Merge branch 'arviz/lookup-not-found-objects-in-armarx-objects' into 'master'

Arviz: Lookup not found objects in armarx objects

See merge request ArmarX/RobotAPI!78

source/RobotAPI/components/ArViz/CMakeLists.txt

@@ -4,6 +4,7 @@ set(COMPONENT_LIBS
     ArmarXCore
     RobotAPICore
     RobotAPIInterfaces
+    RobotAPIArmarXObjects
     boost_iostreams #compression
 )
 

source/RobotAPI/components/ArViz/Coin/VisualizationObject.cpp

 #include "VisualizationObject.h"
 
+#include <RobotAPI/libraries/ArmarXObjects/ObjectFinder.h>
+
 #include <ArmarXCore/core/system/cmake/CMakePackageFinder.h>
 #include <ArmarXCore/core/logging/Logging.h>
 #include <ArmarXCore/core/system/ArmarXDataPath.h>
+
 #include <VirtualRobot/ManipulationObject.h>
 #include <VirtualRobot/SceneObject.h>
 #include <VirtualRobot/XML/RobotIO.h>
 #include <VirtualRobot/XML/ObjectIO.h>
 #include <VirtualRobot/Visualization/CoinVisualization/CoinVisualization.h>
 
-#include <boost/algorithm/string/predicate.hpp>
-
+#include <SimoxUtility/algorithm/string/string_tools.h>
 
 namespace armarx::viz::coin
 {
+
     namespace
     {
+        std::string findObjectInArmarXObjects(const std::string& filename)
+        {
+            IceUtil::Time start = IceUtil::Time::now();
+            std::string objectName = std::filesystem::path(filename).filename().stem();
+            // ARMARX_INFO << "Trying to find object '" << objectName << "' in ArmarXObjects.";
+
+            std::string fullFilename;
+            std::stringstream ss;
+
+            armarx::ObjectFinder objectFinder;
+            if (std::optional<armarx::ObjectInfo> info = objectFinder.findObject("", objectName))
+            {
+                fullFilename = info->simoxXML().absolutePath;
+                ss << "Found '" << objectName << "' in ArmarXObjects as " << *info << " \nat '" << fullFilename << "'.";
+            }
+            else
+            {
+                ss << "Did not find '" << objectName << "' in ArmarXObjects.";
+            }
+            ss << "\n(Lookup took " << (IceUtil::Time::now() - start).toMilliSecondsDouble() << " ms.)";
+            ARMARX_INFO << ss.str();
+
+            return fullFilename;
+        }
+
+
         VirtualRobot::ManipulationObjectPtr loadObject(std::string const& project, std::string const& filename)
         {
             VirtualRobot::ManipulationObjectPtr  result;
@@ -26,21 +55,31 @@ namespace armarx::viz::coin
                 return result;
             }
 
+            bool checkArmarXObjects = true;
+
             ArmarXDataPath::FindPackageAndAddDataPath(project);
             std::string fullFilename;
             if (!ArmarXDataPath::SearchReadableFile(filename, fullFilename))
             {
-                ARMARX_INFO << deactivateSpam()
-                            << "Unable to find readable file for name "
-                            << filename;
-                return result;
+                fullFilename = "";
+                if (checkArmarXObjects)
+                {
+                    fullFilename = findObjectInArmarXObjects(filename);
+                }
+                if (fullFilename.empty())
+                {
+                    ARMARX_INFO << deactivateSpam()
+                                << "Unable to find readable file for name "
+                                << filename;
+                    return result;
+                }
             }
 
             try
             {
                 ARMARX_INFO << "Loading object from " << fullFilename;
 
-                if (boost::ends_with(fullFilename, ".wrl"))
+                if (simox::alg::ends_with(fullFilename, ".wrl"))
                 {
                     VirtualRobot::VisualizationFactoryPtr factory = VirtualRobot::VisualizationFactory::fromName("inventor", NULL);
                     VirtualRobot::VisualizationNodePtr vis = factory->getVisualizationFromFile(fullFilename);
@@ -59,8 +98,6 @@ namespace armarx::viz::coin
                                << "\nReason: " << ex.what();
             }
 
-
-
             return result;
         }
 
@@ -86,6 +123,7 @@ namespace armarx::viz::coin
             result.filename = filename;
             result.object = loadObject(project, filename);
 
+
             objectcache.push_back(result);
 
             return result;
@@ -102,7 +140,7 @@ namespace armarx::viz::coin
         }
         if (!loaded.object)
         {
-            ARMARX_WARNING << deactivateSpam(10)
+            ARMARX_WARNING << deactivateSpam(120)
                            << "Object will not be visualized since it could not be loaded."
                            << "\nID: " << element.id
                            << "\nProject: " << element.project