GrxProjectItem.java
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1 /*
2  * Copyright (c) 2008, AIST, the University of Tokyo and General Robotix Inc.
3  * All rights reserved. This program is made available under the terms of the
4  * Eclipse Public License v1.0 which accompanies this distribution, and is
5  * available at http://www.eclipse.org/legal/epl-v10.html
6  * Contributors:
7  * General Robotix Inc.
8  * National Institute of Advanced Industrial Science and Technology (AIST)
9  */
10 /*
11  * GrxProjectItem.java
12  *
13  * Copyright (C) 2007 GeneralRobotix, Inc.
14  * All Rights Reserved
15  *
16  * @author Yuichiro Kawasumi (General Robotix, Inc.)
17  */
18 
19 package com.generalrobotix.ui.item;
20 
21 import java.io.*;
22 import java.lang.reflect.InvocationTargetException;
23 import java.net.URL;
24 import java.util.*;
25 
26 import javax.xml.parsers.DocumentBuilder;
27 import javax.xml.parsers.DocumentBuilderFactory;
28 import javax.xml.parsers.ParserConfigurationException;
29 import javax.xml.transform.OutputKeys;
30 import javax.xml.transform.Transformer;
31 import javax.xml.transform.TransformerConfigurationException;
32 import javax.xml.transform.TransformerException;
33 import javax.xml.transform.TransformerFactory;
34 import javax.xml.transform.dom.DOMSource;
35 import javax.xml.transform.stream.StreamResult;
36 
37 import org.eclipse.core.runtime.IProgressMonitor;
38 import org.eclipse.jface.action.Action;
39 import org.eclipse.jface.dialogs.InputDialog;
40 import org.eclipse.jface.dialogs.MessageDialog;
41 import org.eclipse.jface.dialogs.ProgressMonitorDialog;
42 import org.eclipse.jface.operation.IRunnableWithProgress;
43 import org.eclipse.jface.preference.IPreferenceStore;
44 import org.eclipse.osgi.util.NLS;
45 import org.eclipse.swt.SWT;
46 import org.eclipse.swt.widgets.FileDialog;
47 import org.eclipse.ui.IPerspectiveDescriptor;
48 import org.eclipse.ui.IPerspectiveRegistry;
49 import org.eclipse.ui.IWorkbench;
50 import org.eclipse.ui.IWorkbenchPage;
51 import org.eclipse.ui.IWorkbenchWindow;
52 import org.eclipse.ui.PlatformUI;
53 import org.w3c.dom.Document;
54 import org.w3c.dom.Element;
55 import org.w3c.dom.Node;
56 import org.w3c.dom.NodeList;
57 import org.xml.sax.InputSource;
58 import org.xml.sax.SAXException;
59 
60 import com.generalrobotix.ui.grxui.Activator;
61 import com.generalrobotix.ui.grxui.GrxUIPerspectiveFactory;
62 import com.generalrobotix.ui.grxui.PreferenceConstants;
63 import com.generalrobotix.ui.*;
64 import com.generalrobotix.ui.view.Grx3DView;
65 import com.generalrobotix.ui.util.GrxConfigBundle;
66 import com.generalrobotix.ui.util.GrxCorbaUtil;
67 import com.generalrobotix.ui.util.GrxDebugUtil;
68 import com.generalrobotix.ui.util.GrxXmlUtil;
69 import com.generalrobotix.ui.util.MessageBundle;
70 import com.generalrobotix.ui.util.OrderedHashMap;
71 import com.generalrobotix.ui.util.TwoInputDialog;
72 
73 @SuppressWarnings({ "unchecked", "serial" }) //$NON-NLS-1$ //$NON-NLS-2$
74 public class GrxProjectItem extends GrxBaseItem {
75  public static final String TITLE = "Project"; //$NON-NLS-1$
76  public static final String DEFAULT_DIR = "/"; //$NON-NLS-1$
77  public static final String FILE_EXTENSION = "xml"; //$NON-NLS-1$
78 
79  public static final int MENU_CREATE=0, MENU_RESTORE=1, MENU_LOAD=2, MENU_SAVE=3, MENU_SAVE_AS=4, MENU_IMPORT=5;
80  private Vector<Action> menu_;
