void OnlineViewerServerImpl::load(string name, string url)
{
string filepath;
QRegExp filePattern("(\\w+)://(.+)");
if(filePattern.exactMatch(url.c_str())){
string protocol = filePattern.cap(1).toStdString();
if(protocol == "file"){
filepath = filePattern.cap(2).toStdString();
} else {
mv->putln(
fmt(_("OnlineViewer: The model file at \"%1%\" cannot be read. %2% protocol is not supported."))
% url % protocol);
return;
}
} else {
filepath = url;
}
// search for registered body items
BodyItemInfo* info = findInfo(name);
if(info && info->bodyItem->filePath() == filepath){
info->needToSelectLogItem = true;
// mv->putln(fmt(_("OnlineViewer: \"%1%\" at \"%2%\" has already been loaded.")) % name % url);
return;
}
// search for existing body items
RootItem* rootItem = RootItem::instance();
ItemList<BodyItem> bodyItems;
bodyItems.extractChildItems(rootItem);
for(int i=0; i < bodyItems.size(); ++i){
BodyItemPtr bodyItem = bodyItems[i];
if(bodyItem->name() == name && bodyItem->filePath() == filepath){
registerBodyItem(bodyItem);
return;
}
}
// load a new body item
BodyItemPtr bodyItem = new BodyItem();
mv->putln(fmt(_("OnlineViewer: Loading \"%1%\" at \"%2%\"."))
% name % url);
mv->flush();
if(!bodyItem->load(filepath)){
mv->putln(fmt(_("OnlineViewer: Loading \"%1%\" failed.")) % name);
} else {
bodyItem->setName(name);
ItemList<WorldItem> worldItems;
if(worldItems.extractChildItems(rootItem)){
worldItems.front()->addChildItem(bodyItem);
} else {
rootItem->addChildItem(bodyItem);
}
ItemTreeView::instance()->checkItem(bodyItem, true);
registerBodyItem(bodyItem);
}
}
bool WorldRosItem::spawnModel(gazebo_msgs::SpawnModel::Request &req,
gazebo_msgs::SpawnModel::Response &res)
{
std::string model_name = req.model_name;
std::string model_xml = req.model_xml;
cnoid::Vector3 trans;
cnoid::Quat R;
trans(0) = req.initial_pose.position.x;
trans(1) = req.initial_pose.position.y;
trans(2) = req.initial_pose.position.z;
R.w() = req.initial_pose.orientation.w;
R.x() = req.initial_pose.orientation.x;
R.y() = req.initial_pose.orientation.y;
R.z() = req.initial_pose.orientation.z;
BodyItemPtr body = new BodyItem();
body->setName(req.model_name);
const char *fname = tmpnam(NULL);
std::ofstream ofs(fname);
ofs << model_xml << std::endl;
ofs.close();
body->loadModelFile(fname);
remove(fname);
body->body()->rootLink()->setTranslation(trans);
body->body()->rootLink()->setRotation(R.matrix());
world->addChildItem(body);
BodyRosItemPtr bodyros = new BodyRosItem();
bodyros->setName(req.model_name + "_ROS");
body->addChildItem(bodyros);
ItemTreeView::instance()->checkItem(body);
ItemTreeView::instance()->checkItem(bodyros);
return true;
}
