributes:
+# - Default: 1
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RedirectStdout = 1
+
+
+# ArmarX.Config: Comma-separated list of configuration files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.Config = ""
+
+
+# ==================================================================
+# ArmarX.DynamicSimulationDepthImageProvider properties
+# ==================================================================
+
+# ArmarX.DynamicSimulationDepthImageProvider.DrawPointCloud_ClipZLo: Skip points with z lower than this limit.
+# Attributes:
+# - Default: -25000
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.DynamicSimulationDepthImageProvider.DrawPointCloud_ClipZLo = -25000
+
+
+# ArmarX.DynamicSimulationDepthImageProvider.DrawPointCloud_ClipYLo: Skip points with y lower than this limit.
+# Attributes:
+# - Default: -25000
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.DynamicSimulationDepthImageProvider.DrawPointCloud_ClipYLo = -25000
+
+
+# ArmarX.DynamicSimulationDepthImageProvider.DrawPointCloud_ClipZHi: Skip points with z higher than this limit.
+# Attributes:
+# - Default: 25000
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.DynamicSimulationDepthImageProvider.DrawPointCloud_ClipZHi = 25000
+
+
+# ArmarX.DynamicSimulationDepthImageProvider.DrawPointCloud_ClipPoints: Whether to clip the point cloud drawn to the given DebugDrawerTopic
+# Attributes:
+# - Default: 1
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DynamicSimulationDepthImageProvider.DrawPointCloud_ClipPoints = 1
+
+
+# ArmarX.DynamicSimulationDepthImageProvider.DrawPointCloud_PointSize: The size of a point.
+# Attributes:
+# - Default: 4
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.DynamicSimulationDepthImageProvider.DrawPointCloud_PointSize = 4
+
+
+# ArmarX.DynamicSimulationDepthImageProvider.DrawPointCloud_DrawDelay: The time between updates of the drawn point cloud (in ms)
+# Attributes:
+# - Default: 1000
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.DynamicSimulationDepthImageProvider.DrawPointCloud_DrawDelay = 1000
+
+
+# ArmarX.DynamicSimulationDepthImageProvider.RobotName: The robot
+# Attributes:
+# - Default: Armar3
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.DynamicSimulationDepthImageProvider.RobotName = Armar3
+
+
+# ArmarX.DynamicSimulationDepthImageProvider.DrawPointCloud_ClipXHi: Skip points with x higher than this limit.
+# Attributes:
+# - Default: 25000
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.DynamicSimulationDepthImageProvider.DrawPointCloud_ClipXHi = 25000
+
+
+# ArmarX.DynamicSimulationDepthImageProvider.FOV: Vertical FOV in rad.
+# Attributes:
+# - Default: 0.785398185
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.DynamicSimulationDepthImageProvider.FOV = 0.785398185
+
+
+# ArmarX.DynamicSimulationDepthImageProvider.DrawPointCloud_PointSkip: Only draw every n'th point in x and y direction (n=DrawPointCloud_PointSkip). Increase this whenever the ice buffer size is to small to transmitt the cloud size. (>0)
+# Attributes:
+# - Default: 3
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.DynamicSimulationDepthImageProvider.DrawPointCloud_PointSkip = 3
+
+
+# ArmarX.DynamicSimulationDepthImageProvider.DrawPointCloud_ClipXLo: Skip points with x lower than this limit.
+# Attributes:
+# - Default: -25000
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.DynamicSimulationDepthImageProvider.DrawPointCloud_ClipXLo = -25000
+
+
+# ArmarX.DynamicSimulationDepthImageProvider.RobotNodeCamera: The coordinate system of the used camera
+# Attributes:
+# - Default: DepthCameraSim
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.DynamicSimulationDepthImageProvider.RobotNodeCamera = DepthCameraSim
+
+
+# ArmarX.DynamicSimulationDepthImageProvider.DrawPointCloud: Whether the point cloud is drawn to the given DebugDrawerTopic
+# Attributes:
+# - Default: 0
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DynamicSimulationDepthImageProvider.DrawPointCloud = 0
+
+
+# ArmarX.DynamicSimulationDepthImageProvider.DistanceZNear: Distance of the near clipping plain. (If set to small the agent's model's inside may be visible
+# Attributes:
+# - Default: 20
+# - Min: 1e-08
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.DynamicSimulationDepthImageProvider.DistanceZNear = 20
+
+
+# ArmarX.DynamicSimulationDepthImageProvider.ImageSize: Target resolution of the images. Captured images will be converted to this size.
+# Attributes:
+# - Default: 640x480
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {1024x768, 1280x960, 1600x1200, 320x240, 640x480, 768x576, 800x600, none}
+# ArmarX.DynamicSimulationDepthImageProvider.ImageSize = 640x480
+
+
+# ArmarX.DynamicSimulationDepthImageProvider.EnableProfiling: enable profiler which is used for logging performance events
+# Attributes:
+# - Default: 0
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DynamicSimulationDepthImageProvider.EnableProfiling = 0
+
+
+# ArmarX.DynamicSimulationDepthImageProvider.MinimumLoggingLevel: Local logging level only for this component
+# Attributes:
+# - Default: Undefined
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
+# ArmarX.DynamicSimulationDepthImageProvider.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.DynamicSimulationDepthImageProvider.FrameRate: Frames per second
+# Attributes:
+# - Default: 30
+# - Bounds: [0; 60]
+# - Case sensitivity: no
+# - Required: no
+# - Format: \d+(.\d*)?
+# ArmarX.DynamicSimulationDepthImageProvider.FrameRate = 30
+
+
+# ArmarX.DynamicSimulationDepthImageProvider.DrawPointCloud_ClipYHi: Skip points with y higher than this limit.
+# Attributes:
+# - Default: 25000
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.DynamicSimulationDepthImageProvider.DrawPointCloud_ClipYHi = 25000
+
+
+# ArmarX.DynamicSimulationDepthImageProvider.DrawPointCloud_DebugDrawerTopic: Name of the DebugDrawerTopic
+# Attributes:
+# - Default: DebugDrawerUpdates
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.DynamicSimulationDepthImageProvider.DrawPointCloud_DebugDrawerTopic = DebugDrawerUpdates
+
+
+# ArmarX.DynamicSimulationDepthImageProvider.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.DynamicSimulationDepthImageProvider.ObjectName = ""
+
+
+# ArmarX.DynamicSimulationDepthImageProvider.DistanceZFar: Distance of the far clipping plain. (DistanceZFar-DistanceZNear should be minimal, DistanceZFar > DistanceZNear)
+# Attributes:
+# - Default: 5000
+# - Min: 1e-08
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.DynamicSimulationDepthImageProvider.DistanceZFar = 5000
+
+
+# ArmarX.DynamicSimulationDepthImageProvider.BaseLine: The value returned from getBaseline(). It has no other effect.