81 
82  private static final String MODE_TAG = "mode"; //$NON-NLS-1$
83  private static final String WINCONF_TAG = "perspective"; //$NON-NLS-1$
84 
85  private Document doc_;
86  private DocumentBuilder builder_;
87  private Transformer transformer_;
88  private HashMap<String, Properties> viewProperties_ = new HashMap<String, Properties>();
89 
90  private Map<String, ModeNodeInfo> modeInfoMap_ = new HashMap<String, ModeNodeInfo>();
91 
92  private class ModeNodeInfo {
93  Element root;
94  List propList;
95  NodeList itemList;
96  NodeList viewList;
97  Element windowConfig;
98  }
99 
100  public GrxProjectItem(String name, GrxPluginManager manager) {
101  super(name, manager);
102 // setIcon(manager_.ROBOT_ICON);
103  DocumentBuilderFactory dbfactory = DocumentBuilderFactory.newInstance();
104  TransformerFactory tffactory = TransformerFactory.newInstance();
105 
106  try {
107  builder_ = dbfactory.newDocumentBuilder();
108  transformer_ = tffactory.newTransformer();
109  transformer_.setOutputProperty(OutputKeys.INDENT, "yes"); //$NON-NLS-1$
110  transformer_.setOutputProperty(OutputKeys.METHOD, "xml"); //$NON-NLS-1$
111  setDefaultDirectory();
112  } catch (ParserConfigurationException e) {
113  e.printStackTrace();
114  } catch (TransformerConfigurationException e) {
115  e.printStackTrace();
116  }
117  }
118 
119  public boolean create() {
120  viewProperties_.clear();
121  clear();
122  setURL("");
123  for (int i=0; ; i++) {
124  File f = new File(getDefaultDir().getAbsolutePath()+"/"+"newproject"+i+".xml"); //$NON-NLS-1$ //$NON-NLS-2$ //$NON-NLS-3$
125  if (!f.isFile()) {
126  setName(f.getName().split("[.]")[0]); //$NON-NLS-1$
127  break;
128  }
129  }
130 
131  doc_ = builder_.newDocument();
132  element_ = doc_.createElement("grxui"); //$NON-NLS-1$
133  element_.appendChild(doc_.createTextNode("\n")); //$NON-NLS-1$
134  doc_.appendChild(element_);
135  _updateModeInfo();
136  IWorkbenchPage page=null;
137  IWorkbench workbench = PlatformUI.getWorkbench();
138  if( workbench != null){
139  IWorkbenchWindow[] windows = workbench.getWorkbenchWindows();
140  for(IWorkbenchWindow window : windows){
141  page = window.getActivePage();
142  if (page != null &&
143  page.getPerspective().getId().equals(GrxUIPerspectiveFactory.ID+ ".project") )
144  page.closePerspective(page.getPerspective(), false, false);
145  }
146  }
147 
148  List<GrxBaseView> vl = manager_.getViewList();
149  for (int i=0; i<vl.size(); i++)
150  if (vl.get(i) != null) vl.get(i).restoreProperties();
151 
152  return true;
153  }
154 
155  private void _updateModeInfo() {
156  modeInfoMap_.clear();
157 
158  NodeList modeList = doc_.getElementsByTagName(MODE_TAG);
159  for (int i=0; i<modeList.getLength(); i++) {
160  ModeNodeInfo mi = new ModeNodeInfo();
161  mi.root = (Element)modeList.item(i);
162  modeInfoMap_.put(mi.root.getAttribute("name"), mi); //$NON-NLS-1$
163 
164  // property node
165  NodeList propList = mi.root.getElementsByTagName(PROPERTY_TAG);
166  List<Element> elList = new ArrayList<Element>();
167  for (int j=0; j<propList.getLength(); j++) {
168  if (propList.item(j).getParentNode() == mi.root)
169  elList.add((Element)propList.item(j));
170  }
171  mi.propList = elList;
172 
173  // item node
174  mi.itemList = mi.root.getElementsByTagName(ITEM_TAG);
175 
176  // view node
177  mi.viewList = mi.root.getElementsByTagName(VIEW_TAG);
