void PoseSeqItem::convert(BodyPtr orgBody)
{
if(!orgBody){
return;
}
const Listing& convInfoTop = *ownerBodyItem->body()->info()->findListing("poseConversionInfo");
if(convInfoTop.isValid()){
for(int i=0; i < convInfoTop.size(); ++i){
const Mapping& convInfo = *convInfoTop[i].toMapping();
const Listing& targets = *convInfo["targetBodies"].toListing();
for(int j=0; j < targets.size(); ++j){
if(targets[j].toString() == orgBody->name()){
beginEditing();
if(endEditing(convertSub(orgBody, convInfo))){
clearFileInformation();
BodyPtr body = ownerBodyItem->body();
seq->setTargetBodyName(body->name());
format m(_("Pose seq \"%1%\" has been converted. Its target has been changed from %2% to %3%"));
MessageView::mainInstance()->notify(str(m % name() % orgBody->name() % body->name()));
return;
}
}
}
}
}
}
void PoseSeq::store(Mapping& archive, const BodyPtr body) const
{
archive.write("type", "PoseSeq");
archive.write("name", name(), DOUBLE_QUOTED);
archive.write("targetBody", body->name(), DOUBLE_QUOTED);
Listing& refsNode = *archive.createListing("refs");
for(PoseRefList::const_iterator p = refs.begin(); p != refs.end(); ++p){
const PoseRef& ref = *p;
MappingPtr refNode = refsNode.newMapping();
refNode->write("time", ref.time());
if(ref.maxTransitionTime() > 0.0){
refNode->write("maxTransitionTime", ref.maxTransitionTime());
}
const string& name = ref.name();
if((storedNames.find(name) == storedNames.end() /* && !ref.isExternalReference()*/) ||
name.empty()){
const_cast<PoseSeq*>(this)->storedNames.insert(name);
MappingPtr childNode = refNode->createMapping("refer");
ref.poseUnit()->store(*childNode, body);
} else {
refNode->write("refer", name, DOUBLE_QUOTED);
}
}
}
bool PoseSeq::restore(const Mapping& archive, const BodyPtr body)
{
setTargetBodyName(archive.get("targetBody", body->name()));
const Listing& refs = *archive.findListing("refs");
if(!refs.isValid()){
return false;
}
PoseSeq::iterator current = begin();
for(int i=0; i < refs.size(); ++i){
const Mapping& ref = *refs[i].toMapping();
bool isInserted = false;
double time = ref["time"].toDouble();
const ValueNode& referred = ref["refer"];
if(referred.isScalar()){
const string& name = referred;
if(!name.empty()){
current = insert(current, time, name);
isInserted = true;
}
} else if(referred.isMapping()){
const Mapping& mReferred = *referred.toMapping();
const string& type = mReferred["type"];
PoseUnitPtr poseUnit;
if(type == "Pose"){
poseUnit = new Pose();
} else if(type == "PronunSymbol"){
poseUnit = new PronunSymbol();
}
/*
else if(type == "PoseSeq"){
poseUnit = createLocalPoseSeq();
}
*/
if(poseUnit && poseUnit->restore(mReferred, body)){
poseUnit->name_ = mReferred["name"];
current = insert(current, time, poseUnit);
isInserted = true;
}
}
if(isInserted){
current->setMaxTransitionTime(ref.get("maxTransitionTime", 0.0));
}
}
return true;
}
void BodyLinkViewImpl::update()
{
currentLink = 0;
if(!currentBodyItem){
nameLabel.setText("");
return;
}
propertyWidgetConnections.block();
stateWidgetConnections.block();
BodyPtr body = currentBodyItem->body();
const vector<int>& selectedLinkIndices =
LinkSelectionView::mainInstance()->getSelectedLinkIndices(currentBodyItem);
if(selectedLinkIndices.empty()){
currentLink = body->rootLink();
} else {
currentLink = body->link(selectedLinkIndices.front());
}
if(currentLink){
nameLabel.setText(QString("%1 / %2").arg(body->name().c_str()).arg(currentLink->name().c_str()));
updateLink();
} else {
nameLabel.setText(body->name().c_str());
}
if(currentBodyItem->isLeggedBody()){
zmpBox.show();
} else {
zmpBox.hide();
}
updateKinematicState(false);
updateCollisions();
stateWidgetConnections.unblock();
propertyWidgetConnections.unblock();
}
bool OpenHRPControllerItem::start(Target* target)
{
ncHelper = getDefaultNamingContextHelper();
if(!ncHelper->isAlive()){
return false;
}
#ifdef OPENHRP_3_0
typedef OpenHRP::ControllerFactory_var ControllerServer_var;
typedef OpenHRP::ControllerFactory ControllerServer;
#elif OPENHRP_3_1
typedef OpenHRP::Controller_var ControllerServer_var;
typedef OpenHRP::Controller ControllerServer;
#endif
ControllerServer_var server = ncHelper->findObject<ControllerServer>(controllerServerName.c_str());
// do null check here
bool serverReady = ncHelper->isObjectAlive(server);
if(!serverReady){
// invoke the controller command
if(!controllerServerCommand.empty()){
if(controllerServerProcess.state() != QProcess::NotRunning){
controllerServerProcess.kill();
controllerServerProcess.waitForFinished(100);
}
string command(controllerServerCommand);
#ifdef _WIN32
if(filesystem::path(controllerServerCommand).extension() != ".exe"){
command += ".exe";
}
// quote the command string to support a path including spaces
controllerServerProcess.start(QString("\"") + command.c_str() + "\"");
#else
controllerServerProcess.start(command.c_str());
#endif
if(!controllerServerProcess.waitForStarted()){
mv->put(fmt(_("Controller server process \"%1%\" cannot be executed.")) % command);
if(!filesystem::exists(command)){
mv->putln(_(" This file does not exist."));
} else {
mv->putln("");
}
} else {
mv->putln(fmt(_("Controller server process \"%1%\" has been executed by %2%."))
% command % name());
for(int i=0; i < 20; ++i){
controllerServerProcess.waitForReadyRead(10);
server = ncHelper->findObject<ControllerServer>(controllerServerName.c_str());
serverReady = ncHelper->isObjectAlive(server);
if(serverReady){
if(!signalReadyStandardOutputConnected){
controllerServerProcess.sigReadyReadStandardOutput().connect(
boost::bind(&OpenHRPControllerItem::onReadyReadServerProcessOutput, this));
signalReadyStandardOutputConnected = true;
}
break;
}
}
}
}
}
if(!serverReady){
mv->putln(fmt(_("Controller server object \"%1%\" is not found in the name server."))
% controllerServerName);
if(controllerServerProcess.state() != QProcess::NotRunning){
controllerServerProcess.kill();
}
return false;
}
BodyPtr body = target->body();
#ifdef OPENHRP_3_0
controller = server->create(body->name().c_str());
// do null check here
mv->putln(fmt(_("The CORBA object of controller \"%1%\" has been created by the factory \"%2%\"."))
% name() % controllerServerName);
#elif OPENHRP_3_1
controller = server;
controller->setModelName(body->name().c_str());
controller->initialize();
mv->putln(fmt(_("The CORBA object \"%1%\" of controller \"%2%\" has been obtained."))
% controllerServerName % name());
#endif
timeStep_ = target->worldTimeStep();
dynamicsSimulator.reset(new DynamicsSimulator_impl(body));
controller->setDynamicsSimulator(dynamicsSimulator->_this());
controller->setTimeStep(timeStep_);
controller->start();
return true;
}
