From 6ffb7583292220848aa6081d79f5768acfe7c5d5 Mon Sep 17 00:00:00 2001
From: Nikolaus Vahrenkamp <vahrenkamp@kit.edu>
Date: Tue, 26 May 2015 11:22:34 +0200
Subject: [PATCH] Added method to RobotStateComponent that allows to get all
dependent ArmarXPackages. Updated RobotState gui plugin in order to search
loacl robot in data paths of all dependent ArmarXPackages
---
.../robotstate/RobotStateComponent.cpp | 19 ++++++++++-
.../robotstate/RobotStateComponent.h | 6 ++++
.../RobotViewerGuiPlugin.cpp | 34 ++++++++++++++++++-
source/RobotAPI/interface/core/RobotState.ice | 7 ++++
4 files changed, 64 insertions(+), 2 deletions(-)
diff --git a/source/RobotAPI/components/robotstate/RobotStateComponent.cpp b/source/RobotAPI/components/robotstate/RobotStateComponent.cpp
index ed04fbe08..b874c7b9c 100644
--- a/source/RobotAPI/components/robotstate/RobotStateComponent.cpp
+++ b/source/RobotAPI/components/robotstate/RobotStateComponent.cpp
@@ -31,6 +31,7 @@
#include <Core/core/system/ArmarXDataPath.h>
#include <Core/core/ArmarXManager.h>
#include <Core/core/ArmarXObjectScheduler.h>
+#include <Core/core/application/Application.h>
using namespace std;
using namespace VirtualRobot;
@@ -182,7 +183,23 @@ namespace armarx
std::string RobotStateComponent::getRobotFilename(const Ice::Current&) const
{
return relativeRobotFile;
- }
+ }
+
+ std::vector<string> RobotStateComponent::getArmarXPackages(const Current &) const
+ {
+ std::vector<string> result;
+ auto packages = armarx::Application::GetProjectDependencies();
+ packages.push_back(Application::GetProjectName());
+ for(const std::string &projectName : packages)
+ {
+ if(projectName.empty())
+ continue;
+
+ result.push_back(projectName);
+ }
+
+ return result;
+ }
void RobotStateComponent::reportControlModeChanged(const NameControlModeMap& jointModes, bool aValueChanged,const Current& c){}
void RobotStateComponent::reportJointVelocities(const NameValueMap& jointVelocities, bool aValueChanged,const Current& c)
diff --git a/source/RobotAPI/components/robotstate/RobotStateComponent.h b/source/RobotAPI/components/robotstate/RobotStateComponent.h
index ab2f9f220..b7fed65a8 100644
--- a/source/RobotAPI/components/robotstate/RobotStateComponent.h
+++ b/source/RobotAPI/components/robotstate/RobotStateComponent.h
@@ -92,6 +92,12 @@ namespace armarx
*/
virtual std::string getRobotFilename(const Ice::Current&) const;
+ /*!
+ * \brief getArmarXPackages
+ * \return All dependent packages, which might contain a robot file.
+ */
+ virtual std::vector< std::string > getArmarXPackages(const Ice::Current&) const;
+
/**
*
* \return The name of this robot instance.
diff --git a/source/RobotAPI/gui-plugins/RobotViewerPlugin/RobotViewerGuiPlugin.cpp b/source/RobotAPI/gui-plugins/RobotViewerPlugin/RobotViewerGuiPlugin.cpp
index 4b5939c2f..ebaaa0294 100644
--- a/source/RobotAPI/gui-plugins/RobotViewerPlugin/RobotViewerGuiPlugin.cpp
+++ b/source/RobotAPI/gui-plugins/RobotViewerPlugin/RobotViewerGuiPlugin.cpp
@@ -6,6 +6,8 @@
#include <Core/core/system/ArmarXDataPath.h>
#include <Core/core/ArmarXObjectScheduler.h>
#include <Core/core/ArmarXManager.h>
+#include <Core/core/system/cmake/CMakePackageFinder.h>
+#include <Core/core/application/Application.h>
#include <VirtualRobot/XML/RobotIO.h>
@@ -108,10 +110,40 @@ void RobotViewerWidgetController::onConnectComponent()
robotVisu->removeAllChildren();
robot.reset();
+ std::string rfile;
+ StringList includePaths;
+
+ // get robot filename
try {
- std::string rfile = robotStateComponentPrx->getRobotFilename();
+ StringList packages = robotStateComponentPrx->getArmarXPackages();
+ packages.push_back(Application::GetProjectName());
+ ARMARX_VERBOSE << "ArmarX packages " << packages;
+ for(const std::string &projectName : packages)
+ {
+ if(projectName.empty())
+ continue;
+ CMakePackageFinder project(projectName);
+ StringList projectIncludePaths;
+ auto pathsString = project.getDataDir();
+ boost::split(projectIncludePaths,
+ pathsString,
+ boost::is_any_of(";,"),
+ boost::token_compress_on);
+ includePaths.insert(includePaths.end(), projectIncludePaths.begin(), projectIncludePaths.end());
+ }
+ rfile = robotStateComponentPrx->getRobotFilename();
+ ARMARX_VERBOSE << "Relative robot file " << rfile;
+ ArmarXDataPath::getAbsolutePath(rfile, rfile, includePaths);
+ ARMARX_VERBOSE << "Absolute robot file " << rfile;
+ } catch (...)
+ {
+ ARMARX_ERROR << "Unable to retrieve robot filename";
+ }
+
+ try {
+ ARMARX_INFO << "Loading robot from file " << rfile;
robot = loadRobotFile(rfile);
} catch (...)
{
diff --git a/source/RobotAPI/interface/core/RobotState.ice b/source/RobotAPI/interface/core/RobotState.ice
index 4b7fcbd5c..ad1053ae9 100644
--- a/source/RobotAPI/interface/core/RobotState.ice
+++ b/source/RobotAPI/interface/core/RobotState.ice
@@ -143,6 +143,13 @@ module armarx
string getRobotFilename();
/**
+ * @return All dependent packages, which might contain a robot file.
+ */
+ ["cpp:const"]
+ idempotent
+ StringList getArmarXPackages();
+
+ /**
* @return The name of the robot represented by this component. Same as
* getSynchronizedRobot()->getName()
*
--
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