178 
179  // window config element
180  NodeList wconfList = mi.root.getElementsByTagName(WINCONF_TAG);
181  if (wconfList.getLength() > 0)
182  mi.windowConfig = (Element)wconfList.item(0);
183  else
184  mi.windowConfig = null;
185 
186  }
187  }
188 
189  private ModeNodeInfo _getModeNodeInfo(String mode) {
190  ModeNodeInfo mi = modeInfoMap_.get(mode);
191  if (mi == null) {
192  mi = new ModeNodeInfo();
193 
194  NodeList nodeList = doc_.getElementsByTagName(MODE_TAG);
195  for (int i=0; i<nodeList.getLength(); i++) {
196  Element e = (Element)nodeList.item(i);
197  if (e.getAttribute("name").equals(mode)) { //$NON-NLS-1$
198  mi.root = e;
199  break;
200  }
201  }
202  if (mi.root == null) {
203  mi.root = doc_.createElement(MODE_TAG);
204  mi.root.setAttribute("name", mode); //$NON-NLS-1$
205  element_.appendChild(doc_.createTextNode(INDENT4));
206  element_.appendChild(mi.root);
207  element_.appendChild(doc_.createTextNode("\n")); //$NON-NLS-1$
208  }
209 
210  _updateModeInfo();
211  }
212 
213  return mi;
214  }
215 
216  public void setWindowConfigElement(String mode, Element element){
217  _getModeNodeInfo(mode).windowConfig = element;
218  }
219 
220  public Element getWindowConfigElement(String mode) {
221  return _getModeNodeInfo(mode).windowConfig;
222  }
223 
224  private void storeMode(String mode) {
225  Element modeEl = _getModeNodeInfo(mode).root;
226  NodeList list = modeEl.getChildNodes();
227  for (int i=list.getLength()-1; i>=0; i--)
228  modeEl.removeChild(list.item(i));
229 
230  modeEl.appendChild(doc_.createTextNode("\n")); //$NON-NLS-1$
231 
232  List<GrxBaseItem> itemList = manager_.getActiveItemList();
233  for (int i=0; i<itemList.size(); i++) {
234  GrxBaseItem item = itemList.get(i);
235  modeEl.appendChild(doc_.createTextNode(INDENT4+INDENT4));
236  item.setDocument(doc_);
237  modeEl.appendChild(item.storeProperties());
238  modeEl.appendChild(doc_.createTextNode("\n")); //$NON-NLS-1$
239  }
240 
241  List<GrxBaseView> viewList = manager_.getActiveViewList();
242  for (int i=0; i<viewList.size(); i++) {
243  GrxBaseView view = viewList.get(i);
244  if (view.propertyNames().hasMoreElements()) {
245  view.setDocument(doc_);
246  Element element = view.storeProperties();
247  if(element!=null){
248  modeEl.appendChild(doc_.createTextNode(INDENT4+INDENT4));
249  modeEl.appendChild(element);
250  modeEl.appendChild(doc_.createTextNode("\n")); //$NON-NLS-1$
251  }
252  }
253  }
254 
255  modeEl.appendChild(doc_.createTextNode(INDENT4));
256  }
257 
258  @SuppressWarnings("deprecation")
259  private Element storePerspectiveConf(Element element){
260  IWorkbenchPage page=null;
261  IWorkbench workbench = PlatformUI.getWorkbench();
262  if( workbench != null){
263  IWorkbenchWindow window = workbench.getActiveWorkbenchWindow();
264  if (window != null){
265  page = window.getActivePage();
266  if (!page.getPerspective().getId().contains(GrxUIPerspectiveFactory.ID) ){
267  return null;
268  }
269  }
270  }
271 
272  IPerspectiveRegistry perspectiveRegistry=workbench.getPerspectiveRegistry();
273  IPerspectiveDescriptor orgPd=perspectiveRegistry.findPerspectiveWithId(GrxUIPerspectiveFactory.ID );
274  IPerspectiveDescriptor tempPd=perspectiveRegistry.findPerspectiveWithId(GrxUIPerspectiveFactory.ID + ".project");
275  if(tempPd!=null)
276  perspectiveRegistry.deletePerspective(tempPd);