+# Attributes:
+# - Default: 0.075000003
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.DynamicSimulationDepthImageProvider.BaseLine = 0.075000003
+
+
+
diff --git a/data/ArmarXGui/ScenarioManagerTestData/cfgs/HeadIKUnit.untouched.cfg b/data/ArmarXGui/ScenarioManagerTestData/cfgs/HeadIKUnit.untouched.cfg
new file mode 100644
index 00000000..8123d930
--- /dev/null
+++ b/data/ArmarXGui/ScenarioManagerTestData/cfgs/HeadIKUnit.untouched.cfg
@@ -0,0 +1,91 @@
+# ==================================================================
+# ArmarX properties
+# ==================================================================
+
+# ArmarX.CachePath: Path for cache files
+# Attributes:
+# - Default: ${HOME}/.armarx/mongo/.cache
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.CachePath = ${HOME}/.armarx/mongo/.cache
+
+
+# ArmarX.DataPath: Semicolon-separated search list for data files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.DataPath = ""
+
+
+# ArmarX.Verbosity: Global logging level for whole application
+# Attributes:
+# - Default: Verbose
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
+# ArmarX.Verbosity = Verbose
+
+
+# ArmarX.DisableLogging: Turn logging off in whole application
+# Attributes:
+# - Default: 0
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DisableLogging = 0
+
+
+# ArmarX.ApplicationName: Application name
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.ApplicationName = ""
+
+
+# ArmarX.Config: Comma-separated list of configuration files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.Config = ""
+
+
+# ==================================================================
+# ArmarX.HeadIKUnit properties
+# ==================================================================
+
+# ArmarX.HeadIKUnit.CycleTime: Cycle time of the tcp control in ms
+# Attributes:
+# - Default: 30
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.HeadIKUnit.CycleTime = 30
+
+
+# ArmarX.HeadIKUnit.MinimumLoggingLevel: Local logging level only for this component
+# Attributes:
+# - Default: Undefined
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {Error, Fatal, Info, Undefined, Verbose, Warning}
+# ArmarX.HeadIKUnit.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.HeadIKUnit.KinematicUnitName: Name of the KinematicUnit Proxy
+# Attributes:
+# - Case sensitivity: no
+# - Required: yes
+ArmarX.HeadIKUnit.KinematicUnitName = "Armar3KinematicUnit"
+
+
+# ArmarX.HeadIKUnit.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.HeadIKUnit.ObjectName = ""
+
+
+
diff --git a/data/ArmarXGui/ScenarioManagerTestData/xmlCache/ArmarXCore.DebugObserver.xml b/data/ArmarXGui/ScenarioManagerTestData/xmlCache/ArmarXCore.DebugObserver.xml
new file mode 100644
index 00000000..c51e4a09
--- /dev/null
+++ b/data/ArmarXGui/ScenarioManagerTestData/xmlCache/ArmarXCore.DebugObserver.xml
@@ -0,0 +1,200 @@
+<!-- ArmarX properties -->
+
+<property name="ArmarX.ApplicationName">
+ <description>Application name</description>
+ <attributes>
+ <attribute name="ArmarX.Default">""</attribute>
+ <attribute name="ArmarX.CaseSensitivity">no</attribute>
+ <attribute name="ArmarX.Required">no</attribute>
+ </attributes>
+</property>
+
+<property name="ArmarX.CachePath">
+ <description>Path for cache files</description>
+ <attributes>
+ <attribute name="ArmarX.Default">${HOME}/.armarx/mongo/.cache</attribute>
+ <attribute name="ArmarX.CaseSensitivity">no</attribute>
+ <attribute name="ArmarX.Required">no</attribute>
+ </attributes>
+</property>
+
+<property name="ArmarX.Config">
+ <description>Comma-separated list of configuration files </description>
+ <attributes>
+ <attribute name="ArmarX.Default">""</attribute>
+ <attribute name="ArmarX.CaseSensitivity">no</attribute>
+ <attribute name="ArmarX.Required">no</attribute>
+ </attributes>
+</property>
+
+<property name="ArmarX.DataPath">
+ <description>Semicolon-separated search list for data files</description>
+ <attributes>
+ <attribute name="ArmarX.Default">""</attribute>
+ <attribute name="ArmarX.CaseSensitivity">no</attribute>
+ <attribute name="ArmarX.Required">no</attribute>
+ </attributes>
+</property>
+
+<property name="ArmarX.DefaultPackages">
+ <description>List of ArmarX packages which are accessible by default</description>
+ <attributes>
+ <attribute name="ArmarX.Default">ArmarXCore, ArmarXGui, MemoryX, RobotAPI, RobotComponents, RobotSkillTemplates, ArmarXSimulation, VisionX, SpeechX, Armar3, Armar4</attribute>
+ <attribute name="ArmarX.CaseSensitivity">no</attribute>
+ <attribute name="ArmarX.Required">no</attribute>
+ </attributes>
+</property>
+
+<property name="ArmarX.DependenciesConfig">
+ <description>Path to the (usually generated) config file containing all data paths of all dependent projects. This property usually does not need to be edited.</description>
+ <attributes>
+ <attribute name="ArmarX.Default">./config/dependencies.cfg</attribute>
+ <attribute name="ArmarX.CaseSensitivity">no</attribute>
+ <attribute name="ArmarX.Required">no</attribute>
+ </attributes>
+</property>
+
+<property name="ArmarX.DisableLogging">
+ <description>Turn logging off in whole application</description>
+ <attributes>
+ <attribute name="ArmarX.Default">0</attribute>
+ <attribute name="ArmarX.CaseSensitivity">no</attribute>
+ <attribute name="ArmarX.Required">no</attribute>
+ <values>
+ <value>0</value>
+ <value>1</value>
+ <value>false</value>
+ <value>no</value>
+ <value>true</value>
+ <value>yes</value>
+ </values>
+ </attributes>
+</property>
+
+<property name="ArmarX.EnableProfiling">
+ <description>Enable profiling of CPU load produced by this application</description>
+ <attributes>
+ <attribute name="ArmarX.Default">0</attribute>
+ <attribute name="ArmarX.CaseSensitivity">no</attribute>
+ <attribute name="ArmarX.Required">no</attribute>
+ <values>
+ <value>0</value>
+ <value>1</value>
+ <value>false</value>
+ <value>no</value>
+ <value>true</value>
+ <value>yes</value>
+ </values>
+ </attributes>
+</property>
+
+<property name="ArmarX.RedirectStdout">
+ <description>Redirect std::cout and std::cerr to ArmarXLog</description>
+ <attributes>
+ <attribute name="ArmarX.Default">1</attribute>
+ <attribute name="ArmarX.CaseSensitivity">no</attribute>
+ <attribute name="ArmarX.Required">no</attribute>
+ <values>
+ <value>0</value>
+ <value>1</value>
+ <value>false</value>
+ <value>no</value>
+ <value>true</value>
+ <value>yes</value>
+ </values>
+ </attributes>
+</property>
+
+<property name="ArmarX.RemoteHandlesDeletionTimeout">
+ <description>The timeout (in ms) before a remote handle deletes the managed object after the use count reached 0. This time can be used by a client to increment the count again (may be required when transmitting remote handles)</description>
+ <attributes>
+ <attribute name="ArmarX.Default">3000</attribute>
+ <attribute name="ArmarX.CaseSensitivity">no</attribute>
+ <attribute name="ArmarX.Required">no</attribute>
+ </attributes>
+</property>
+
+<property name="ArmarX.UseTimeServer">
+ <description>Enable using a global Timeserver (e.g. from ArmarXSimulator)</description>
+ <attributes>
+ <attribute name="ArmarX.Default">0</attribute>
+ <attribute name="ArmarX.CaseSensitivity">no</attribute>
+ <attribute name="ArmarX.Required">no</attribute>
+ <values>
+ <value>0</value>
+ <value>1</value>
+ <value>false</value>
+ <value>no</value>
+ <value>true</value>
+ <value>yes</value>
+ </values>
+ </attributes>
+</property>
+
+<property name="ArmarX.Verbosity">
+ <description>Global logging level for whole application</description>
+ <attributes>
+ <attribute name="ArmarX.Default">Verbose</attribute>
+ <attribute name="ArmarX.CaseSensitivity">no</attribute>
+ <attribute name="ArmarX.Required">no</attribute>
+ <values>
+ <value>Debug</value>
+ <value>Error</value>
+ <value>Fatal</value>
+ <value>Important</value>
+ <value>Info</value>
+ <value>Undefined</value>
+ <value>Verbose</value>
+ <value>Warning</value>
+ </values>
+ </attributes>
+</property>
+
+<!-- ArmarX.DebugObserver properties -->
+
+<property name="ArmarX.DebugObserver.EnableProfiling">
+ <description>enable profiler which is used for logging performance events</description>
