void PythonPlugin::restoreProperties(const Archive& archive)
{
Listing& pathListing = *archive.findListing("moduleSearchPath");
if(pathListing.isValid()){
MessageView* mv = MessageView::instance();
PyGILock lock;
python::list syspath = python::extract<python::list>(sysModule.attr("path"));
string newPath;
for(int i=0; i < pathListing.size(); ++i){
newPath = archive.resolveRelocatablePath(pathListing[i].toString());
if(!newPath.empty()){
bool isExisting = false;
list<string>::iterator p;
for(p = additionalSearchPathList.begin(); p != additionalSearchPathList.end(); ++p){
if(newPath == (*p)){
isExisting = true;
break;
}
}
if(!isExisting){
syspath.insert(0, getNativePathString(filesystem::path(newPath)));
additionalSearchPathList.push_back(newPath);
mv->putln(format(_("PythonPlugin: \"%1%\" has been added to the python module search path list."))
% newPath);
}
}
}
}
}
bool ExtCommandItem::execute()
{
bool result = false;
MessageView* mv = MessageView::instance();
if(!command_.empty()){
terminate();
string actualCommand(command_);
#ifdef _WIN32
if(filesystem::path(actualCommand).extension() != ".exe"){
actualCommand += ".exe";
}
// quote the command string to support a path including spaces
process.start(QString("\"") + actualCommand.c_str() + "\"");
#else
process.start(actualCommand.c_str());
#endif
if(process.waitForStarted()){
mv->putln(fmt(_("External command \"%1%\" has been executed by item \"%2%\"."))
% actualCommand % name());
if(waitingTimeAfterStarted_ > 0.0){
msleep(waitingTimeAfterStarted_ * 1000.0);
}
result = true;
} else {
mv->put(fmt(_("External command \"%1%\" cannot be executed.")) % actualCommand);
if(!boost::filesystem::exists(actualCommand)){
mv->putln(_(" The command does not exist."));
} else {
mv->putln("");
}
}
}
return result;
}
void onItemAdded(Item* item)
{
MessageView* mv = MessageView::instance();
if(BodyItem* bodyItem = dynamic_cast<BodyItem*>(item)){
Body* body = bodyItem->body();
for(size_t i=0; i < body->numDevices(); ++i){
Device* device = body->device(i);
if(!camera){
camera = dynamic_pointer_cast<Camera>(device);
if(camera){
mv->putln(format("RTCVisionSensorSamplePlugin: Detected Camera \"%1%\" of %2%.")
% camera->name() % body->name());
visionSensorSampleRTC->setCameraLocalT(camera->T_local());
}
}
if(!rangeSensor){
rangeSensor = dynamic_pointer_cast<RangeSensor>(device);
if(rangeSensor){
mv->putln(format("RTCVisionSensorSamplePlugin: Detected RangeSensor \"%1%\" of %2%.")
% rangeSensor->name() % body->name());
visionSensorSampleRTC->setRangeSensorLocalT(rangeSensor->T_local());
}
}
}
}else if(PointSetItem* pointSetItem = dynamic_cast<PointSetItem*>(item)){
if(pointSetItem->name() == "RangeCameraPoints"){
pointSetFromRangeCamera = pointSetItem->pointSet();
mv->putln("RTCVisionSensorSamplePlugin: Detected PointSetItem \"RangeCameraPoints\"");
visionSensorSampleRTC->setPointSetFromRangeCamera(pointSetFromRangeCamera);
} else if(pointSetItem->name() == "RangeSensorPoints"){
pointSetFromRangeSensor = pointSetItem->pointSet();
mv->putln("RTCVisionSensorSamplePlugin: Detected PointSetItem \"RangeSensorPoints\"");
visionSensorSampleRTC->setPointSetFromRangeSensor(pointSetFromRangeSensor);
}
}
}
static BodyCustomizerHandle create(BodyHandle bodyHandle, const char* modelName)
{
HoseCustomizer* customizer = 0;
int jointIndices[53];
jointIndices[ 0] = bodyInterface->getLinkIndexFromName(bodyHandle, "hinge_hose0");
jointIndices[ 1] = bodyInterface->getLinkIndexFromName(bodyHandle, "hinge_1st2L11WD");
jointIndices[ 2] = bodyInterface->getLinkIndexFromName(bodyHandle, "hinge_L11WD2L11ND");
jointIndices[ 3] = bodyInterface->getLinkIndexFromName(bodyHandle, "hinge_L11ND2L12WD");
jointIndices[ 4] = bodyInterface->getLinkIndexFromName(bodyHandle, "hinge_L12WD2L12ND");