277  tempPd = perspectiveRegistry.clonePerspective(GrxUIPerspectiveFactory.ID + ".project", getName(), orgPd);
278  page.savePerspectiveAs(tempPd);
279  page.setPerspective(orgPd);
280  page.setPerspective(tempPd);
281  IPreferenceStore store = workbench.getPreferenceStore();
282  String confString=store.getString(GrxUIPerspectiveFactory.ID +".project"+"_persp");
283  Document doc=null;
284  try {
285  doc = builder_.parse(new InputSource(new StringReader(confString)));
286  Element confElement =doc.getDocumentElement();
287  Node elementCopy = doc_.importNode(confElement, true);
288  element.appendChild(elementCopy);
289  return (Element) elementCopy;
290  } catch (SAXException e1) {
291  e1.printStackTrace();
292  } catch (IOException e1) {
293  e1.printStackTrace();
294  }
295  return null;
296  }
297 
298  public Vector<Action> getMenu() {
299 
300  if( menu_ == null ){
301  menu_ = new Vector<Action>();
302 
303  // MENU_CREATE=0
304  menu_.add( new Action(){
305  public String getText(){ return MessageBundle.get("GrxProjectItem.menu.CreateProject"); } //$NON-NLS-1$
306  public void run(){
307  boolean ans = MessageDialog.openConfirm( null, MessageBundle.get("GrxProjectItem.dialog.title.createProject"), MessageBundle.get("GrxProjectItem.dialog.message.createProject") ); //$NON-NLS-1$ //$NON-NLS-2$
308  if ( ans ){
309  if(!checkModifiedModel())
310  return;
311  manager_.refuseItemChange();
312  manager_.removeAllItems();
313  manager_.acceptItemChange();
314  }else if ( ans == false )
315  return;
316  create();
317  }
318  } );
319  // MENU_RESTORE=1
320  menu_.add( new Action(){
321  public String getText(){ return MessageBundle.get("GrxProjectItem.menu.restoreProject"); } //$NON-NLS-1$
322  public void run(){
323  manager_.refuseItemChange();
324  manager_.removeAllItems();
325  restoreProject();
326  manager_.acceptItemChange();
327  }
328  } );
329  // MENU_LOAD=2
330  menu_.add( new Action(){
331  public String getText(){ return MessageBundle.get("GrxProjectItem.menu.loadProject"); } //$NON-NLS-1$
332  public void run(){
333  if(!checkModifiedModel())
334  return;
335  load();
336  }
337  } );
338  // MENU_SAVE=3
339  menu_.add( new Action(){
340  public String getText(){ return MessageBundle.get("GrxProjectItem.menu.saveProject"); } //$NON-NLS-1$
341  public void run(){
342  save();
343  }
344  } );
345  // MENU_SAVE_AS=4
346  menu_.add( new Action(){
347  public String getText(){ return MessageBundle.get("GrxProjectItem.menu.saveProjectAs"); } //$NON-NLS-1$
348  public void run(){
349  saveAs();
350  }
351  } );
352  // MENU_IMPORT=3
353  /*
354  menu_.add( new Action(){
355  public String getText(){ return MessageBundle.get("GrxProjectItem.menu.ImportISE"); } //$NON-NLS-1$
356  public void run(){
357  importISEProject();
358  }
359  } );
360  */
361  menu_.add( new Action(){
362  public String getText(){ return MessageBundle.get("GrxProjectItem.menu.addItem"); } //$NON-NLS-1$
363  public void run(){
364  addItem();
365  }
366  } );
367 
368  }
369 
370  return menu_;
371  }
372 
373  private boolean checkModifiedModel()
374  {
375  List<GrxModelItem> modelList = manager_.<GrxModelItem>getSelectedItemList(GrxModelItem.class);
376  List<GrxModelItem> modifiedModels = new ArrayList<GrxModelItem>();
377  for (int i=0; i<modelList.size(); i++) {
378  GrxModelItem model = modelList.get(i);
379  int ret=model.checkModifiedModel(false);