+ <attributes>
+ <attribute name="ArmarX.DebugObserver.Default">0</attribute>
+ <attribute name="ArmarX.DebugObserver.CaseSensitivity">no</attribute>
+ <attribute name="ArmarX.DebugObserver.Required">no</attribute>
+ <values>
+ <value>0</value>
+ <value>1</value>
+ <value>false</value>
+ <value>no</value>
+ <value>true</value>
+ <value>yes</value>
+ </values>
+ </attributes>
+</property>
+
+<property name="ArmarX.DebugObserver.MinimumLoggingLevel">
+ <description>Local logging level only for this component</description>
+ <attributes>
+ <attribute name="ArmarX.DebugObserver.Default">Undefined</attribute>
+ <attribute name="ArmarX.DebugObserver.CaseSensitivity">no</attribute>
+ <attribute name="ArmarX.DebugObserver.Required">no</attribute>
+ <values>
+ <value>Debug</value>
+ <value>Error</value>
+ <value>Fatal</value>
+ <value>Important</value>
+ <value>Info</value>
+ <value>Undefined</value>
+ <value>Verbose</value>
+ <value>Warning</value>
+ </values>
+ </attributes>
+</property>
+
+<property name="ArmarX.DebugObserver.ObjectName">
+ <description>Name of IceGrid well-known object</description>
+ <attributes>
+ <attribute name="ArmarX.DebugObserver.Default">""</attribute>
+ <attribute name="ArmarX.DebugObserver.CaseSensitivity">no</attribute>
+ <attribute name="ArmarX.DebugObserver.Required">no</attribute>
+ </attributes>
+</property>
+
+
diff --git a/data/ArmarXGui/ScenarioManagerTestData/xmlCache/ArmarXSimulation.DepthImageProviderDynamicSimulationApp.xml b/data/ArmarXGui/ScenarioManagerTestData/xmlCache/ArmarXSimulation.DepthImageProviderDynamicSimulationApp.xml
new file mode 100644
index 00000000..ecb58b9f
--- /dev/null
+++ b/data/ArmarXGui/ScenarioManagerTestData/xmlCache/ArmarXSimulation.DepthImageProviderDynamicSimulationApp.xml
@@ -0,0 +1,439 @@
+<!-- ArmarX properties -->
+
+<property name="ArmarX.ApplicationName">
+ <description>Application name</description>
+ <attributes>
+ <attribute name="ArmarX.Default">""</attribute>
+ <attribute name="ArmarX.CaseSensitivity">no</attribute>
+ <attribute name="ArmarX.Required">no</attribute>
+ </attributes>
+</property>
+
+<property name="ArmarX.CachePath">
+ <description>Path for cache files</description>
+ <attributes>
+ <attribute name="ArmarX.Default">${HOME}/.armarx/mongo/.cache</attribute>
+ <attribute name="ArmarX.CaseSensitivity">no</attribute>
+ <attribute name="ArmarX.Required">no</attribute>
+ </attributes>
+</property>
+
+<property name="ArmarX.Config">
+ <description>Comma-separated list of configuration files </description>
+ <attributes>
+ <attribute name="ArmarX.Default">""</attribute>
+ <attribute name="ArmarX.CaseSensitivity">no</attribute>
+ <attribute name="ArmarX.Required">no</attribute>
+ </attributes>
+</property>
+
+<property name="ArmarX.DataPath">
+ <description>Semicolon-separated search list for data files</description>
+ <attributes>
+ <attribute name="ArmarX.Default">""</attribute>
+ <attribute name="ArmarX.CaseSensitivity">no</attribute>
+ <attribute name="ArmarX.Required">no</attribute>
+ </attributes>
+</property>
+
+<property name="ArmarX.DefaultPackages">
+ <description>List of ArmarX packages which are accessible by default</description>
+ <attributes>
+ <attribute name="ArmarX.Default">ArmarXCore, ArmarXGui, MemoryX, RobotAPI, RobotComponents, RobotSkillTemplates, ArmarXSimulation, VisionX, SpeechX, Armar3, Armar4</attribute>
+ <attribute name="ArmarX.CaseSensitivity">no</attribute>
+ <attribute name="ArmarX.Required">no</attribute>
+ </attributes>
+</property>
+
+<property name="ArmarX.DependenciesConfig">
+ <description>Path to the (usually generated) config file containing all data paths of all dependent projects. This property usually does not need to be edited.</description>
+ <attributes>
+ <attribute name="ArmarX.Default">./config/dependencies.cfg</attribute>
+ <attribute name="ArmarX.CaseSensitivity">no</attribute>
+ <attribute name="ArmarX.Required">no</attribute>
+ </attributes>
+</property>
+
+<property name="ArmarX.DisableLogging">
+ <description>Turn logging off in whole application</description>
+ <attributes>
+ <attribute name="ArmarX.Default">0</attribute>
+ <attribute name="ArmarX.CaseSensitivity">no</attribute>
+ <attribute name="ArmarX.Required">no</attribute>
+ <values>
+ <value>0</value>
+ <value>1</value>
+ <value>false</value>
+ <value>no</value>
+ <value>true</value>
+ <value>yes</value>
+ </values>
+ </attributes>
+</property>
+
+<property name="ArmarX.EnableProfiling">
+ <description>Enable profiling of CPU load produced by this application</description>
+ <attributes>
+ <attribute name="ArmarX.Default">0</attribute>
+ <attribute name="ArmarX.CaseSensitivity">no</attribute>
+ <attribute name="ArmarX.Required">no</attribute>
+ <values>
+ <value>0</value>
+ <value>1</value>
+ <value>false</value>
+ <value>no</value>
+ <value>true</value>
+ <value>yes</value>
+ </values>
+ </attributes>
+</property>
+
+<property name="ArmarX.RedirectStdout">
+ <description>Redirect std::cout and std::cerr to ArmarXLog</description>
+ <attributes>
+ <attribute name="ArmarX.Default">1</attribute>
+ <attribute name="ArmarX.CaseSensitivity">no</attribute>
+ <attribute name="ArmarX.Required">no</attribute>
+ <values>
+ <value>0</value>
+ <value>1</value>
+ <value>false</value>
+ <value>no</value>
+ <value>true</value>
+ <value>yes</value>
+ </values>
+ </attributes>
+</property>
+
+<property name="ArmarX.RemoteHandlesDeletionTimeout">
+ <description>The timeout (in ms) before a remote handle deletes the managed object after the use count reached 0. This time can be used by a client to increment the count again (may be required when transmitting remote handles)</description>
+ <attributes>
+ <attribute name="ArmarX.Default">3000</attribute>
+ <attribute name="ArmarX.CaseSensitivity">no</attribute>
+ <attribute name="ArmarX.Required">no</attribute>
+ </attributes>
+</property>
+
+<property name="ArmarX.UseTimeServer">
+ <description>Enable using a global Timeserver (e.g. from ArmarXSimulator)</description>
+ <attributes>
+ <attribute name="ArmarX.Default">0</attribute>
+ <attribute name="ArmarX.CaseSensitivity">no</attribute>
+ <attribute name="ArmarX.Required">no</attribute>
+ <values>
+ <value>0</value>
+ <value>1</value>
+ <value>false</value>
+ <value>no</value>
+ <value>true</value>
+ <value>yes</value>
+ </values>
+ </attributes>
+</property>
+
+<property name="ArmarX.Verbosity">
+ <description>Global logging level for whole application</description>
+ <attributes>
+ <attribute name="ArmarX.Default">Verbose</attribute>
+ <attribute name="ArmarX.CaseSensitivity">no</attribute>
+ <attribute name="ArmarX.Required">no</attribute>
+ <values>
+ <value>Debug</value>
+ <value>Error</value>
+ <value>Fatal</value>
+ <value>Important</value>
+ <value>Info</value>
+ <value>Undefined</value>
+ <value>Verbose</value>
+ <value>Warning</value>
+ </values>
+ </attributes>
+</property>
+
+<!-- ArmarX.DynamicSimulationDepthImageProvider properties -->
+
+<property name="ArmarX.DynamicSimulationDepthImageProvider.BaseLine">
+ <description>The value returned from getBaseline(). It has no other effect.</description>
+ <attributes>
+ <attribute name="ArmarX.DynamicSimulationDepthImageProvider.Default">0.075000003</attribute>
+ <attribute name="ArmarX.DynamicSimulationDepthImageProvider.CaseSensitivity">no</attribute>
+ <attribute name="ArmarX.DynamicSimulationDepthImageProvider.Required">no</attribute>
+ </attributes>
+</property>
+
+<property name="ArmarX.DynamicSimulationDepthImageProvider.DistanceZFar">
+ <description>Distance of the far clipping plain. (DistanceZFar-DistanceZNear should be minimal, DistanceZFar > DistanceZNear)</description>
+ <attributes>
+ <attribute name="ArmarX.DynamicSimulationDepthImageProvider.Default">5000</attribute>
+ <attribute name="ArmarX.DynamicSimulationDepthImageProvider.min">1e-08</attribute>
+ <attribute name="ArmarX.DynamicSimulationDepthImageProvider.CaseSensitivity">no</attribute>
+ <attribute name="ArmarX.DynamicSimulationDepthImageProvider.Required">no</attribute>
+ </attributes>
+</property>
+
+<property name="ArmarX.DynamicSimulationDepthImageProvider.DistanceZNear">
