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#include "OSGInvoker.h"
#include "uscxml/URL.h"
#include <glog/logging.h>
#ifdef BUILD_AS_PLUGINS
#include <Pluma/Connector.hpp>
#endif
namespace uscxml {
#ifdef BUILD_AS_PLUGINS
PLUMA_CONNECTOR
bool connect(pluma::Host& host) {
host.add( new OSGInvokerProvider() );
return true;
}
#endif
OSGInvoker::OSGInvoker() {
}
OSGInvoker::~OSGInvoker() {
};
boost::shared_ptr<IOProcessorImpl> OSGInvoker::create(Interpreter* interpreter) {
boost::shared_ptr<OSGInvoker> invoker = boost::shared_ptr<OSGInvoker> (new OSGInvoker());
invoker->_interpreter = interpreter;
return invoker;
}
Data OSGInvoker::getDataModelVariables() {
Data data;
return data;
}
void OSGInvoker::send(const SendRequest& req) {
}
void OSGInvoker::cancel(const std::string sendId) {
}
void OSGInvoker::invoke(const InvokeRequest& req) {
tthread::lock_guard<tthread::recursive_mutex> lock(_mutex);
// register default event handlers
Arabica::DOM::Events::EventTarget<std::string> evTarget = Arabica::DOM::Events::EventTarget<std::string>(req.dom);
evTarget.addEventListener("DOMSubtreeModified", *this, false);
evTarget.addEventListener("DOMNodeInserted", *this, false);
evTarget.addEventListener("DOMNodeRemoved", *this, false);
evTarget.addEventListener("DOMAttrModified", *this, false);
Arabica::XPath::NodeSet<std::string> content = Interpreter::filterChildElements("content", req.dom);
std::set<std::string> validChilds;
validChilds.insert("display");
processChildren(validChilds, content[0]);
}
void OSGInvoker::runOnMainThread() {
_displays_t::iterator dispIter = _displays.begin();
if (_mutex.try_lock()) {
while(dispIter != _displays.end()) {
dispIter->second->osgViewer::ViewerBase::frame();
dispIter++;
}
_mutex.unlock();
}
}
void OSGInvoker::handleEvent(Arabica::DOM::Events::Event<std::string>& event) {
// std::cout << "Handling Event!" << std::endl;
Arabica::DOM::Node<std::string> node(event.getTarget());
if (_nodes.find(node) != _nodes.end()) {
osg::Node* osgNode = _nodes[node];
if (false) {
} else if (boost::iequals(LOCALNAME(node), "rotation")) {
updateRotation(osgNode, event);
}
}
}
void OSGInvoker::processDisplay(const Arabica::DOM::Node<std::string>& element) {
// std::cout << element << std::endl;
if (_displays.find(element) == _displays.end()) {
int screenId = 0;
unsigned int actualX = 0;
unsigned int actualY = 0;
unsigned int actualWidth = 0;
unsigned int actualHeight = 0;
getViewport(element, actualX, actualY, actualWidth, actualHeight, screenId);
CompositeDisplay* compDisp = new CompositeDisplay(actualX, actualY, actualWidth, actualHeight, screenId);
_displays[element] = compDisp;
std::set<std::string> validChilds;
validChilds.insert("viewport");
processChildren(validChilds, element);
}
}
void OSGInvoker::processViewport(const Arabica::DOM::Node<std::string>& element) {
if (_displays.find(element.getParentNode()) == _displays.end())
return;
CompositeDisplay* compDisp = _displays[element.getParentNode()];
osgViewer::View* sceneView = new osgViewer::View();
_views[element] = sceneView;
osg::Group* group = new osg::Group();
_nodes[element] = group;
sceneView->setSceneData(group);
std::string name = (HAS_ATTR(element, "id") ? ATTR(element, "id") : Interpreter::getUUID());
unsigned int actualX = 0;
unsigned int actualY = 0;
unsigned int actualWidth = 0;
unsigned int actualHeight = 0;
getViewport(element, actualX, actualY, actualWidth, actualHeight, compDisp);
osg::Viewport* viewPort = new osg::Viewport(actualX, actualY, actualWidth, actualHeight);
compDisp->addView(name, viewPort, sceneView);
std::set<std::string> validChilds;
validChilds.insert("camera");
validChilds.insert("translation");
validChilds.insert("rotation");
validChilds.insert("scale");
validChilds.insert("node");
processChildren(validChilds, element);
}
void OSGInvoker::processCamera(const Arabica::DOM::Node<std::string>& element) {}
void OSGInvoker::updateCamera(osg::Node* node, Arabica::DOM::Events::Event<std::string>& event) {}
void OSGInvoker::processTranslation(const Arabica::DOM::Node<std::string>& element) {
assert(_nodes.find(element.getParentNode()) != _nodes.end());
osg::Node* node = _nodes[element.getParentNode()];