380  if(ret==GrxModelItem.MODIFIED_NG){
381  for(GrxModelItem modifiedModel : modifiedModels){
382  modifiedModel.reload();
383  }
384  return false;
385  }else if(ret==GrxModelItem.MODIFIED_OK){
386  modifiedModels.add(model);
387  }
388  }
389  return true;
390  }
391 
392  public void save(File f) {
393  if (f.exists()) {
394  if (!f.isFile())
395  return;
396  }
397 
398  String mode = manager_.getCurrentModeName();
399  storeMode(mode);
400 
401  setName(f.getName().split("[.]")[0]); //$NON-NLS-1$
402  setURL(f.getAbsolutePath());
403 
404  if (MessageDialog.openQuestion(null, MessageBundle.get("GrxProjectItem.dialog.savewindow.title"),
405  MessageBundle.get("GrxProjectItem.dialog.savewindow.message"))) { //$NON-NLS-1$
406  Element element = _getModeNodeInfo(mode).root;
407  Element windowConfigElement = storePerspectiveConf(element);
408  setWindowConfigElement(mode, windowConfigElement);
409  }
410 
411  if (f == null)
412  f = new File(getDefaultDir().getAbsolutePath()+"/"+getName()+".xml"); //$NON-NLS-1$ //$NON-NLS-2$
413 
414  if (!f.getAbsolutePath().endsWith(".xml")) //$NON-NLS-1$
415  f = new File(f.getAbsolutePath()+".xml"); //$NON-NLS-1$
416 
417  try {
418  DOMSource src = new DOMSource();
419  src.setNode(doc_);
420  StreamResult target = new StreamResult();
421  target.setOutputStream(new FileOutputStream(f));
422  transformer_.transform(src, target);
423  return ;
424  } catch (TransformerConfigurationException e) {
425  e.printStackTrace();
426  } catch (FileNotFoundException e) {
427  e.printStackTrace();
428  } catch (TransformerException e) {
429  e.printStackTrace();
430  }
431  MessageDialog.openError(null, MessageBundle.get("GrxProjectItem.dialog.saveError.title"), MessageBundle.get("GrxProjectItem.dialog.saveError.message"));
432  }
433 
434  public void saveAs() {
435  String path = getURL(true);
436  if (path == null)
437  path = getDefaultDir().getAbsolutePath()+"/"+getName()+".xml"; //$NON-NLS-1$ //$NON-NLS-2$
438 
439  File initialFile = new File(path);
440 
441  FileDialog fdlg = new FileDialog( GrxUIPerspectiveFactory.getCurrentShell(), SWT.SAVE);
442  String[] exts = { "*.xml" }, extNames={"GrxUI Project"}; //$NON-NLS-1$ //$NON-NLS-2$
443  fdlg.setFilterExtensions( exts );
444  fdlg.setFilterNames( extNames );
445 
446  fdlg.setFilterPath( initialFile.getParent() );
447  fdlg.setFileName( initialFile.getName() );
448 
449  String fPath = fdlg.open();
450  if( fPath != null ) {
451  File f = new File(fPath);
452  if (f.exists() && f.isFile()){
453  boolean ans = MessageDialog.openConfirm( null, MessageBundle.get("GrxProjectItem.dialog.title.saveProject"), //$NON-NLS-1$
454  MessageBundle.get("GrxProjectItem.dialog.message.saveProject0")+f.getName()+MessageBundle.get("GrxProjectItem.dialog.message.saveProject1") + //$NON-NLS-1$ //$NON-NLS-2$
455  MessageBundle.get("GrxProjectItem.dialog.message.saveProject2") ); //$NON-NLS-1$
456  if (ans == false)
457  return;
458  }
459  System.setProperty("CURRENT_DIR", f.getParent());
460  save( f );
461  setDefaultDirectory(f.getParent());
462  }
463  }
464 
465  public void save(){
466  if (getURL(true) == null){
467  saveAs();
468  }else{
469  File f = new File(getURL(true));
470  if (f.exists()){
471  save(f);
472  }else{
473  saveAs();
474  }
475  }
476  }
477 
481  public void load() {
482  FileDialog fdlg = new FileDialog( GrxUIPerspectiveFactory.getCurrentShell(), SWT.OPEN);