+ <description>Distance of the near clipping plain. (If set to small the agent's model's inside may be visible</description>
+ <attributes>
+ <attribute name="ArmarX.DynamicSimulationDepthImageProvider.Default">20</attribute>
+ <attribute name="ArmarX.DynamicSimulationDepthImageProvider.min">1e-08</attribute>
+ <attribute name="ArmarX.DynamicSimulationDepthImageProvider.CaseSensitivity">no</attribute>
+ <attribute name="ArmarX.DynamicSimulationDepthImageProvider.Required">no</attribute>
+ </attributes>
+</property>
+
+<property name="ArmarX.DynamicSimulationDepthImageProvider.DrawPointCloud">
+ <description>Whether the point cloud is drawn to the given DebugDrawerTopic</description>
+ <attributes>
+ <attribute name="ArmarX.DynamicSimulationDepthImageProvider.Default">0</attribute>
+ <attribute name="ArmarX.DynamicSimulationDepthImageProvider.CaseSensitivity">no</attribute>
+ <attribute name="ArmarX.DynamicSimulationDepthImageProvider.Required">no</attribute>
+ <values>
+ <value>0</value>
+ <value>1</value>
+ <value>false</value>
+ <value>no</value>
+ <value>true</value>
+ <value>yes</value>
+ </values>
+ </attributes>
+</property>
+
+<property name="ArmarX.DynamicSimulationDepthImageProvider.DrawPointCloud_ClipPoints">
+ <description>Whether to clip the point cloud drawn to the given DebugDrawerTopic</description>
+ <attributes>
+ <attribute name="ArmarX.DynamicSimulationDepthImageProvider.Default">1</attribute>
+ <attribute name="ArmarX.DynamicSimulationDepthImageProvider.CaseSensitivity">no</attribute>
+ <attribute name="ArmarX.DynamicSimulationDepthImageProvider.Required">no</attribute>
+ <values>
+ <value>0</value>
+ <value>1</value>
+ <value>false</value>
+ <value>no</value>
+ <value>true</value>
+ <value>yes</value>
+ </values>
+ </attributes>
+</property>
+
+<property name="ArmarX.DynamicSimulationDepthImageProvider.DrawPointCloud_ClipXHi">
+ <description>Skip points with x higher than this limit.</description>
+ <attributes>
+ <attribute name="ArmarX.DynamicSimulationDepthImageProvider.Default">25000</attribute>
+ <attribute name="ArmarX.DynamicSimulationDepthImageProvider.CaseSensitivity">no</attribute>
+ <attribute name="ArmarX.DynamicSimulationDepthImageProvider.Required">no</attribute>
+ </attributes>
+</property>
+
+<property name="ArmarX.DynamicSimulationDepthImageProvider.DrawPointCloud_ClipXLo">
+ <description>Skip points with x lower than this limit.</description>
+ <attributes>
+ <attribute name="ArmarX.DynamicSimulationDepthImageProvider.Default">-25000</attribute>
+ <attribute name="ArmarX.DynamicSimulationDepthImageProvider.CaseSensitivity">no</attribute>
+ <attribute name="ArmarX.DynamicSimulationDepthImageProvider.Required">no</attribute>
+ </attributes>
+</property>
+
+<property name="ArmarX.DynamicSimulationDepthImageProvider.DrawPointCloud_ClipYHi">
+ <description>Skip points with y higher than this limit.</description>
+ <attributes>
+ <attribute name="ArmarX.DynamicSimulationDepthImageProvider.Default">25000</attribute>
+ <attribute name="ArmarX.DynamicSimulationDepthImageProvider.CaseSensitivity">no</attribute>
+ <attribute name="ArmarX.DynamicSimulationDepthImageProvider.Required">no</attribute>
+ </attributes>
+</property>
+
+<property name="ArmarX.DynamicSimulationDepthImageProvider.DrawPointCloud_ClipYLo">
+ <description>Skip points with y lower than this limit.</description>
+ <attributes>
+ <attribute name="ArmarX.DynamicSimulationDepthImageProvider.Default">-25000</attribute>
+ <attribute name="ArmarX.DynamicSimulationDepthImageProvider.CaseSensitivity">no</attribute>
+ <attribute name="ArmarX.DynamicSimulationDepthImageProvider.Required">no</attribute>
+ </attributes>
+</property>
+
+<property name="ArmarX.DynamicSimulationDepthImageProvider.DrawPointCloud_ClipZHi">
+ <description>Skip points with z higher than this limit.</description>
+ <attributes>
+ <attribute name="ArmarX.DynamicSimulationDepthImageProvider.Default">25000</attribute>
+ <attribute name="ArmarX.DynamicSimulationDepthImageProvider.CaseSensitivity">no</attribute>
+ <attribute name="ArmarX.DynamicSimulationDepthImageProvider.Required">no</attribute>
+ </attributes>
+</property>
+
+<property name="ArmarX.DynamicSimulationDepthImageProvider.DrawPointCloud_ClipZLo">
+ <description>Skip points with z lower than this limit.</description>
+ <attributes>
+ <attribute name="ArmarX.DynamicSimulationDepthImageProvider.Default">-25000</attribute>
+ <attribute name="ArmarX.DynamicSimulationDepthImageProvider.CaseSensitivity">no</attribute>
+ <attribute name="ArmarX.DynamicSimulationDepthImageProvider.Required">no</attribute>
+ </attributes>
+</property>
+
+<property name="ArmarX.DynamicSimulationDepthImageProvider.DrawPointCloud_DebugDrawerTopic">
+ <description>Name of the DebugDrawerTopic</description>
+ <attributes>
+ <attribute name="ArmarX.DynamicSimulationDepthImageProvider.Default">DebugDrawerUpdates</attribute>
+ <attribute name="ArmarX.DynamicSimulationDepthImageProvider.CaseSensitivity">no</attribute>
+ <attribute name="ArmarX.DynamicSimulationDepthImageProvider.Required">no</attribute>
+ </attributes>
+</property>
+
+<property name="ArmarX.DynamicSimulationDepthImageProvider.DrawPointCloud_DrawDelay">
+ <description>The time between updates of the drawn point cloud (in ms)</description>
+ <attributes>
+ <attribute name="ArmarX.DynamicSimulationDepthImageProvider.Default">1000</attribute>
+ <attribute name="ArmarX.DynamicSimulationDepthImageProvider.CaseSensitivity">no</attribute>
+ <attribute name="ArmarX.DynamicSimulationDepthImageProvider.Required">no</attribute>
+ </attributes>
+</property>
+
+<property name="ArmarX.DynamicSimulationDepthImageProvider.DrawPointCloud_PointSize">
+ <description>The size of a point.</description>
+ <attributes>
+ <attribute name="ArmarX.DynamicSimulationDepthImageProvider.Default">4</attribute>
+ <attribute name="ArmarX.DynamicSimulationDepthImageProvider.CaseSensitivity">no</attribute>
+ <attribute name="ArmarX.DynamicSimulationDepthImageProvider.Required">no</attribute>
+ </attributes>
+</property>
+
+<property name="ArmarX.DynamicSimulationDepthImageProvider.DrawPointCloud_PointSkip">
+ <description>Only draw every n'th point in x and y direction (n=DrawPointCloud_PointSkip). Increase this whenever the ice buffer size is to small to transmitt the cloud size. (>0)</description>
+ <attributes>
+ <attribute name="ArmarX.DynamicSimulationDepthImageProvider.Default">3</attribute>
+ <attribute name="ArmarX.DynamicSimulationDepthImageProvider.CaseSensitivity">no</attribute>
+ <attribute name="ArmarX.DynamicSimulationDepthImageProvider.Required">no</attribute>
+ </attributes>
+</property>
+
+<property name="ArmarX.DynamicSimulationDepthImageProvider.EnableProfiling">
+ <description>enable profiler which is used for logging performance events</description>
+ <attributes>
+ <attribute name="ArmarX.DynamicSimulationDepthImageProvider.Default">0</attribute>
+ <attribute name="ArmarX.DynamicSimulationDepthImageProvider.CaseSensitivity">no</attribute>
+ <attribute name="ArmarX.DynamicSimulationDepthImageProvider.Required">no</attribute>
+ <values>
+ <value>0</value>
+ <value>1</value>
+ <value>false</value>
+ <value>no</value>
+ <value>true</value>
+ <value>yes</value>
+ </values>
+ </attributes>
+</property>
+
+<property name="ArmarX.DynamicSimulationDepthImageProvider.FOV">
+ <description>Vertical FOV in rad.</description>
+ <attributes>
+ <attribute name="ArmarX.DynamicSimulationDepthImageProvider.Default">0.785398185</attribute>
+ <attribute name="ArmarX.DynamicSimulationDepthImageProvider.CaseSensitivity">no</attribute>
+ <attribute name="ArmarX.DynamicSimulationDepthImageProvider.Required">no</attribute>
+ </attributes>
+</property>
+
+<property name="ArmarX.DynamicSimulationDepthImageProvider.FrameRate">
+ <description>Frames per second</description>
+ <attributes>
+ <attribute name="ArmarX.DynamicSimulationDepthImageProvider.Default">30</attribute>
+ <attribute name="ArmarX.DynamicSimulationDepthImageProvider.min">0</attribute>
+ <attribute name="ArmarX.DynamicSimulationDepthImageProvider.max">60</attribute>
+ <attribute name="ArmarX.DynamicSimulationDepthImageProvider.CaseSensitivity">no</attribute>