double x = 0, y = 0, z = 0;
if (HAS_ATTR(element, "x"))
x = strTo<float>(ATTR(element, "x"));
if (HAS_ATTR(element, "y"))
y = strTo<float>(ATTR(element, "y"));
if (HAS_ATTR(element, "z"))
z = strTo<float>(ATTR(element, "z"));
osg::Matrix translate;
translate.makeTranslate(x, y, z);
osg::MatrixTransform* transform = new osg::MatrixTransform();
transform->setMatrix(translate);
node->asGroup()->addChild(transform);
_nodes[element] = transform;
std::set<std::string> validChilds;
validChilds.insert("translation");
validChilds.insert("rotation");
validChilds.insert("scale");
validChilds.insert("node");
processChildren(validChilds, element);
}
void OSGInvoker::processRotation(const Arabica::DOM::Node<std::string>& element) {
assert(_nodes.find(element.getParentNode()) != _nodes.end());
osg::Node* node = _nodes[element.getParentNode()];
osg::Matrix rotation = rotationFromElement(element);
osg::MatrixTransform* transform = new osg::MatrixTransform();
transform->setMatrix(rotation);
node->asGroup()->addChild(transform);
_nodes[element] = transform;
std::set<std::string> validChilds;
validChilds.insert("translation");
validChilds.insert("rotation");
validChilds.insert("scale");
validChilds.insert("node");
processChildren(validChilds, element);
}
void OSGInvoker::updateRotation(osg::Node* node, Arabica::DOM::Events::Event<std::string>& event) {
osg::MatrixTransform* transform = static_cast<osg::MatrixTransform*>(node);
if (false) {
} else if (boost::iequals(event.getType(), "DOMAttrModified")) {
osg::Matrix rotation = rotationFromElement(Arabica::DOM::Node<std::string>(event.getTarget()));
transform->setMatrix(rotation);
}
}
osg::Matrix OSGInvoker::rotationFromElement(const Arabica::DOM::Node<std::string>& element) {
double pitch = 0, roll = 0, yaw = 0;
if (HAS_ATTR(element, "pitch")) {
NumAttr pitchAttr = NumAttr(ATTR(element, "pitch"));
if (boost::iequals(pitchAttr.unit, "deg")) {
pitch = osg::DegreesToRadians(strTo<float>(pitchAttr.value));
} else if (boost::iequals(pitchAttr.unit, "%")) {
pitch = osg::DegreesToRadians((strTo<float>(pitchAttr.value) * 360) / 100);
} else {
pitch = strTo<float>(pitchAttr.value);
}
}
if (HAS_ATTR(element, "roll")) {
NumAttr rollAttr = NumAttr(ATTR(element, "roll"));
if (boost::iequals(rollAttr.unit, "deg")) {
roll = osg::DegreesToRadians(strTo<float>(rollAttr.value));
} else if (boost::iequals(rollAttr.unit, "%")) {
roll = osg::DegreesToRadians((strTo<float>(rollAttr.value) * 360) / 100);
} else {
roll = strTo<float>(rollAttr.value);
}
}
if (HAS_ATTR(element, "yaw")) {
NumAttr yawAttr = NumAttr(ATTR(element, "yaw"));
if (boost::iequals(yawAttr.unit, "deg")) {
yaw = osg::DegreesToRadians(strTo<float>(yawAttr.value));
} else if (boost::iequals(yawAttr.unit, "%")) {
yaw = osg::DegreesToRadians((strTo<float>(yawAttr.value) * 360) / 100);
} else {
yaw = strTo<float>(yawAttr.value);
}
}
osg::Matrix rotation;
rotation.makeRotate(roll, osg::Vec3(0,1,0), // roll
pitch, osg::Vec3(1,0,0) , // pitch
yaw, osg::Vec3(0,0,1) ); // heading
return rotation;
}
void OSGInvoker::processScale(const Arabica::DOM::Node<std::string>& element) {
assert(_nodes.find(element.getParentNode()) != _nodes.end());
osg::Node* node = _nodes[element.getParentNode()];
double x = 1, y = 1, z = 1;
if (HAS_ATTR(element, "x"))
x = strTo<float>(ATTR(element, "x"));
if (HAS_ATTR(element, "y"))
y = strTo<float>(ATTR(element, "y"));
if (HAS_ATTR(element, "z"))
z = strTo<float>(ATTR(element, "z"));
osg::Matrix scale;
scale.makeScale(x, y, z);
osg::MatrixTransform* transform = new osg::MatrixTransform();
transform->setMatrix(scale);
node->asGroup()->addChild(transform);
_nodes[element] = transform;
std::set<std::string> validChilds;
validChilds.insert("translation");
validChilds.insert("rotation");
validChilds.insert("scale");
validChilds.insert("node");
processChildren(validChilds, element);
}
void OSGInvoker::processNode(const Arabica::DOM::Node<std::string>& element) {
_nodes_t::iterator nodeIter = _nodes.find(element.getParentNode());
assert(nodeIter != _nodes.end());
assert(_nodes.find(element.getParentNode()) != _nodes.end());
osg::Node* parent = _nodes[element.getParentNode()];