483  String[] fe = { "*.xml" }; //$NON-NLS-1$
484  fdlg.setFilterExtensions( fe );
485  fdlg.setFilterPath(getDefaultDir().getAbsolutePath());
486 
487  String fPath = fdlg.open();
488  if( fPath != null ) {
489  File f = new File(fPath);
490  load(f);
491  }
492  }
493 
499  public boolean load(File f) {
500  System.out.println( "[ProjectItem]@load ProjectFile load "+ f.toString()); //$NON-NLS-1$
501 
502  if (f == null || !f.isFile())
503  return false;
504  GrxSimulationItem simItem = manager_.<GrxSimulationItem>getSelectedItem(GrxSimulationItem.class, null);
505  if(simItem!=null && simItem.isSimulating())
506  simItem.stopSimulation();
507 
508  manager_.refuseItemChange();
509  manager_.removeAllItems();
510  manager_.focusedItem(manager_.getProject());
511  setName(f.getName().split("[.]")[0]); //$NON-NLS-1$
512 
513  String dir = f.getParent();
514  if(dir != null)
515  System.setProperty("CURRENT_DIR", dir);
516 
517  try {
518  doc_ = builder_.parse(f);
519  element_ = doc_.getDocumentElement();
520  _updateModeInfo();
521  file_ = f;
522  setURL(f.getAbsolutePath());
523  } catch (Exception e) {
524  GrxDebugUtil.printErr("project load:",e); //$NON-NLS-1$
525  file_ = null;
526  return false;
527  }
528 
529  // register mode
530  OrderedHashMap modes=(OrderedHashMap)manager_.getItemMap(GrxModeInfoItem.class);
531  Iterator<GrxModeInfoItem> it = modes.values().iterator();
532  NodeList list = doc_.getElementsByTagName(MODE_TAG);
533  for (int i=0; i<list.getLength(); i++) {
534  Element modeEl = (Element) list.item(i);
535  String modeName = modeEl.getAttribute("name"); //$NON-NLS-1$
536  if (modeName == null)
537  continue;
538  boolean found=false;
539  while (it.hasNext()) {
540  GrxModeInfoItem mode = it.next();
541  if(modeName.equals(mode.getName())){
542  mode.setElement(modeEl);
543  found=true;
544  break;
545  }
546  }
547  if(!found){
548  GrxModeInfoItem item = (GrxModeInfoItem)manager_.createItem(GrxModeInfoItem.class, modeName);
549  if (item != null) {
550  item.setElement(modeEl);
551  if (GrxXmlUtil.getBoolean(modeEl, "select", true)) { //$NON-NLS-1$
552  manager_.setSelectedItem(item, true);
553  }
554  }
555  manager_.setCurrentMode(item);
556  }
557  }
558 
559  setDefaultDirectory(f.getParent());
560  restoreProject();
561  manager_.acceptItemChange();
562  return true;
563  }
564 
565  public void restoreProject() {
566 
567  String mode = manager_.getCurrentModeName();
568  System.out.println("Restore Project (Mode:" +mode+")"); //$NON-NLS-1$ //$NON-NLS-2$
569 
570  IRunnableWithProgress runnableProgress = new IRunnableWithProgress() {
571  public void run(IProgressMonitor monitor) throws InterruptedException {
572  String mode = manager_.getCurrentModeName();
573  monitor.beginTask("Restore Project (Mode:" +mode+")", 10 ); //$NON-NLS-1$ //$NON-NLS-2$
574  restoreProject_work(mode, monitor);
575  monitor.done();
576  }
577  };
578  ProgressMonitorDialog progressMonitorDlg = new ProgressMonitorDialog(GrxUIPerspectiveFactory.getCurrentShell());
579  try {
580  progressMonitorDlg.run(false,false, runnableProgress);
581  //ダイアログの影が残ってしまぁE策　　//
582  Grx3DView view3d = (Grx3DView)manager_.getView( Grx3DView.class, true );
583  if(view3d!=null){
584  view3d.repaint();
585  }
586  } catch (InvocationTargetException e) {
587  e.printStackTrace();
588  } catch (InterruptedException e) {
