/**
\note A pointer returned by archive() must be replaced with a new one
when a new config is loaed.
*/
Mapping* AppConfig::archive()
{
if(pYAMLReader && pYAMLReader->numDocuments()){
return pYAMLReader->document()->toMapping();
}
static MappingPtr appArchive(new Mapping);
return appArchive.get();
}
void CaptureBar::initialize(ExtensionManager* ext)
{
static bool initialized = false;
if(!initialized){
ext->addToolBar(instance());
MenuManager& mm = ext->menuManager();
MappingPtr config = AppConfig::archive()->openMapping("CaptureBar");
mm.setPath("/Options").setPath(N_("Capture Bar"));
includeTabCheck = mm.addCheckItem(_("Include Tab"));
includeTabCheck->setChecked(config->get("includeTab", false));
includeTabCheck->sigToggled().connect(onIncludeTabToggled);
lastCaptureWidget = 0;
initialized = true;
}
}
PluginManagerImpl::PluginManagerImpl(ExtensionManager* ext)
: mv(MessageView::mainInstance())
{
pluginNamePattern.setPattern(QString(DLL_PREFIX) + "Cnoid.+Plugin" + DEBUG_SUFFIX + "\\." + DLL_SUFFIX);
MappingPtr config = AppConfig::archive()->openMapping("PluginManager");
// for the base module
PluginInfoPtr info = boost::make_shared<PluginInfo>();
info->name = "Base";
nameToPluginInfoMap.insert(make_pair(string("Base"), info));
MenuManager& mm = ext->menuManager();
mm.setPath("/File");
mm.addItem(_("Load Plugin"))
->sigTriggered().connect(boost::bind(&PluginManagerImpl::onLoadPluginTriggered, this));
startupLoadingCheck = mm.addCheckItem(_("Startup Plugin Loading"));
startupLoadingCheck->setChecked(config->get("startupPluginLoading", true));
mm.addSeparator();
}
void PluginManagerImpl::onLoadPluginTriggered()
{
QFileDialog dialog(MainWindow::instance());
dialog.setWindowTitle(_("Load plugins"));
dialog.setFileMode(QFileDialog::ExistingFiles);
dialog.setViewMode(QFileDialog::List);
dialog.setLabelText(QFileDialog::Accept, _("Open"));
dialog.setLabelText(QFileDialog::Reject, _("Cancel"));
QStringList filters;
filters << QString(_("Plugin files (*.%1)")).arg(DLL_SUFFIX);
filters << _("Any files (*)");
dialog.setNameFilters(filters);
MappingPtr config = AppConfig::archive()->openMapping("PluginManager");
dialog.setDirectory(config->get("pluginLoadingDialogDirectory", executableTopDirectory()).c_str());
if(dialog.exec()){
config->writePath("pluginLoadingDialogDirectory", dialog.directory().absolutePath().toStdString());
QStringList filenames = dialog.selectedFiles();
for(int i=0; i < filenames.size(); ++i){
string filename = getNativePathString(filesystem::path(filenames[i].toStdString()));
// This code was taken from 'scanPluginFiles'. This should be unified.
//if(pluginNamePattern.exactMatch(QString(getFilename(pluginPath).c_str()))){
if(true){
PluginMap::iterator p = pathToPluginInfoMap.find(filename);
if(p == pathToPluginInfoMap.end()){
PluginInfoPtr info(new PluginInfo);
info->pathString = filename;
allPluginInfos.push_back(info);
pathToPluginInfoMap[filename] = info;
}
}
}
loadPlugins();
}
}
bool BodyLoaderImpl::load(BodyPtr& body, const std::string& filename)
{
bool result = false;
filesystem::path orgpath(filename);
string ext = getExtension(orgpath);
string modelFilename;
MappingPtr info;
try {
if(ext != "yaml"){
modelFilename = filename;
} else {
YAMLReader parser;
info = parser.loadDocument(filename)->toMapping();
filesystem::path mpath(info->get("modelFile").toString());
if(mpath.has_root_path()){
modelFilename = getNativePathString(mpath);
} else {
modelFilename = getNativePathString(orgpath.parent_path() / mpath);
}
ext = getExtension(mpath);
}
LoaderMap::iterator p = loaderMap.find(ext);
if(p != loaderMap.end()){
loader = p->second;
} else {
boost::lock_guard<boost::mutex> lock(loaderFactoryMapMutex);
LoaderFactoryMap::iterator q = loaderFactoryMap.find(ext);
if(q != loaderFactoryMap.end()){
LoaderFactory factory = q->second;
loader = factory();
loaderMap[ext] = loader;
}
}
if(!loader){
(*os) << str(boost::format(_("The file format of \"%1%\" is not supported by the body loader.\n"))
% getFilename(filesystem::path(modelFilename)));
} else {
loader->setMessageSink(*os);
loader->setVerbose(isVerbose);
loader->setShapeLoadingEnabled(isShapeLoadingEnabled);
int dn = defaultDivisionNumber;
if(info){
Mapping& geometryInfo = *info->findMapping("geometry");
if(geometryInfo.isValid()){
geometryInfo.read("divisionNumber", dn);
}
}
if(dn > 0){
loader->setDefaultDivisionNumber(dn);
}
if(defaultCreaseAngle >= 0.0){
loader->setDefaultCreaseAngle(defaultCreaseAngle);
}
body->clearDevices();
body->clearExtraJoints();
if(info){
body->resetInfo(info.get());
} else {
body->info()->clear();
}
result = loader->load(body, modelFilename);
}
} catch(const ValueNode::Exception& ex){
(*os) << ex.message();
} catch(const nonexistent_key_error& error){
if(const std::string* message = boost::get_error_info<error_info_message>(error)){
(*os) << *message;
}
} catch(const std::exception& ex){
(*os) << ex.what();
}
os->flush();
return result;
}