jointIndices[ 5] = bodyInterface->getLinkIndexFromName(bodyHandle, "hinge_L12ND2L13WD");
jointIndices[ 6] = bodyInterface->getLinkIndexFromName(bodyHandle, "hinge_L13WD2L13ND");
jointIndices[ 7] = bodyInterface->getLinkIndexFromName(bodyHandle, "hinge_L13ND2S1WD");
jointIndices[ 8] = bodyInterface->getLinkIndexFromName(bodyHandle, "hinge_S1WD2S1ND");
jointIndices[ 9] = bodyInterface->getLinkIndexFromName(bodyHandle, "hinge_S1ND2L21WD");
jointIndices[10] = bodyInterface->getLinkIndexFromName(bodyHandle, "hinge_L21WD2L21ND");
jointIndices[11] = bodyInterface->getLinkIndexFromName(bodyHandle, "hinge_L21ND2L22WD");
jointIndices[12] = bodyInterface->getLinkIndexFromName(bodyHandle, "hinge_L22WD2L22ND");
jointIndices[13] = bodyInterface->getLinkIndexFromName(bodyHandle, "hinge_L22ND2L23WD");
jointIndices[14] = bodyInterface->getLinkIndexFromName(bodyHandle, "hinge_L23WD2L23ND");
jointIndices[15] = bodyInterface->getLinkIndexFromName(bodyHandle, "hinge_L23ND2S2WD");
jointIndices[16] = bodyInterface->getLinkIndexFromName(bodyHandle, "hinge_S2WD2S2ND");
jointIndices[17] = bodyInterface->getLinkIndexFromName(bodyHandle, "hinge_S2ND2L31WD");
jointIndices[18] = bodyInterface->getLinkIndexFromName(bodyHandle, "hinge_L31WD2L31ND");
jointIndices[19] = bodyInterface->getLinkIndexFromName(bodyHandle, "hinge_L31ND2L32WD");
jointIndices[20] = bodyInterface->getLinkIndexFromName(bodyHandle, "hinge_L32WD2L32ND");
jointIndices[21] = bodyInterface->getLinkIndexFromName(bodyHandle, "hinge_L32ND2L33WD");
jointIndices[22] = bodyInterface->getLinkIndexFromName(bodyHandle, "hinge_L33WD2L33ND");
jointIndices[23] = bodyInterface->getLinkIndexFromName(bodyHandle, "hinge_L33ND2S3WD");
jointIndices[24] = bodyInterface->getLinkIndexFromName(bodyHandle, "hinge_S3WD2S3ND");
jointIndices[25] = bodyInterface->getLinkIndexFromName(bodyHandle, "hinge_S3ND2L41WD");
jointIndices[26] = bodyInterface->getLinkIndexFromName(bodyHandle, "hinge_L41WD2L41ND");
jointIndices[27] = bodyInterface->getLinkIndexFromName(bodyHandle, "hinge_L41ND2L42WD");
jointIndices[28] = bodyInterface->getLinkIndexFromName(bodyHandle, "hinge_L42WD2L42ND");
jointIndices[29] = bodyInterface->getLinkIndexFromName(bodyHandle, "hinge_L42ND2L43WD");
jointIndices[30] = bodyInterface->getLinkIndexFromName(bodyHandle, "hinge_L43WD2L43ND");
jointIndices[31] = bodyInterface->getLinkIndexFromName(bodyHandle, "hinge_L43ND2S4WD");
jointIndices[32] = bodyInterface->getLinkIndexFromName(bodyHandle, "hinge_S4WD2S4ND");
jointIndices[33] = bodyInterface->getLinkIndexFromName(bodyHandle, "hinge_S4ND2L51WD");
jointIndices[34] = bodyInterface->getLinkIndexFromName(bodyHandle, "hinge_L51WD2L51ND");
jointIndices[35] = bodyInterface->getLinkIndexFromName(bodyHandle, "hinge_L51ND2L52WD");
jointIndices[36] = bodyInterface->getLinkIndexFromName(bodyHandle, "hinge_L52WD2L52ND");
jointIndices[37] = bodyInterface->getLinkIndexFromName(bodyHandle, "hinge_L52ND2L53WD");
jointIndices[38] = bodyInterface->getLinkIndexFromName(bodyHandle, "hinge_L53WD2L53ND");
jointIndices[39] = bodyInterface->getLinkIndexFromName(bodyHandle, "hinge_L53ND2S5WD");
jointIndices[40] = bodyInterface->getLinkIndexFromName(bodyHandle, "hinge_S5WD2S5ND");
jointIndices[41] = bodyInterface->getLinkIndexFromName(bodyHandle, "hinge_S5ND2L61WD");
jointIndices[42] = bodyInterface->getLinkIndexFromName(bodyHandle, "hinge_L61WD2L61ND");
jointIndices[43] = bodyInterface->getLinkIndexFromName(bodyHandle, "hinge_L61ND2L62WD");
jointIndices[44] = bodyInterface->getLinkIndexFromName(bodyHandle, "hinge_L62WD2L62ND");
jointIndices[45] = bodyInterface->getLinkIndexFromName(bodyHandle, "hinge_L62ND2L63WD");
jointIndices[46] = bodyInterface->getLinkIndexFromName(bodyHandle, "hinge_L63WD2L63ND");
