bool RobotTestBackend::OnButtonToggle(const string& button,int checked)
{
if(button=="draw_expanded") {
SetDrawExpanded(checked);
SendRefresh();
return true;
}
else if(button=="output_ros") {
if(checked) {
//initialize ROS if not initialized
if(ros_status == 0) {
if(ROSInit()) {
ros_status = 1;
bool res = ROSPublishTransforms(*world);
if(!res) printf("Error publishing transforms?\n");
}
else ros_status = -1;
}
}
if(!GenericBackendBase::OnButtonToggle(button,checked)) {
cout<<"RobotTestBackend: Unknown button: "<<button<<endl;
return false;
}
}
else if(!GenericBackendBase::OnButtonToggle(button,checked)) {
cout<<"RobotTestBackend: Unknown button: "<<button<<endl;
return false;
}
return true;
}
bool ResourceGUIBackend::OnCommand(const string& cmd,const string& args)
{
if(cmd == "set_resource") {
resources->Select(args);
return true;
}
else if(cmd == "get_resource") {
stringstream ss;
ss<<resources->selected->Identifier();
SendCommand("current_resource",ss.str());
return true;
}
else if(cmd == "set_resource_name") {
if(resources->selected) resources->selected->resource->name = args;
printf("Updating name to %s\n",args.c_str());
}
else if(cmd == "delete_resource") {
resources->DeleteSelected();
}
else if(cmd == "add_resource") {
string type,name;
stringstream ss(args);
if(!SafeInputString(ss,type)) {
cout<<"Error reading resource type from args \""<<args<<"\""<<endl;
return true;
}
if(!SafeInputString(ss,name)) {
cout<<"Error reading resource name from args \""<<args<<"\""<<endl;
return true;
}
last_added = Add(name,type);
}
else if(cmd == "load_resource") {
if(LoadNew(args)) {
SendCommand("new_resource",last_added->Identifier());
}
}
else if(cmd == "save_resource") {
SaveCur(args);
}
else if(cmd == "load_resource_dir") {
if(LoadAll(args)) {
SendCommand("refresh_resources","");
}
}
else if(cmd == "save_resource_dir") {
SaveAll(args);
}
else if(cmd == "convert") {
ResourcePtr r=CurrentResource();
ResourcePtr res = CastResource(r,args.c_str());
if(!res) {
fprintf(stderr,"Conversion failed\n");
return true;
}
Add(res);
SetLastActive();
}
else if(cmd == "extract") {
ResourcePtr r=CurrentResource();
if(!r) return true;
vector<ResourcePtr> res = ExtractResources(r,args.c_str());
for(size_t i=0;i<res.size();i++){
Add(res[i]);
}
if(!res.empty())
SetLastActive();
}
else if(cmd == "set_path_time") {
stringstream ss(args);
double time;
ss>>time;
SetPathTime(time);
SendRefresh();
}