589  e.printStackTrace();
590  }
591  }
592 
593  private void restoreProject_work(String mode, IProgressMonitor monitor) {
594  //manager_.restoreProcess();
595 
596  monitor.worked(1);
597 
598  if (file_ == null || !file_.isFile())
599  {
600  return;
601  }
602  ModeNodeInfo minfo = modeInfoMap_.get(mode);
603 
604  monitor.worked(1);
605 
606  List propList = minfo.propList;
607  if (propList != null) {
608  for (int i=0; i<propList.size(); i++) {
609  Element propEl = (Element)propList.get(i);
610  String key = propEl.getAttribute("name"); //$NON-NLS-1$
611  String val = propEl.getAttribute("value"); //$NON-NLS-1$
612  setProperty(key, val);
613  }
614  }
615 
616  monitor.worked(1);
617 
618  if (minfo.itemList != null) {
619 
620  // 古ぁEEロジェクトファイルに対応　　//
621  // ModeがSimulationでSimulationItemがなぁE合E自動的に作Eし、WorldStateItemのプロパティをSimulationItemに設定　　//
622  if(mode.equals("Simulation") && !containSimulationItem(minfo.itemList)){
623  Element simElement = doc_.createElement(ITEM_TAG);
624  simElement.setAttribute("class", PreferenceConstants.SIMULATIONITEM);
625  simElement.setAttribute("name", "simulationItem");
626  simElement.setAttribute("select", "true");
627  minfo.root.appendChild(simElement);
628  minfo.itemList = minfo.root.getElementsByTagName(ITEM_TAG);
629  for (int i=0; i<minfo.itemList.getLength(); i++) {
630  Element itemElement = (Element)minfo.itemList.item(i);
631  if(itemElement.getAttribute("class").equals(PreferenceConstants.WORLDSTATEITEM)){
632  NodeList props = itemElement.getElementsByTagName(PROPERTY_TAG);
633  for (int j = 0; j < props.getLength(); ) {
634  Element propEl = (Element) props.item(j);
635  String key = propEl.getAttribute("name"); //$NON-NLS-1$
636  String val = propEl.getAttribute("value"); //$NON-NLS-1$
637  if(!key.equals("logTimeStep")){
638  Element element = doc_.createElement(PROPERTY_TAG);
639  element.setAttribute("name", key);
640  element.setAttribute("value", val);
641  simElement.appendChild(element);
642  itemElement.removeChild(propEl);
643  }else
644  j++;
645  }
646  }
647  }
648  }
649 
650  List<GrxBaseItem> il = new ArrayList<GrxBaseItem>();
651  for (int i = 0; i < minfo.itemList.getLength(); i++) {
652  GrxBaseItem p = (GrxBaseItem)_restorePlugin((Element) minfo.itemList.item(i));
653  if (p != null)
654  il.add(p);
655  }
656 
657  // for a item that is exclusive selection reselect
658  for (int i=0; i<il.size(); i++) {
659  GrxBaseItem item = il.get(i);
660  boolean select = GrxXmlUtil.getBoolean(item.getElement(), "select", false); //$NON-NLS-1$
661  //manager_.setSelectedItem(item, select);
662  }
663  }
664 
665  monitor.worked(1);
666 
667  if (minfo.windowConfig != null) {
668  Document doc = builder_.newDocument();
669  Node nodeCopy = doc.importNode(minfo.windowConfig, true);
670  doc.appendChild(nodeCopy);
671  StringWriter sw = new StringWriter();
672  try {
673  DOMSource src = new DOMSource();
674  src.setNode(doc);
675  StreamResult target = new StreamResult(sw);
676  transformer_.transform(src, target);
677  } catch (TransformerConfigurationException e) {
678  e.printStackTrace();
679  } catch (TransformerException e) {
680  e.printStackTrace();
681  }
682 
683  IWorkbenchPage page=null;
684  IWorkbench workbench = PlatformUI.getWorkbench();
685  if( workbench != null){
686  IWorkbenchWindow window = workbench.getActiveWorkbenchWindow();
