Revision: 8608
http://playerstage.svn.sourceforge.net/playerstage/?rev=8608&view=rev
Author: natepak
Date: 2010-04-10 21:11:32 +0000 (Sat, 10 Apr 2010)
Log Message:
-----------
Added a gazebomodel command line tool
Added Paths:
-----------
code/gazebo/trunk/libgazebo/FactoryIface.cc
code/gazebo/trunk/tools/
code/gazebo/trunk/tools/CMakeLists.txt
code/gazebo/trunk/tools/gazebomodel.cc
Added: code/gazebo/trunk/libgazebo/FactoryIface.cc
===================================================================
--- code/gazebo/trunk/libgazebo/FactoryIface.cc (rev 0)
+++ code/gazebo/trunk/libgazebo/FactoryIface.cc 2010-04-10 21:11:32 UTC (rev
8608)
@@ -0,0 +1,14 @@
+#include <stdio.h>
+
+#include "gz.h"
+
+using namespace gazebo;
+
+/// \brief Delete a model by name
+bool FactoryIface::DeleteModel(const std::string &model_name)
+{
+ this->Lock(1);
+ strcpy((char*)this->data->deleteModel, model_name.c_str());
+ this->Unlock();
+ return true;
+}
Added: code/gazebo/trunk/tools/CMakeLists.txt
===================================================================
--- code/gazebo/trunk/tools/CMakeLists.txt (rev 0)
+++ code/gazebo/trunk/tools/CMakeLists.txt 2010-04-10 21:11:32 UTC (rev
8608)
@@ -0,0 +1,11 @@
+
+link_directories(../libgazebo)
+include_directories(../libgazebo)
+
+set (sources gazebomodel.cc)
+
+set_source_files_properties(${sources} PROPERTIES COMPILE_FLAGS "-ggdb -g2
-Wall")
+
+add_executable(gazebomodel gazebomodel.cc)
+
+target_link_libraries(gazebomodel gazebo boost_program_options)
Added: code/gazebo/trunk/tools/gazebomodel.cc
===================================================================
--- code/gazebo/trunk/tools/gazebomodel.cc (rev 0)
+++ code/gazebo/trunk/tools/gazebomodel.cc 2010-04-10 21:11:32 UTC (rev
8608)
@@ -0,0 +1,152 @@
+#include <iostream>
+//#include <gazebo/gazebo.h>
+#include "libgazebo/gz.h"
+
+gazebo::Client *client = NULL;
+gazebo::SimulationIface *simIface = NULL;
+gazebo::FactoryIface *factoryIface = NULL;
+
+
+////////////////////////////////////////////////////////////////////////////////
+// Print out info for one model. Recurses through all child models
+void print_model(std::string name, std::string prefix)
+{
+ std::string type;
+ gazebo::Pose pose;
+
+ if (!simIface->GetPose3d(name, pose))
+ std::cerr << "Unable to get model[" << name << "] pose\n";
+ if (!simIface->GetModelType(name, type))
+ std::cerr << "Unable to get model[" << name << "] type\n";
+
+ std::cout << prefix << "Model[" << name << "]\n";
+ std::cout << prefix << " Type: " << type << "\n";
+ std::cout << prefix << " XYZ: " << pose.pos.x << " " << pose.pos.y
+ << " " << pose.pos.z << "\n";
+ std::cout << prefix << " RPY: " << pose.roll << " " << pose.pitch
+ << " " << pose.yaw << "\n";
+
+ /*unsigned int children;
+ if (!simIface->GetNumChildren(name, children))
+ std::cerr << "Unable to get the number of children for model["
+ << name << "]\n";
+
+ for (unsigned int i=0; i < children; i++)
+ {
+ std::string childName;
+ if (!simIface->GetChildName(name, i, childName))
+ std::cerr << "Unable to get model[" << name << "] child name.\n";
+ else
+ info(childName, prefix + " ");
+ }*/
+}
+
+////////////////////////////////////////////////////////////////////////////////
+// Print out a list of all the models
+void list(int argc, char **argv)
+{
+ unsigned int numModels = 0;
+
+ if (!simIface->GetNumModels(numModels))
+ std::cerr << "Unable to get the model count\n";
+
+ for (unsigned int i=0; i < numModels; i++)
+ {
+ std::string name;
+ if (!simIface->GetModelName(i, name))
+ std::cerr << "Unable to get model[" << i << "]\n";
+
+ print_model(name, "");
+ }
+}
+
+////////////////////////////////////////////////////////////////////////////////
+// Show info for a model
+void show(int argc, char **argv)
+{
+ if (argc < 3)
+ std::cerr << "Missing model name\n";
+ else
+ print_model(argv[2], "");
+}
+
+////////////////////////////////////////////////////////////////////////////////
+// Remove a model from the world
+void kill(int argc, char **argv)
+{
+ if (argc < 3)
+ std::cerr << "Missing model name\n";
+ else
+ {
+ factoryIface->DeleteModel( argv[2] );
+ }
+}
+
+void help()
+{
+ std::cout << "gazebomodel is a command-line tool for printing out
information about models in a gazebo world.\n";
+ std::cout << "\n";
+ std::cout << "Usage: gazebomodel <command> <option_1> ... <option_n>\n";
+ std::cout << "\n";
+
+ std::cout << "Commands:\n";
+ std::cout << "\tgazebomodel list \t List all the models\n";
+ std::cout << "\tgazebomodel show \t Show info about a model\n";
+}
+
+int main(int argc, char **argv)
+{
+
+ if (argc == 1 || std::string(argv[1]) == "help")
+ {
+ help();
+ return 1;
+ }
+
+ client = new gazebo::Client();
+ simIface = new gazebo::SimulationIface();
+ factoryIface = new gazebo::FactoryIface();
+
+ try
+ {
+ client->ConnectWait(0, GZ_CLIENT_ID_USER_FIRST);
+ }
+ catch(std::string e)
+ {
+ std::cerr << "Gazebo Error: Unable to connect: " << e << "\n";
+ return -1;
+ }
+
+ /// Open the sim iface
+ try
+ {
+ simIface->Open(client, "default");
+ }
+ catch (std::string e)
+ {
+ std::cerr << "Gazebo error: Unable to connect to sim iface:" << e << "\n";
+ return -1;
+ }
+
+ // Open the factory iface
+ try
+ {
+ factoryIface->Open(client, "default");
+ }
+ catch( std::string e)
+ {
+ std::cerr << "Gazebo error: Unable to connect to the factory Iface:"
+ << e << "\n";
+ return -1;
+ }
+
+ std::string cmd = argv[1];
+ if (cmd == "list")
+ list(argc, argv);
+ else if (cmd == "show")
+ show(argc, argv);
+ else if (cmd == "kill")
+ kill(argc, argv);
+ else
+ std::cerr << "Unknown command[" << cmd << "]\n";
+}
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