std::string filename;
if (HAS_ATTR(element, "src")) {
filename = ATTR(element, "src");
if (filename.length() > 0) {
std::string extension;
size_t extensionStart = filename.find_last_of(".");
if (extensionStart != std::string::npos) {
extension = filename.substr(extensionStart);
}
URL srcURI(filename);
if (!srcURI.toAbsolute(_interpreter->getBaseURI())) {
LOG(ERROR) << "invoke element has relative src URI with no baseURI set.";
return;
}
filename = srcURI.asLocalFile(extension);
osg::ref_ptr<osg::Node> model = osgDB::readNodeFile(filename);
if (model.get())
parent->asGroup()->addChild(model);
}
}
}
void OSGInvoker::processChildren(const std::set<std::string>& validChildren, const Arabica::DOM::Node<std::string>& element) {
Arabica::DOM::NodeList<std::string> childs = element.getChildNodes();
for (int i = 0; i < childs.getLength(); ++i) {
if (childs.item(i).getNodeType() != Arabica::DOM::Node_base::ELEMENT_NODE)
continue;
if (false) {
} else if (boost::iequals(LOCALNAME(childs.item(i)), "node") &&
validChildren.find("node") != validChildren.end()) {
processNode(childs.item(i));
} else if (boost::iequals(LOCALNAME(childs.item(i)), "translation") &&
validChildren.find("translation") != validChildren.end()) {
processTranslation(childs.item(i));
} else if (boost::iequals(LOCALNAME(childs.item(i)), "rotation") &&
validChildren.find("rotation") != validChildren.end()) {
processRotation(childs.item(i));
} else if (boost::iequals(LOCALNAME(childs.item(i)), "scale") &&
validChildren.find("scale") != validChildren.end()) {
processScale(childs.item(i));
} else if (boost::iequals(LOCALNAME(childs.item(i)), "viewport") &&
validChildren.find("viewport") != validChildren.end()) {
processViewport(childs.item(i));
} else if (boost::iequals(LOCALNAME(childs.item(i)), "camera") &&
validChildren.find("camera") != validChildren.end()) {
processCamera(childs.item(i));
} else if (boost::iequals(LOCALNAME(childs.item(i)), "display") &&
validChildren.find("display") != validChildren.end()) {
processDisplay(childs.item(i));
} else {
LOG(INFO) << "Unknown XML element " << TAGNAME(childs.item(i));
}
}
}
void OSGInvoker::getViewport(const Arabica::DOM::Node<std::string>& element,
unsigned int& x,
unsigned int& y,
unsigned int& width,
unsigned int& height,
CompositeDisplay* display) {
getViewport(element, x, y, width, height, display->getWidth(), display->getHeight());
}
void OSGInvoker::getViewport(const Arabica::DOM::Node<std::string>& element,
unsigned int& x,
unsigned int& y,
unsigned int& width,
unsigned int& height,
int& screenId) {
screenId = (HAS_ATTR(element, "screenId") ? strTo<int>(ATTR(element, "screenId")) : 0);
unsigned int fullWidth = 0;
unsigned int fullHeight = 0;
CompositeDisplay::getResolution(fullWidth, fullHeight, screenId);
getViewport(element, x, y, width, height, fullWidth, fullHeight);
}
void OSGInvoker::getViewport(const Arabica::DOM::Node<std::string>& element,
unsigned int& x,
unsigned int& y,
unsigned int& width,
unsigned int& height,
unsigned int fullWidth,
unsigned int fullHeight) {
if (HAS_ATTR(element, "x")) {
NumAttr xAttr = NumAttr(ATTR(element, "x"));
x = strTo<float>(xAttr.value);
if (boost::iequals(xAttr.unit, "%"))
x = (x * fullWidth) / 100;
}
if (HAS_ATTR(element, "y")) {
NumAttr yAttr = NumAttr(ATTR(element, "y"));
y = strTo<float>(yAttr.value);
if (boost::iequals(yAttr.unit, "%"))
y = (y * fullHeight) / 100;
}
if (HAS_ATTR(element, "width")) {
NumAttr widthAttr = NumAttr(ATTR(element, "width"));
width = strTo<float>(widthAttr.value);
if (boost::iequals(widthAttr.unit, "%"))
width = (width * fullWidth) / 100;
}
if (HAS_ATTR(element, "height")) {
NumAttr heightAttr = NumAttr(ATTR(element, "height"));
height = strTo<float>(heightAttr.value);
if (boost::iequals(heightAttr.unit, "%"))
height = (height * fullHeight) / 100;
}
}
osgViewer::View* OSGInvoker::getView(const Arabica::DOM::Node<std::string>& element) {
Arabica::DOM::Node<std::string> curr = element;
while(curr && !boost::iequals(LOCALNAME(curr), "viewport")) {
curr = curr.getParentNode();
}
if (curr && _views.find(curr) != _views.end())
return _views[curr];
return NULL;
}
}
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