Merge pull request #326 from fqez/easyIce4all

[issue #321] including easyIce in the rest of the components
JdeRobot · Feb 3, 2016 · d01f0e0 · d01f0e0
2 parents 23e738d + ad1d037
commit d01f0e0
Show file tree

Hide file tree

Showing 51 changed files with 196 additions and 64 deletions.
diff --git a/src/stable/components/basic_component/CMakeLists.txt b/src/stable/components/basic_component/CMakeLists.txt
@@ -26,6 +26,11 @@ include_directories(
     ${CMAKE_CURRENT_SOURCE_DIR}
     ${gtkmm_INCLUDE_DIRS}
     ${libglademm_INCLUDE_DIRS}
+    ${easyiceconfig_INCLUDE_DIRS}
+)
+
+link_directories(
+	${easyiceconfig_LIBRARY_DIRS}
 )
 
 #GENERAL COMPILATION (NO DEPENDENCIES)
@@ -45,6 +50,7 @@ target_link_libraries(basic_component
     	colorspacesmm
     	${OpenCV_LIBRARIES}       
     	${OpenCVGUI_LIBRARIES} 
+	${easyiceconfig_LIBRARIES} 
     	${ZeroCIce_LIBRARIES}   
     	guigtk dl
     )

diff --git a/src/stable/components/basic_component/basic_component.cpp b/src/stable/components/basic_component/basic_component.cpp
@@ -12,6 +12,7 @@
 #include "control/control.h"
 #include "control/threadcontrol.h"
 #include "shared.h"
+#include "easyiceconfig/EasyIce.h" 
 
 using namespace basic_component;
 
@@ -89,7 +90,7 @@ int main(int argc, char* argv[])
 	//pthread_t t_gui;
         //We initialize Ice here to be able to add some other options to the configuration file such as
         //the posibility to choose the gui mode.
-        Ice::CommunicatorPtr ic = Ice::initialize(argc, argv);
+        Ice::CommunicatorPtr ic = EasyIce::initialize(argc, argv);
 
 	Ice::PropertiesPtr prop = ic->getProperties();
 

diff --git a/src/stable/components/cameraCalibrator/CMakeLists.txt b/src/stable/components/cameraCalibrator/CMakeLists.txt
@@ -7,9 +7,12 @@ include_directories(
     ${CMAKE_CURRENT_SOURCE_DIR}
     ${gtkmm_INCLUDE_DIRS}
     ${libglademm_INCLUDE_DIRS}
+    ${easyiceconfig_INCLUDE_DIRS}
 )
 
-
+link_directories(
+	${easyiceconfig_LIBRARY_DIRS}
+)
 
 add_executable (cameraCalibrator  ${SOURCE_FILES})
 
@@ -24,6 +27,7 @@ add_executable (cameraCalibrator  ${SOURCE_FILES})
         parallelIce
         ${ZLIB_LIBRARIES}
         #    ${Gearbox_LIBRARIES}
+	${easyiceconfig_LIBRARIES} 
         ${ZeroCIce_LIBRARIES}
         ${CMAKE_THREAD_LIBS_INIT} 
 )
diff --git a/src/stable/components/cameraCalibrator/cameraCalibrator.cpp b/src/stable/components/cameraCalibrator/cameraCalibrator.cpp
@@ -40,6 +40,8 @@
 #include <time.h>
 #include <geometry/progeo/Progeo.h>
 
+#include "easyiceconfig/EasyIce.h" 
+
 
 enum Pattern { CHESSBOARD, CIRCLES_GRID, ASYMMETRIC_CIRCLES_GRID };
 enum { DETECTION = 0, CAPTURING = 1, CALIBRATED = 2 };
@@ -287,7 +289,7 @@ int main(int argc, char** argv){
     std::vector<cameraData> cameras;
 
 	try{
-		ic = Ice::initialize(argc,argv);
+		ic = EasyIce::initialize(argc,argv);
 		prop = ic->getProperties();
 	}catch (const Ice::Exception& ex) {
 		std::cerr << ex << std::endl;

diff --git a/src/stable/components/cameraserver/CMakeLists.txt b/src/stable/components/cameraserver/CMakeLists.txt
@@ -7,6 +7,11 @@ include_directories(
 	${INTERFACES_CPP_DIR}
 	${LIBS_DIR}
 	${CMAKE_CURRENT_SOURCE_DIR}
+    	${easyiceconfig_INCLUDE_DIRS}
+)
+
+link_directories(
+	${easyiceconfig_LIBRARY_DIRS}
 )
 
 add_executable (cameraserver ${SOURCE_FILES})
@@ -17,6 +22,7 @@ TARGET_LINK_LIBRARIES(cameraserver
     ${OpenCVGUI_LIBRARIES} 
 	colorspacesmm
 	JderobotInterfaces
+	${easyiceconfig_LIBRARIES} 
 	${ZeroCIce_LIBRARIES}
 	${CMAKE_THREAD_LIBS_INIT} 
 	${ZLIB_LIBRARIES}

diff --git a/src/stable/components/cameraserver/cameraserver.cpp b/src/stable/components/cameraserver/cameraserver.cpp
@@ -48,6 +48,8 @@
 #include <jderobotutil/CameraTask.h>
 #include <ns/ns.h>
 