+ <attribute name="ArmarX.DynamicSimulationDepthImageProvider.Required">no</attribute>
+ <attribute name="ArmarX.DynamicSimulationDepthImageProvider.Format">\d+(.\d*)?</attribute>
+ </attributes>
+</property>
+
+<property name="ArmarX.DynamicSimulationDepthImageProvider.ImageSize">
+ <description>Target resolution of the images. Captured images will be converted to this size.</description>
+ <attributes>
+ <attribute name="ArmarX.DynamicSimulationDepthImageProvider.Default">640x480</attribute>
+ <attribute name="ArmarX.DynamicSimulationDepthImageProvider.CaseSensitivity">no</attribute>
+ <attribute name="ArmarX.DynamicSimulationDepthImageProvider.Required">no</attribute>
+ <values>
+ <value>1024x768</value>
+ <value>1280x960</value>
+ <value>1600x1200</value>
+ <value>320x240</value>
+ <value>640x480</value>
+ <value>768x576</value>
+ <value>800x600</value>
+ <value>none</value>
+ </values>
+ </attributes>
+</property>
+
+<property name="ArmarX.DynamicSimulationDepthImageProvider.MinimumLoggingLevel">
+ <description>Local logging level only for this component</description>
+ <attributes>
+ <attribute name="ArmarX.DynamicSimulationDepthImageProvider.Default">Undefined</attribute>
+ <attribute name="ArmarX.DynamicSimulationDepthImageProvider.CaseSensitivity">no</attribute>
+ <attribute name="ArmarX.DynamicSimulationDepthImageProvider.Required">no</attribute>
+ <values>
+ <value>Debug</value>
+ <value>Error</value>
+ <value>Fatal</value>
+ <value>Important</value>
+ <value>Info</value>
+ <value>Undefined</value>
+ <value>Verbose</value>
+ <value>Warning</value>
+ </values>
+ </attributes>
+</property>
+
+<property name="ArmarX.DynamicSimulationDepthImageProvider.ObjectName">
+ <description>Name of IceGrid well-known object</description>
+ <attributes>
+ <attribute name="ArmarX.DynamicSimulationDepthImageProvider.Default">""</attribute>
+ <attribute name="ArmarX.DynamicSimulationDepthImageProvider.CaseSensitivity">no</attribute>
+ <attribute name="ArmarX.DynamicSimulationDepthImageProvider.Required">no</attribute>
+ </attributes>
+</property>
+
+<property name="ArmarX.DynamicSimulationDepthImageProvider.RobotName">
+ <description>The robot</description>
+ <attributes>
+ <attribute name="ArmarX.DynamicSimulationDepthImageProvider.Default">Armar3</attribute>
+ <attribute name="ArmarX.DynamicSimulationDepthImageProvider.CaseSensitivity">no</attribute>
+ <attribute name="ArmarX.DynamicSimulationDepthImageProvider.Required">no</attribute>
+ </attributes>
+</property>
+
+<property name="ArmarX.DynamicSimulationDepthImageProvider.RobotNodeCamera">
+ <description>The coordinate system of the used camera</description>
+ <attributes>
+ <attribute name="ArmarX.DynamicSimulationDepthImageProvider.Default">DepthCameraSim</attribute>
+ <attribute name="ArmarX.DynamicSimulationDepthImageProvider.CaseSensitivity">no</attribute>
+ <attribute name="ArmarX.DynamicSimulationDepthImageProvider.Required">no</attribute>
+ </attributes>
+</property>
+
+<property name="ArmarX.DynamicSimulationDepthImageProvider.framerate">
+ <description>framerate for the point clouds</description>
+ <attributes>
+ <attribute name="ArmarX.DynamicSimulationDepthImageProvider.Default">30</attribute>
+ <attribute name="ArmarX.DynamicSimulationDepthImageProvider.min">0</attribute>
+ <attribute name="ArmarX.DynamicSimulationDepthImageProvider.max">60</attribute>
+ <attribute name="ArmarX.DynamicSimulationDepthImageProvider.CaseSensitivity">no</attribute>
+ <attribute name="ArmarX.DynamicSimulationDepthImageProvider.Required">no</attribute>
+ </attributes>
+</property>
+
+<property name="ArmarX.DynamicSimulationDepthImageProvider.isEnabled">
+ <description>enable the capturing process immediately</description>
+ <attributes>
+ <attribute name="ArmarX.DynamicSimulationDepthImageProvider.Default">1</attribute>
+ <attribute name="ArmarX.DynamicSimulationDepthImageProvider.CaseSensitivity">no</attribute>
+ <attribute name="ArmarX.DynamicSimulationDepthImageProvider.Required">no</attribute>
+ <values>
+ <value>0</value>
+ <value>1</value>
+ <value>false</value>
+ <value>no</value>
+ <value>true</value>
+ <value>yes</value>
+ </values>
+ </attributes>
+</property>
+
+
diff --git a/data/ArmarXGui/ScenarioManagerTestData/xmlCache/RobotAPI.HeadIKUnit.xml b/data/ArmarXGui/ScenarioManagerTestData/xmlCache/RobotAPI.HeadIKUnit.xml
new file mode 100644
index 00000000..c239f5eb
--- /dev/null
+++ b/data/ArmarXGui/ScenarioManagerTestData/xmlCache/RobotAPI.HeadIKUnit.xml
@@ -0,0 +1,261 @@
+<!-- ArmarX properties -->
+
+<property name="ArmarX.ApplicationName">
+ <description>Application name</description>
+ <attributes>
+ <attribute name="ArmarX.Default">""</attribute>
+ <attribute name="ArmarX.CaseSensitivity">no</attribute>
+ <attribute name="ArmarX.Required">no</attribute>
+ </attributes>
+</property>
+
+<property name="ArmarX.CachePath">
+ <description>Path for cache files</description>
+ <attributes>
+ <attribute name="ArmarX.Default">${HOME}/.armarx/mongo/.cache</attribute>
+ <attribute name="ArmarX.CaseSensitivity">no</attribute>
+ <attribute name="ArmarX.Required">no</attribute>
+ </attributes>
+</property>
+
+<property name="ArmarX.Config">
+ <description>Comma-separated list of configuration files </description>
+ <attributes>
+ <attribute name="ArmarX.Default">""</attribute>
+ <attribute name="ArmarX.CaseSensitivity">no</attribute>
+ <attribute name="ArmarX.Required">no</attribute>
+ </attributes>
+</property>
+
+<property name="ArmarX.DataPath">
+ <description>Semicolon-separated search list for data files</description>
+ <attributes>
+ <attribute name="ArmarX.Default">""</attribute>
+ <attribute name="ArmarX.CaseSensitivity">no</attribute>
+ <attribute name="ArmarX.Required">no</attribute>
+ </attributes>
+</property>
+
+<property name="ArmarX.DefaultPackages">
+ <description>List of ArmarX packages which are accessible by default</description>
+ <attributes>
+ <attribute name="ArmarX.Default">ArmarXCore, ArmarXGui, MemoryX, RobotAPI, RobotComponents, RobotSkillTemplates, ArmarXSimulation, VisionX, SpeechX, Armar3, Armar4</attribute>
+ <attribute name="ArmarX.CaseSensitivity">no</attribute>
+ <attribute name="ArmarX.Required">no</attribute>
+ </attributes>
+</property>
+
+<property name="ArmarX.DependenciesConfig">
+ <description>Path to the (usually generated) config file containing all data paths of all dependent projects. This property usually does not need to be edited.</description>
+ <attributes>
+ <attribute name="ArmarX.Default">./config/dependencies.cfg</attribute>
+ <attribute name="ArmarX.CaseSensitivity">no</attribute>
+ <attribute name="ArmarX.Required">no</attribute>
+ </attributes>
+</property>
+
+<property name="ArmarX.DisableLogging">
+ <description>Turn logging off in whole application</description>
+ <attributes>
+ <attribute name="ArmarX.Default">0</attribute>
+ <attribute name="ArmarX.CaseSensitivity">no</attribute>
+ <attribute name="ArmarX.Required">no</attribute>
+ <values>
+ <value>0</value>
+ <value>1</value>
+ <value>false</value>
+ <value>no</value>
+ <value>true</value>
+ <value>yes</value>
+ </values>
+ </attributes>
+</property>
+
+<property name="ArmarX.EnableProfiling">
+ <description>Enable profiling of CPU load produced by this application</description>
+ <attributes>
+ <attribute name="ArmarX.Default">0</attribute>
+ <attribute name="ArmarX.CaseSensitivity">no</attribute>
+ <attribute name="ArmarX.Required">no</attribute>
+ <values>
+ <value>0</value>
+ <value>1</value>
+ <value>false</value>
+ <value>no</value>
+ <value>true</value>
+ <value>yes</value>
+ </values>
+ </attributes>
+</property>
+
+<property name="ArmarX.RedirectStdout">
+ <description>Redirect std::cout and std::cerr to ArmarXLog</description>
+ <attributes>
+ <attribute name="ArmarX.Default">1</attribute>
+ <attribute name="ArmarX.CaseSensitivity">no</attribute>
+ <attribute name="ArmarX.Required">no</attribute>
+ <values>
+ <value>0</value>
+ <value>1</value>
+ <value>false</value>
+ <value>no</value>
+ <value>true</value>
+ <value>yes</value>
+ </values>
+ </attributes>
+</property>
+
+<property name="ArmarX.RemoteHandlesDeletionTimeout">