jointIndices[47] = bodyInterface->getLinkIndexFromName(bodyHandle, "hinge_L63ND2S6WD");
jointIndices[48] = bodyInterface->getLinkIndexFromName(bodyHandle, "hinge_S6WD2S6ND");
jointIndices[49] = bodyInterface->getLinkIndexFromName(bodyHandle, "hinge_S6ND2L71WD");
jointIndices[50] = bodyInterface->getLinkIndexFromName(bodyHandle, "hinge_L71WD2L71ND");
jointIndices[51] = bodyInterface->getLinkIndexFromName(bodyHandle, "hinge_L71ND2L72WD");
jointIndices[52] = bodyInterface->getLinkIndexFromName(bodyHandle, "hinge_L72WD2L72ND");
string name(modelName);
MessageView* mv;
mv = MessageView::instance();
mv->putln("The hose customizer is running");
if (name == "HOSE") {
customizer = new HoseCustomizer;
customizer->bodyHandle = bodyHandle;
for (int i = 0; i < 53; i++) {
int jointIndex = jointIndices[i];
JointValSet& jointValSet = customizer->jointValSet[i];
if (jointIndex >= 0) {
jointValSet.q_ptr = bodyInterface->getJointValuePtr(bodyHandle, jointIndex);
jointValSet.dq_ptr = bodyInterface->getJointVelocityPtr(bodyHandle, jointIndex);
jointValSet.u_ptr = bodyInterface->getJointForcePtr(bodyHandle, jointIndex);
}
else {
jointValSet.q_ptr = NULL;
jointValSet.dq_ptr = NULL;
jointValSet.u_ptr = NULL;
}
}
}
return static_cast<BodyCustomizerHandle>(customizer);
}
void ViewManager::restoreViews(ArchivePtr archive, const std::string& key, ViewManager::ViewStateInfo& out_viewStateInfo)
{
MessageView* mv = MessageView::instance();
typedef map<ViewInfo*, vector<View*> > ViewsMap;
ViewsMap remainingViewsMap;
Listing* viewList = archive->findListing(key);
if(viewList->isValid() && !viewList->empty()){
vector<ViewState>* viewsToRestoreState = new vector<ViewState>();
out_viewStateInfo.data = viewsToRestoreState;
int id;
string moduleName;
string className;
string instanceName;
for(int i=0; i < viewList->size(); ++i){
Archive* viewArchive = dynamic_cast<Archive*>(viewList->at(i)->toMapping());
if(viewArchive){
bool isHeaderValid =
viewArchive->read("id", id) &&
viewArchive->read("plugin", moduleName) &&
viewArchive->read("class", className);
if(isHeaderValid){
View* view = 0;
if(!viewArchive->read("name", instanceName)){
view = getOrCreateView(moduleName, className);
} else {
// get one of the view instances having the instance name, or create a new instance.
// Different instances are assigned even if there are instances with the same name in the archive
ViewInfo* info = findViewInfo(moduleName, className);
if(info){
vector<View*>* remainingViews;
ViewsMap::iterator p = remainingViewsMap.find(info);
if(p != remainingViewsMap.end()){
remainingViews = &p->second;
} else {
remainingViews = &remainingViewsMap[info];
InstanceInfoList& instances = info->instances;
remainingViews->reserve(instances.size());
InstanceInfoList::iterator q = instances.begin();
if(info->hasDefaultInstance() && q != instances.end()){
++q;
}
while(q != instances.end()){
remainingViews->push_back((*q++)->view);
}
}
for(vector<View*>::iterator q = remainingViews->begin(); q != remainingViews->end(); ++q){
if((*q)->name() == instanceName){
view = *q;
remainingViews->erase(q);
break;
}
}
if(!view){
if(!info->isSingleton() || info->instances.empty()){
view = info->createView(instanceName, true);
} else {
mv->putln(MessageView::ERROR,
boost::format(_("A singleton view \"%1%\" of the %2% type cannot be created because its singleton instance has already been created."))
% instanceName % info->className());
}
}
}
}
if(view){
archive->registerViewId(view, id);
ArchivePtr state = viewArchive->findSubArchive("state");
if(state->isValid()){
state->inheritSharedInfoFrom(*archive);
viewsToRestoreState->push_back(ViewState(view, state));
}
if(viewArchive->get("mounted", false)){
mainWindow->viewArea()->addView(view);
}
}
}
}
}
}
}