+#include "easyiceconfig/EasyIce.h" 
+
 bool flag=false; /** boolean to keep a check on signal */
 
 namespace cameraserver{
@@ -188,7 +190,7 @@ int main(int argc, char** argv)
   signal(SIGINT,signalHandler);
   Ice::CommunicatorPtr ic;
   try{
-    ic = Ice::initialize(argc, argv);
+    ic = EasyIce::initialize(argc, argv);
 
     Ice::PropertiesPtr prop = ic->getProperties();
 

diff --git a/src/stable/components/cameraview/CMakeLists.txt b/src/stable/components/cameraview/CMakeLists.txt
@@ -13,16 +13,15 @@ include_directories(
     ${gtkglextmm_INCLUDE_DIRS}
     ${ZLIB_INCLUDE_DIRS}
     ${resourcelocator_INCLUDE_DIRS}
+    ${easyiceconfig_INCLUDE_DIRS}
 )
 link_directories(
 	${resourcelocator_LIBRARY_DIRS}
+	${easyiceconfig_LIBRARY_DIRS}
 )
 
-
 add_executable (cameraview ${SOURCE_FILES})
 
-
-
 TARGET_LINK_LIBRARIES(cameraview
     ${CMAKE_THREAD_LIBS_INIT} 
     ${OpenCV_LIBRARIES}
@@ -32,6 +31,7 @@ TARGET_LINK_LIBRARIES(cameraview
     colorspacesmm
     JderobotInterfaces
     parallelIce
+    ${easyiceconfig_LIBRARIES} 
     ${ZeroCIce_LIBRARIES}
     ${ZLIB_LIBRARIES}
 ${CMAKE_THREAD_LIBS_INIT}

diff --git a/src/stable/components/cameraview/cameraview.cpp b/src/stable/components/cameraview/cameraview.cpp
@@ -27,6 +27,7 @@
 #include <visionlib/colorspaces/colorspacesmm.h>
 #include "viewer.h"
 #include "parallelIce/cameraClient.h"
+#include "easyiceconfig/EasyIce.h" 
 
 int main(int argc, char** argv){
 	int status;
@@ -36,7 +37,7 @@ int main(int argc, char** argv){
 	jderobot::cameraClient* camRGB;
 
 	try{
-		ic = Ice::initialize(argc,argv);
+		ic = EasyIce::initialize(argc,argv);
 		Ice::ObjectPrx base = ic->propertyToProxy("Cameraview.Camera.Proxy");
 		Ice::PropertiesPtr prop = ic->getProperties();
 

diff --git a/src/stable/components/colorTuner/CMakeLists.txt b/src/stable/components/colorTuner/CMakeLists.txt
@@ -6,6 +6,11 @@ include_directories(
     ${CMAKE_CURRENT_SOURCE_DIR}
     ${gtkmm_INCLUDE_DIRS}
     ${libglademm_INCLUDE_DIRS}
+    ${easyiceconfig_INCLUDE_DIRS}
+)
+
+link_directories(
+	${easyiceconfig_LIBRARY_DIRS}
 )
 
 add_executable (colorTuner ${SOURCE_FILES})
@@ -20,6 +25,7 @@ TARGET_LINK_LIBRARIES(colorTuner
     JderobotInterfaces
     jderobotutil
     ${Gearbox_LIBRARIES}
+    ${easyiceconfig_LIBRARIES} 
     ${ZeroCIce_LIBRARIES}
 
 )

diff --git a/src/stable/components/colorTuner/colorTuner.cpp b/src/stable/components/colorTuner/colorTuner.cpp
@@ -28,14 +28,16 @@
 #include <opencv2/core/core.hpp>
 #include <opencv2/highgui/highgui.hpp>
 