+ <description>The timeout (in ms) before a remote handle deletes the managed object after the use count reached 0. This time can be used by a client to increment the count again (may be required when transmitting remote handles)</description>
+ <attributes>
+ <attribute name="ArmarX.Default">3000</attribute>
+ <attribute name="ArmarX.CaseSensitivity">no</attribute>
+ <attribute name="ArmarX.Required">no</attribute>
+ </attributes>
+</property>
+
+<property name="ArmarX.UseTimeServer">
+ <description>Enable using a global Timeserver (e.g. from ArmarXSimulator)</description>
+ <attributes>
+ <attribute name="ArmarX.Default">0</attribute>
+ <attribute name="ArmarX.CaseSensitivity">no</attribute>
+ <attribute name="ArmarX.Required">no</attribute>
+ <values>
+ <value>0</value>
+ <value>1</value>
+ <value>false</value>
+ <value>no</value>
+ <value>true</value>
+ <value>yes</value>
+ </values>
+ </attributes>
+</property>
+
+<property name="ArmarX.Verbosity">
+ <description>Global logging level for whole application</description>
+ <attributes>
+ <attribute name="ArmarX.Default">Verbose</attribute>
+ <attribute name="ArmarX.CaseSensitivity">no</attribute>
+ <attribute name="ArmarX.Required">no</attribute>
+ <values>
+ <value>Debug</value>
+ <value>Error</value>
+ <value>Fatal</value>
+ <value>Important</value>
+ <value>Info</value>
+ <value>Undefined</value>
+ <value>Verbose</value>
+ <value>Warning</value>
+ </values>
+ </attributes>
+</property>
+
+<!-- ArmarX.HeadIKUnit properties -->
+
+<property name="ArmarX.HeadIKUnit.CycleTime">
+ <description>Cycle time of the tcp control in ms</description>
+ <attributes>
+ <attribute name="ArmarX.HeadIKUnit.Default">30</attribute>
+ <attribute name="ArmarX.HeadIKUnit.CaseSensitivity">no</attribute>
+ <attribute name="ArmarX.HeadIKUnit.Required">no</attribute>
+ </attributes>
+</property>
+
+<property name="ArmarX.HeadIKUnit.EnableProfiling">
+ <description>enable profiler which is used for logging performance events</description>
+ <attributes>
+ <attribute name="ArmarX.HeadIKUnit.Default">0</attribute>
+ <attribute name="ArmarX.HeadIKUnit.CaseSensitivity">no</attribute>
+ <attribute name="ArmarX.HeadIKUnit.Required">no</attribute>
+ <values>
+ <value>0</value>
+ <value>1</value>
+ <value>false</value>
+ <value>no</value>
+ <value>true</value>
+ <value>yes</value>
+ </values>
+ </attributes>
+</property>
+
+<property name="ArmarX.HeadIKUnit.HeadIKUnitTopicName">
+ <description>Name of the HeadIKUnit Topic</description>
+ <attributes>
+ <attribute name="ArmarX.HeadIKUnit.Default">HeadIKUnitTopic</attribute>
+ <attribute name="ArmarX.HeadIKUnit.CaseSensitivity">no</attribute>
+ <attribute name="ArmarX.HeadIKUnit.Required">no</attribute>
+ </attributes>
+</property>
+
+<property name="ArmarX.HeadIKUnit.KinematicUnitName">
+ <description>Name of the KinematicUnit Proxy</description>
+ <attributes>
+ <attribute name="ArmarX.HeadIKUnit.CaseSensitivity">no</attribute>
+ <attribute name="ArmarX.HeadIKUnit.Required">yes</attribute>
+ </attributes>
+</property>
+
+<property name="ArmarX.HeadIKUnit.MinimumLoggingLevel">
+ <description>Local logging level only for this component</description>
+ <attributes>
+ <attribute name="ArmarX.HeadIKUnit.Default">Undefined</attribute>
+ <attribute name="ArmarX.HeadIKUnit.CaseSensitivity">no</attribute>
+ <attribute name="ArmarX.HeadIKUnit.Required">no</attribute>
+ <values>
+ <value>Debug</value>
+ <value>Error</value>
+ <value>Fatal</value>
+ <value>Important</value>
+ <value>Info</value>
+ <value>Undefined</value>
+ <value>Verbose</value>
+ <value>Warning</value>
+ </values>
+ </attributes>
+</property>
+
+<property name="ArmarX.HeadIKUnit.ObjectName">
+ <description>Name of IceGrid well-known object</description>
+ <attributes>
+ <attribute name="ArmarX.HeadIKUnit.Default">""</attribute>
+ <attribute name="ArmarX.HeadIKUnit.CaseSensitivity">no</attribute>
+ <attribute name="ArmarX.HeadIKUnit.Required">no</attribute>
+ </attributes>
+</property>
+
+<property name="ArmarX.HeadIKUnit.RobotStateComponentName">
+ <description>Name of the RobotStateComponent that should be used</description>
+ <attributes>
+ <attribute name="ArmarX.HeadIKUnit.Default">RobotStateComponent</attribute>
+ <attribute name="ArmarX.HeadIKUnit.CaseSensitivity">no</attribute>
+ <attribute name="ArmarX.HeadIKUnit.Required">no</attribute>
+ </attributes>
+</property>
+
+<property name="ArmarX.HeadIKUnit.RobotStateTopicName">
+ <description>Name of the RobotComponent State topic.</description>
+ <attributes>
+ <attribute name="ArmarX.HeadIKUnit.Default">RobotState</attribute>
+ <attribute name="ArmarX.HeadIKUnit.CaseSensitivity">no</attribute>
+ <attribute name="ArmarX.HeadIKUnit.Required">no</attribute>
+ </attributes>
+</property>
+
+<property name="ArmarX.HeadIKUnit.VisualizeIKTarget">
+ <description>Visualize the current IK target using the debug drawer</description>
+ <attributes>
+ <attribute name="ArmarX.HeadIKUnit.Default">1</attribute>
+ <attribute name="ArmarX.HeadIKUnit.CaseSensitivity">no</attribute>
+ <attribute name="ArmarX.HeadIKUnit.Required">no</attribute>
+ <values>
+ <value>0</value>
+ <value>1</value>
+ <value>false</value>
+ <value>no</value>
+ <value>true</value>
+ <value>yes</value>
+ </values>
+ </attributes>
+</property>
+
+
diff --git a/source/ArmarXGui/gui-plugins/ScenarioManager/data_structure/ApplicationInstance.cpp b/source/ArmarXGui/gui-plugins/ScenarioManager/data_structure/ApplicationInstance.cpp
index be5aa988..34eefec9 100644
--- a/source/ArmarXGui/gui-plugins/ScenarioManager/data_structure/ApplicationInstance.cpp
+++ b/source/ArmarXGui/gui-plugins/ScenarioManager/data_structure/ApplicationInstance.cpp
@@ -88,20 +88,23 @@ void ApplicationInstance::setConfigPath(string configPath)
void ApplicationInstance::resetConfigPath()
{
- QFile currentConfig(QString::fromStdString(this->configPath));
+ boost::filesystem::path scenariosFolder(scenario->getPackage()->getScenarioPath());
+ boost::filesystem::path scenarioFolder = scenariosFolder / boost::filesystem::path("./" + scenario->getName());
+ boost::filesystem::path scenarioCfgFolder = scenarioFolder / boost::filesystem::path("./config");
- this->configPath = configPath.substr(0, configPath.find_last_of("/") + 1);
+ boost::filesystem::path configPath = scenarioCfgFolder;
if (!this->instanceName.empty() || !this->instanceName.compare("\"\"") || !this->instanceName.compare("\" \""))
{
- configPath.append(this->getName()).append(".").append(this->getInstanceName()).append(".cfg");
+ configPath = configPath / boost::filesystem::path("./" + this->getName() + "." + this->getInstanceName() + ".cfg");
}
else
{
- configPath.append(this->getName()).append(".cfg");
+ configPath = configPath / boost::filesystem::path("./" + this->getName() + ".cfg");;
}
- currentConfig.rename(QString::fromStdString(this->configPath));
+ boost::filesystem::remove(boost::filesystem::path(this->configPath));
+ this->configPath = configPath.string();
}
string ApplicationInstance::getStatus()
diff --git a/source/ArmarXGui/gui-plugins/ScenarioManager/data_structure/ApplicationInstance.h b/source/ArmarXGui/gui-plugins/ScenarioManager/data_structure/ApplicationInstance.h
index c26c288d..a3b466e5 100644
--- a/source/ArmarXGui/gui-plugins/ScenarioManager/data_structure/ApplicationInstance.h
+++ b/source/ArmarXGui/gui-plugins/ScenarioManager/data_structure/ApplicationInstance.h
@@ -105,6 +105,11 @@ namespace ScenarioManager
* @param new config path
*/
void setConfigPath(std::string configPath);
+
+ /**
+ * @brief resetConfigPath. should be called when the instanceName is changed/ deletes the old cfg file and resets the local config Path to where the file should be
+ * you should call save after this
+ */
void resetConfigPath();
/**
diff --git a/source/ArmarXGui/gui-plugins/ScenarioManager/executor/LinuxStarter.cpp b/source/ArmarXGui/gui-plugins/ScenarioManager/executor/LinuxStarter.cpp
index 927d778f..6b7cb685 100644
--- a/source/ArmarXGui/gui-plugins/ScenarioManager/executor/LinuxStarter.cpp
+++ b/source/ArmarXGui/gui-plugins/ScenarioManager/executor/LinuxStarter.cpp