+#include "easyiceconfig/EasyIce.h" 
+
 int main(int argc, char** argv){
     int status;
 
     cameraview::colorTuner viewer;
     Ice::CommunicatorPtr ic;
 
     try{
-        ic = Ice::initialize(argc,argv);
+        ic = EasyIce::initialize(argc,argv);
         Ice::ObjectPrx base = ic->propertyToProxy("Cameraview.Camera.Proxy");
         if (0==base)
           throw "Could not create proxy";

diff --git a/src/stable/components/gazeboserver/plugins/turtlebot/CMakeLists.txt b/src/stable/components/gazeboserver/plugins/turtlebot/CMakeLists.txt
@@ -2,23 +2,30 @@ include_directories(
 	${GAZEBO_INCLUDE_DIRS}
     ${INTERFACES_CPP_DIR}
     ${LIBS_DIR}
-    ${CMAKE_CURRENT_SOURCE_DIR})
+    ${CMAKE_CURRENT_SOURCE_DIR}
+	${easyiceconfig_INCLUDE_DIRS}
+)
 
-link_directories(${GAZEBO_LIBRARY_DIRS})
+link_directories(
+	${GAZEBO_LIBRARY_DIRS}
+ 	${easyiceconfig_LIBRARY_DIRS}
+)
 
 #set( CMAKE_CXX_FLAGS "-Wall" )
 
 add_library(motorsTurtlebotJde SHARED motors.cc)
 target_link_libraries(motorsTurtlebotJde 
 	${GAZEBO_libraries} 
 	${ZeroCIce_LIBRARIES} 
+	${easyiceconfig_LIBRARIES}
 	colorspacesmm
 	JderobotInterfaces) 
 
 add_library(encodersTurtlebotJde SHARED encoders.cc)
 target_link_libraries(encodersTurtlebotJde 
 	${GAZEBO_libraries} 
 	${ZeroCIce_LIBRARIES} 
+	${easyiceconfig_LIBRARIES}
 	colorspacesmm
 	JderobotInterfaces)    
 
@@ -27,13 +34,15 @@ target_link_libraries(laserTurtlebotJde
 	RayPlugin 
 	${GAZEBO_libraries} 
 	${ZeroCIce_LIBRARIES} 
+	${easyiceconfig_LIBRARIES}
 	colorspacesmm
     	JderobotInterfaces) 
 
 add_library(pose3dTurtlebotJde SHARED pose3d.cc)
 target_link_libraries(pose3dTurtlebotJde
 	${GAZEBO_libraries} 
 	${ZeroCIce_LIBRARIES} 
+	${easyiceconfig_LIBRARIES}
 	colorspacesmm
     	JderobotInterfaces) 
 
@@ -45,15 +54,16 @@ target_link_libraries(kinectPluginTurtlebotJde
     ${PCL_LIBRARIES}
     ${OpenCV_LIBRARIES}
     ${ZeroCIce_LIBRARIES}
+	${easyiceconfig_LIBRARIES}
     colorspacesmm
 )
 
-
 add_library(camera_dumpTurtlebotJde SHARED camera_dump.cc)
 target_link_libraries(camera_dumpTurtlebotJde ${GAZEBO_libraries} 
 	CameraPlugin 	
 	${GAZEBO_libraries} 
 	${ZeroCIce_LIBRARIES} 
+	${easyiceconfig_LIBRARIES}
 	colorspacesmm
 	JderobotInterfaces)
 
@@ -62,6 +72,7 @@ target_link_libraries(pose3dencodersTurtlebotJde
 	${GAZEBO_libraries} 	 	
 	${GAZEBO_libraries} 
 	${ZeroCIce_LIBRARIES} 
+	${easyiceconfig_LIBRARIES}
 	colorspacesmm
 	JderobotInterfaces)
 

diff --git a/src/stable/components/gazeboserver/plugins/turtlebot/camera_dump.cc b/src/stable/components/gazeboserver/plugins/turtlebot/camera_dump.cc
@@ -10,6 +10,7 @@
 // ICE utils includes
 #include <Ice/Ice.h>
 #include <IceUtil/IceUtil.h>
+#include <easyiceconfig/EasyIce.h> 
 
 #include <jderobot/camera.h>
 
@@ -269,7 +270,7 @@ void *myMain(void* v)
 
     try {
 
-        ic = Ice::initialize(argc, argv);
+        ic = EasyIce::initialize(argc, argv);
         prop = ic->getProperties();
 
         std::string Endpoints = prop->getProperty("CameraGazebo.Endpoints");

diff --git a/src/stable/components/gazeboserver/plugins/turtlebot/encoders.cc b/src/stable/components/gazeboserver/plugins/turtlebot/encoders.cc
@@ -112,7 +112,7 @@ namespace gazebo {
 
         try {
 
-            ic = Ice::initialize(argc, argv);
+            ic = EasyIce::initialize(argc, argv);
 
 
             prop = ic->getProperties();

diff --git a/src/stable/components/gazeboserver/plugins/turtlebot/encoders.h b/src/stable/components/gazeboserver/plugins/turtlebot/encoders.h
@@ -9,6 +9,7 @@
 #include <Ice/Ice.h>
 #include <IceUtil/IceUtil.h>
 