@@ -109,7 +109,7 @@ void LinuxStarter::start(ApplicationInstancePtr app, PidManager pidManager, cons
}
- boost::filesystem::path dependenciesFilePath = componentFolderPath / boost::filesystem::path("./" + app->getPackageName() + ".dependendies.cfg");
+ boost::filesystem::path dependenciesFilePath = componentFolderPath / boost::filesystem::path("./" + app->getPackageName() + ".dependencies.cfg");
std::string strCommand = app->getPathToExecutable().append("/").append(runName)
.append(" --Ice.Config=").append(app->getScenario()->getGlobalConfigPath())
diff --git a/source/ArmarXGui/gui-plugins/ScenarioManager/gui/detailedapplicationview.cpp b/source/ArmarXGui/gui-plugins/ScenarioManager/gui/detailedapplicationview.cpp
index fd33b434..04d5f069 100644
--- a/source/ArmarXGui/gui-plugins/ScenarioManager/gui/detailedapplicationview.cpp
+++ b/source/ArmarXGui/gui-plugins/ScenarioManager/gui/detailedapplicationview.cpp
@@ -575,7 +575,7 @@ void DetailedApplicationView::on_fileUpdate()
if (lastAppInstance.get() != nullptr)
{
- //DANGER deletest old config
+ //DANGER delets old config
lastAppInstance->resetConfigPath();
lastAppInstance->save();
diff --git a/source/ArmarXGui/gui-plugins/ScenarioManager/parser/PackageBuilder.cpp b/source/ArmarXGui/gui-plugins/ScenarioManager/parser/PackageBuilder.cpp
index 223dd625..2baae629 100644
--- a/source/ArmarXGui/gui-plugins/ScenarioManager/parser/PackageBuilder.cpp
+++ b/source/ArmarXGui/gui-plugins/ScenarioManager/parser/PackageBuilder.cpp
@@ -205,7 +205,7 @@ void PackageBuilder::generateDependenciesCfg(PackagePtr package)
}
}
- boost::filesystem::path cacheFilePath = cacheFolderPath / boost::filesystem::path("./" + package->getName() + ".dependendies.cfg");
+ boost::filesystem::path cacheFilePath = cacheFolderPath / boost::filesystem::path("./" + package->getName() + ".dependencies.cfg");
ofstream out(cacheFilePath.string());
diff --git a/source/ArmarXGui/gui-plugins/ScenarioManager/parser/iceparser.cpp b/source/ArmarXGui/gui-plugins/ScenarioManager/parser/iceparser.cpp
index a45da59d..17f26075 100644
--- a/source/ArmarXGui/gui-plugins/ScenarioManager/parser/iceparser.cpp
+++ b/source/ArmarXGui/gui-plugins/ScenarioManager/parser/iceparser.cpp
@@ -121,49 +121,35 @@ armarx::PropertyDefinitionsPtr IceParser::loadFromXml(std::string path, Applicat
const string propertyName = property_node.attribute_value("name");
const string description = property_node.first_node("description").value();
RapidXmlReaderNode attributes_node = property_node.first_node("attributes");
- RapidXmlReaderNode first_attribute = attributes_node.first_node("attribute");
- RapidXmlReaderNode second_attribute = first_attribute.next_sibling();
- RapidXmlReaderNode third_attribute = second_attribute.next_sibling();
+
+ RapidXmlReaderNode current_attribute = attributes_node.first_node("attribute");
string defaultValue = "";
//bool caseSensitive = false;
bool required = false;
- //if the first value is an default value set it
- //normaly the case for default properties
- if (first_attribute.is_valid() && first_attribute.attribute_value("name").find("Default") != string::npos)
+ while (current_attribute.is_valid())
{
- defaultValue = first_attribute.value();
- if (second_attribute.is_valid() && second_attribute.attribute_value("name").find("CaseSensitivity") != string::npos)
+ //if it is no attribute continue to the next sibling
+ if (current_attribute.name().compare("attribute") != 0)
{
- //if(second_attribute.value().compare("yes") == 0)
- // caseSensitive = true;
- if (third_attribute.is_valid() && third_attribute.attribute_value("name").find("Required") != string::npos)
- {
- if (third_attribute.value().compare("yes") == 0)
- {
- required = true;
- }
- }
+
}
- }
- else
- {
- //Required property case
- defaultValue = "::_NOT_SET_::";
- if (first_attribute.is_valid() && first_attribute.attribute_value("name").find("CaseSensitivity") != string::npos)
+ else if (current_attribute.attribute_value("name").find("Default") != string::npos)
+ {
+ defaultValue = current_attribute.value();
+ }
+ else if (current_attribute.attribute_value("name").find("CaseSensitivity") != string::npos)
{
- //CaseSensitivity is currently not checked/implemented
- //if(second_attribute.value().compare("yes") == 0)
- // caseSensitive = true;
- if (second_attribute.is_valid() && second_attribute.attribute_value("name").find("Required") != string::npos)
+ }
+ else if (current_attribute.attribute_value("name").find("Required") != string::npos)
+ {
+ if (current_attribute.value().compare("yes") == 0)
{
- if (second_attribute.value().compare("yes") == 0)
- {
- required = true;
- }
+ required = true;
}
}
+ current_attribute = current_attribute.next_sibling();
}
if (required)
@@ -183,7 +169,6 @@ armarx::PropertyDefinitionsPtr IceParser::loadFromXml(std::string path, Applicat
app->setIsDefaultProperty(propertyName, true);
app->setDefaultPropertyEnabled(propertyName, false);
}
-
}
return container;
diff --git a/source/ArmarXGui/gui-plugins/ScenarioManager/test/XMLScenarioParserTest.cpp b/source/ArmarXGui/gui-plugins/ScenarioManager/test/XMLScenarioParserTest.cpp
index 189feff0..af546596 100644
--- a/source/ArmarXGui/gui-plugins/ScenarioManager/test/XMLScenarioParserTest.cpp
+++ b/source/ArmarXGui/gui-plugins/ScenarioManager/test/XMLScenarioParserTest.cpp
@@ -19,12 +19,15 @@
#include <ArmarXCore/core/rapidxml/wrapper/RapidXmlReader.h>
#include <ArmarXCore/core/rapidxml/wrapper/RapidXmlWriter.h>
+#include <ArmarXCore/core/system/cmake/CMakePackageFinder.h>
#include <ArmarXCore/core/application/properties/PropertyDefinitionContainer.h>
#include <ArmarXCore/core/application/properties/PropertyDefinitionContainerFormatter.h>
#include <ArmarXCore/core/application/properties/PropertyDefinitionFormatter.h>
#include <ArmarXCore/core/application/properties/PropertyDefinitionConfigFormatter.h>
+#include <algorithm>
+
using namespace ScenarioManager;
using namespace Data_Structure;
using namespace Parser;
@@ -40,85 +43,229 @@ XMLScenarioParser xmlParser = XMLScenarioParser();
PackageBuilder parser = PackageBuilder();
ApplicationPtr app1;
ApplicationInstancePtr api1;
-//ExecutorTestEnvironmentPtr environment = ExecutorTestEnvironmentPtr(new ExecutorTestEnvironment());
-BOOST_AUTO_TEST_CASE(initialize_packages)
+BOOST_AUTO_TEST_CASE(InitDataPath)
{
- coreP = parser.parsePackage("ArmarXCore");
- PackagePtr guiP = parser.parsePackage("ArmarXGui");
+ //init dataPath
+ std::string packageName("ArmarXGui");
+ armarx::CMakePackageFinder finder(packageName);
+ if (!finder.packageFound())
+ {
+ BOOST_ERROR("Cannot find ArmarXGui Package");
+ }
- packages->push_back(coreP);
- packages->push_back(guiP);
+ std::string packageDataDir = finder.getDataDir();
+ ArmarXDataPath::addDataPaths(packageDataDir);
}
-BOOST_AUTO_TEST_CASE(create_new_scenario_in_package)
+
+BOOST_AUTO_TEST_CASE(IceParserLoadFromXml_DebugObserverTest)
{
- s = xmlParser.createNewScenario("testScenario", coreP);
- if (s == NULL)
+ //init app for test
+ app1 = ApplicationPtr(new Application("DebugObserver", "not relevant", "ArmarXCore"));
+ api1 = ApplicationInstancePtr(new ApplicationInstance((*app1), "", "not relevant", s));
+
+ //find DebugObserver.xml file
+ std::string relativeFilename("ArmarXGui/ScenarioManagerTestData/xmlCache/ArmarXCore.DebugObserver.xml");
+ std::string absoluteFilename;
+ if (!ArmarXDataPath::getAbsolutePath(relativeFilename, absoluteFilename))
{
- BOOST_ERROR("SCENARIO IS NULL");
+ BOOST_ERROR("Cannot find file ArmarXGui/ScenarioManagerTestData/xmlCache/ArmarXCore.DebugObserver.xml in ArmarXGui DataPath");
}
- app1 = coreP->getApplicationByName("SystemObserverRun");
- ApplicationPtr app2 = coreP->getApplicationByName("TimeoutExampleRun");
- api1 = ApplicationInstancePtr(new ApplicationInstance((*app1), "", coreP->getScenarioPath() + "/testScenario/config", s));
- ApplicationInstancePtr api2 = ApplicationInstancePtr(new ApplicationInstance((*app2), "", s->getPath() + "/testScenario/config", s));
+ //parse the file
+ IceParser parser;
+ armarx::PropertyDefinitionsPtr definitions = parser.loadFromXml(absoluteFilename, api1.get());
- s->addApplication(api1);
- s->addApplication(api2);
+ //check properties required parsing
+ Ice::PropertyDict properties = definitions->getProperties()->getPropertiesForPrefix("");
- xmlParser.saveScenario(s.get());
+ for (auto it : properties)
+ {
+ if (it.first.compare("Ice.Config") != 0)
+ {
+ BOOST_CHECK_EQUAL(api1->isDefaultProperty(it.first), true);
+ BOOST_CHECK_EQUAL(api1->isDefaultPropertyEnabled(it.first), false);
+ }
+ if (it.second.compare("::_NOT_SET_::") == 0)
+ {
+ BOOST_ERROR("Got Required property in " + absoluteFilename + " which should not contain Required Properties");
+ }
+ }
}
-BOOST_AUTO_TEST_CASE(parse_scenario_file)
+BOOST_AUTO_TEST_CASE(IceParserLoadFromXml_HeadIKUnitTest)
{
- s = xmlParser.parseScenario(s);
+ //init app for test
+ app1 = ApplicationPtr(new Application("HeadIKUnit", "not relevant", "RobotApi"));
+ api1 = ApplicationInstancePtr(new ApplicationInstance((*app1), "", "not relevant", s));
- if (s == NULL)
+ //find DebugObserver.xml file
+ std::string relativeFilename("ArmarXGui/ScenarioManagerTestData/xmlCache/RobotAPI.HeadIKUnit.xml");
+ std::string absoluteFilename;
+ if (!ArmarXDataPath::getAbsolutePath(relativeFilename, absoluteFilename))
{
- BOOST_ERROR("NO SCENARIO CREATED");
+ BOOST_ERROR("Cannot find file ArmarXGui/ScenarioManagerTestData/xmlCache/RobotAPI.HeadIKUnit.xml in ArmarXGui DataPath");
}
- BOOST_CHECK_EQUAL(s->getName(), "testScenario");
+ //parse the file
+ IceParser parser;
+ armarx::PropertyDefinitionsPtr definitions = parser.loadFromXml(absoluteFilename, api1.get());
+
+ //check properties required parsing
+ Ice::PropertyDict properties = definitions->getProperties()->getPropertiesForPrefix("");
+ int reqCount = 0;
+ for (auto it : properties)
+ {
+ if (it.first.compare("Ice.Config") != 0)
+ {
+ BOOST_CHECK_EQUAL(api1->isDefaultProperty(it.first), true);
+ BOOST_CHECK_EQUAL(api1->isDefaultPropertyEnabled(it.first), false);
+ }
+ if (it.second.compare("::_NOT_SET_::") == 0)
+ {
+ reqCount ++;
+ }
+ }
+ if (reqCount != 1)
+ {
+ BOOST_ERROR("Got " + std::to_string(reqCount) + " Required properties in " + absoluteFilename + " which should only contain one Required Property");
+ }
}
-BOOST_AUTO_TEST_CASE(application_data)
+
+BOOST_AUTO_TEST_CASE(IceParserLoadFromXml_DepthImageProviderDynamicSimulationAppTest)
{
- if (s == NULL)
+ //init app for test
+ app1 = ApplicationPtr(new Application("DepthImageProviderDynamicSimulationApp", "not relevant", "ArmarXSimulation"));
+ api1 = ApplicationInstancePtr(new ApplicationInstance((*app1), "", "not relevant", s));
+
+ //find DebugObserver.xml file
+ std::string relativeFilename("ArmarXGui/ScenarioManagerTestData/xmlCache/ArmarXSimulation.DepthImageProviderDynamicSimulationApp.xml");
+ std::string absoluteFilename;
+ if (!ArmarXDataPath::getAbsolutePath(relativeFilename, absoluteFilename))
{
- BOOST_ERROR("SCENARIO IS NULL");
+ BOOST_ERROR("Cannot find file ArmarXGui/ScenarioManagerTestData/xmlCache/ArmarXSimulation.DepthImageProviderDynamicSimulationApp.xml in ArmarXGui DataPath");
}
- ApplicationInstanceVectorPtr apps = s->getApplications();
+ //parse the file
+ IceParser parser;
+ armarx::PropertyDefinitionsPtr definitions = parser.loadFromXml(absoluteFilename, api1.get());
- BOOST_CHECK_EQUAL((*apps).size(), 2);
-
- BOOST_CHECK_EQUAL((*apps)[0]->getName(), "SystemObserverRun");
- BOOST_CHECK_EQUAL((*apps)[1]->getName(), "TimeoutExampleRun");
+ //check properties required parsing
+ Ice::PropertyDict properties = definitions->getProperties()->getPropertiesForPrefix("");
+ for (auto it : properties)
+ {
+ if (it.first.compare("Ice.Config") != 0)
+ {
+ BOOST_CHECK_EQUAL(api1->isDefaultProperty(it.first), true);
+ BOOST_CHECK_EQUAL(api1->isDefaultPropertyEnabled(it.first), false);
+ }
+ if (it.second.compare("::_NOT_SET_::") == 0)
+ {
+ BOOST_ERROR("Got Required property in " + absoluteFilename + " which should not contain Required Properties");
+ }
+ }
}
-BOOST_AUTO_TEST_CASE(get_package)
-{
- PackagePtr p = xmlParser.getScenarioPackage(s, packages);
- BOOST_CHECK_EQUAL(p, coreP);
-}
+//BOOST_AUTO_TEST_CASE(IceParserParseCfg_DebugObserverTest)
+//{
+// //init app for test
+// app1 = ApplicationPtr(new Application("DebugObserver", "not relevant", "ArmarXCore"));
+// api1 = ApplicationInstancePtr(new ApplicationInstance((*app1), "", "not relevant", s));
-//This is hard to test, since the closed-scenario-paths value always changes, so we only test if no exceptions occur.
-BOOST_AUTO_TEST_CASE(closed_scenario_paths)
-{
- QStringList scenariopaths = parser.getAllClosedScenarios();
-}
+// //find DebugObserver.xml file
+// std::string relativeFilename("ArmarXGui/ScenarioManagerTestData/cfgs/DebugObserver.untouched.cfg");
+// std::string absoluteFilename;
+// api1->setConfigPath(absoluteFilename);
+// if (!ArmarXDataPath::getAbsolutePath(relativeFilename, absoluteFilename))
+// {
+// BOOST_ERROR("Cannot find file ArmarXGui/ScenarioManagerTestData/xmlCache/ArmarXCore.DebugObserver.xml in ArmarXGui DataPath");
+// }
+
+// //parse the file
+// IceParser parser;
+// armarx::PropertyDefinitionsPtr definitions = parser.mergeXmlAndCfg(api1.get());
+
+// //TODO
+// // //check properties
+// // Ice::PropertyDict properties = definitions->getProperties()->getPropertiesForPrefix("");
-//BOOST_AUTO_TEST_CASE(IceParserLoadFromXml)
+// // for (auto it : properties)
+// // {
+// // if (it.first.compare("Ice.Config") != 0)
+// // {
+// // BOOST_CHECK_EQUAL(api1->isDefaultProperty(it.first), true);
+// // BOOST_CHECK_EQUAL(api1->isDefaultPropertyEnabled(it.first), false);
+// // }
+// // }
+//}
+
+
+//ExecutorTestEnvironmentPtr environment = ExecutorTestEnvironmentPtr(new ExecutorTestEnvironment());
+//BOOST_AUTO_TEST_CASE(initialize_packages)
//{
-// std::string cachePath = ArmarXDataPath::GetCachePath();
-// boost::filesystem::path xmlPath = boost::filesystem::path(cachePath) / boost::filesystem::path("ComponentFiles/" + app1->getPackageName() + "." + app1->getName() + ".xml");
+// coreP = parser.parsePackage("ArmarXCore");
+// PackagePtr guiP = parser.parsePackage("ArmarXGui");
+// packages->push_back(coreP);
+// packages->push_back(guiP);
+//}
-// //Load an Xml file
-// Executor executor(stopStrategyFactory.getStopStrategy(StopperFactory::getFactory()->getPidStopper()), StarterFactory::getFactory()->getStarter());
-// executor.loadAndSetCachedProperties(app1, IceParser::getCacheDir(), false, false);
+//BOOST_AUTO_TEST_CASE(create_new_scenario_in_package)
+//{
+// s = xmlParser.createNewScenario("testScenario", coreP);
+// if (s == NULL)
+// {
+// BOOST_ERROR("SCENARIO IS NULL");
+// }
-// IceParser parser;
-// armarx::PropertyDefinitionsPtr definitions = parser.loadFromXml(xmlPath, app1);
+// app1 = coreP->getApplicationByName("SystemObserverRun");
+// ApplicationPtr app2 = coreP->getApplicationByName("TimeoutExampleRun");
+// api1 = ApplicationInstancePtr(new ApplicationInstance((*app1), "", coreP->getScenarioPath() + "/testScenario/config", s));
+// ApplicationInstancePtr api2 = ApplicationInstancePtr(new ApplicationInstance((*app2), "", s->getPath() + "/testScenario/config", s));
+
+// s->addApplication(api1);
+// s->addApplication(api2);
+
+// xmlParser.saveScenario(s.get());
+//}
+
+//BOOST_AUTO_TEST_CASE(parse_scenario_file)
+//{
+// s = xmlParser.parseScenario(s);
+
+// if (s == NULL)
+// {
+// BOOST_ERROR("NO SCENARIO CREATED");
+// }
+
+// BOOST_CHECK_EQUAL(s->getName(), "testScenario");
+//}
+
+//BOOST_AUTO_TEST_CASE(application_data)
+//{
+// if (s == NULL)
+// {
+// BOOST_ERROR("SCENARIO IS NULL");
+// }
+
+// ApplicationInstanceVectorPtr apps = s->getApplications();
+
+// BOOST_CHECK_EQUAL((*apps).size(), 2);
+
+// BOOST_CHECK_EQUAL((*apps)[0]->getName(), "SystemObserverRun");
+// BOOST_CHECK_EQUAL((*apps)[1]->getName(), "TimeoutExampleRun");
+//}
+
+//BOOST_AUTO_TEST_CASE(get_package)
+//{
+// PackagePtr p = xmlParser.getScenarioPackage(s, packages);
+// BOOST_CHECK_EQUAL(p, coreP);
+//}
+
+////This is hard to test, since the closed-scenario-paths value always changes, so we only test if no exceptions occur.
+//BOOST_AUTO_TEST_CASE(closed_scenario_paths)
+//{
+// QStringList scenariopaths = parser.getAllClosedScenarios();
//}
--
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