+#include <easyiceconfig/EasyIce.h> 
 
 // JDErobot general ice component includes
 #include <jderobot/motors.h>

diff --git a/src/stable/components/gazeboserver/plugins/turtlebot/kinectPlugin.cc b/src/stable/components/gazeboserver/plugins/turtlebot/kinectPlugin.cc
@@ -616,7 +616,7 @@ void *mainKinect(void* v)
 	char* argv[] = {name};
     try {
 
-        ic = Ice::initialize(argc, argv);
+        ic = EasyIce::initialize(argc, argv);
         prop = ic->getProperties();
 
         std::string Endpoints = prop->getProperty("Kinect.Endpoints");

diff --git a/src/stable/components/gazeboserver/plugins/turtlebot/kinectPlugin.h b/src/stable/components/gazeboserver/plugins/turtlebot/kinectPlugin.h
@@ -33,7 +33,7 @@
 // ICE utils includes
 #include <Ice/Ice.h>
 #include <IceUtil/IceUtil.h>
-
+#include <easyiceconfig/EasyIce.h> 
 
 #include <visionlib/colorspaces/colorspacesmm.h>
 

diff --git a/src/stable/components/gazeboserver/plugins/turtlebot/laser.cc b/src/stable/components/gazeboserver/plugins/turtlebot/laser.cc
@@ -15,6 +15,7 @@
 // ICE utils includes
 #include <Ice/Ice.h>
 #include <IceUtil/IceUtil.h>
+#include <easyiceconfig/EasyIce.h> 
 
 #include <jderobot/laser.h>
 
@@ -120,7 +121,7 @@ void *mainLaser(void* v)
 	char* argv[] = {name};
     try {
 
-        ic = Ice::initialize(argc, argv);
+        ic = EasyIce::initialize(argc, argv);
         prop = ic->getProperties();
 
         std::string Endpoints = prop->getProperty("Laser.Endpoints");

diff --git a/src/stable/components/gazeboserver/plugins/turtlebot/motors.cc b/src/stable/components/gazeboserver/plugins/turtlebot/motors.cc
@@ -206,7 +206,7 @@ namespace gazebo {
 
         try {
 
-            ic = Ice::initialize(argc, argv);
+            ic = EasyIce::initialize(argc, argv);
 
 
             prop = ic->getProperties();

diff --git a/src/stable/components/gazeboserver/plugins/turtlebot/motors.h b/src/stable/components/gazeboserver/plugins/turtlebot/motors.h
@@ -10,6 +10,7 @@
 #include <Ice/Ice.h>
 #include <IceUtil/IceUtil.h>
 
+#include <easyiceconfig/EasyIce.h> 
 
 // JDErobot general ice component includes
 #include <jderobot/motors.h>

diff --git a/src/stable/components/gazeboserver/plugins/turtlebot/pose3d.cc b/src/stable/components/gazeboserver/plugins/turtlebot/pose3d.cc
@@ -121,7 +121,7 @@ namespace gazebo {
 
         try {
 
-            ic = Ice::initialize(argc, argv);
+            ic = EasyIce::initialize(argc, argv);
 
 
             prop = ic->getProperties();

diff --git a/src/stable/components/gazeboserver/plugins/turtlebot/pose3d.h b/src/stable/components/gazeboserver/plugins/turtlebot/pose3d.h
@@ -9,7 +9,7 @@
 #include <Ice/Ice.h>
 #include <IceUtil/IceUtil.h>
 
-
+#include <easyiceconfig/EasyIce.h> 
 
 //#include <jderobot/motors.h>
 #include <jderobot/pose3d.h>

diff --git a/src/stable/components/gazeboserver/plugins/turtlebot/pose3dencoders.cc b/src/stable/components/gazeboserver/plugins/turtlebot/pose3dencoders.cc
@@ -434,7 +434,7 @@ namespace gazebo {
 
         try {
 
-            ic = Ice::initialize(argc, argv);
+            ic = EasyIce::initialize(argc, argv);
 
 
             prop = ic->getProperties();

diff --git a/src/stable/components/gazeboserver/plugins/turtlebot/pose3dencoders.h b/src/stable/components/gazeboserver/plugins/turtlebot/pose3dencoders.h
@@ -7,6 +7,7 @@
 #include <Ice/Ice.h>
 #include <IceUtil/IceUtil.h>
 
+#include <easyiceconfig/EasyIce.h> 
 
 // JDErobot general ice component includes
 #include <jderobot/pose3dencoders.h>
-Original file line number
+Diff line change
@@ Expand Up / @@ -112,7 +112,7 @@ namespace gazebo { @@
             try {
-                ic = Ice::initialize(argc, argv);
+                ic = EasyIce::initialize(argc, argv);
                 prop = ic->getProperties();
@@ Expand Down @@