687  if (window != null){
688  page = window.getActivePage();
689  if (!page.getPerspective().getId().contains(GrxUIPerspectiveFactory.ID) ){
690  return;
691  }
692  }
693  }
694  if (page!=null && page.getPerspective().getId().equals(GrxUIPerspectiveFactory.ID+ ".project") )
695  page.closePerspective(page.getPerspective(), false, false);
696  IPreferenceStore store = workbench.getPreferenceStore();
697  IPerspectiveRegistry perspectiveRegistry=workbench.getPerspectiveRegistry();
698  IPerspectiveDescriptor orgPd=perspectiveRegistry.findPerspectiveWithId(GrxUIPerspectiveFactory.ID );
699  IPerspectiveDescriptor tempPd=perspectiveRegistry.findPerspectiveWithId(GrxUIPerspectiveFactory.ID + ".project");
700  if(tempPd!=null)
701  perspectiveRegistry.deletePerspective(tempPd);
702  tempPd = perspectiveRegistry.clonePerspective(GrxUIPerspectiveFactory.ID + ".project", getName(), orgPd);
703  store.setValue(GrxUIPerspectiveFactory.ID + ".project"+"_persp", sw.toString());
704  if(page!=null)
705  page.setPerspective(tempPd);
706  }else{
707  IWorkbench workbench = PlatformUI.getWorkbench();
708  if( workbench != null){
709  IWorkbenchWindow[] windows = workbench.getWorkbenchWindows();
710  for(IWorkbenchWindow window : windows){
711  IWorkbenchPage page = window.getActivePage();
712  if (page != null &&
713  page.getPerspective().getId().equals(GrxUIPerspectiveFactory.ID+ ".project") )
714  page.closePerspective(page.getPerspective(), false, false);
715  }
716  }
717  }
718 
719  viewProperties_.clear();
720  if (minfo.viewList != null) {
721  for (int i = 0; i < minfo.viewList.getLength(); i++){
722  Element element = (Element)minfo.viewList.item(i);
723  NodeList props = element.getElementsByTagName(PROPERTY_TAG);
724  Properties properties = new Properties();
725  for (int j = 0; j < props.getLength(); j++) {
726  Element propEl = (Element) props.item(j);
727  String key = propEl.getAttribute("name"); //$NON-NLS-1$
728  String val = propEl.getAttribute("value"); //$NON-NLS-1$
729  properties.setProperty(key, val);
730  }
731  viewProperties_.put(element.getAttribute("name"), properties);
732  }
733  }
734 
735  List<GrxBaseView> vl = manager_.getViewList();
736  for (int i=0; i<vl.size(); i++)
737  if (vl.get(i) != null) vl.get(i).restoreProperties();
738 
739  }
740 
741  private GrxBasePlugin _restorePlugin(Element e) {
742  String iname = e.getAttribute("name"); //$NON-NLS-1$
743  if (iname == null || iname.length() == 0)
744  return null;
745  manager_.pluginLoader_.addURL(GrxXmlUtil.expandEnvVal(e.getAttribute("lib"))); //$NON-NLS-1$
746  Class cls = manager_.registerPlugin(e.getAttribute("class")); //$NON-NLS-1$
747  if (cls == null)
748  return null;
749  manager_.getMode().addItemClassList(cls);
750 
751  GrxBasePlugin plugin = null;
752  if (GrxBaseItem.class.isAssignableFrom(cls)) {
753  Class<? extends GrxBaseItem> icls = (Class<? extends GrxBaseItem>) cls;
754  String url = e.getAttribute("url"); //$NON-NLS-1$
755  if (!url.equals("")) //$NON-NLS-1$
756  plugin = manager_.loadItem(icls, iname, url);
757  else
758  plugin = manager_.createItem(icls, iname);
759  plugin = manager_.getItem(icls, iname);
760  }
761 
762  if (plugin != null) {
763  plugin.setElement(e);
764  plugin.restoreProperties();
765  if (GrxBaseItem.class.isAssignableFrom(cls)) {
766  manager_.itemChange((GrxBaseItem)plugin, GrxPluginManager.ADD_ITEM);
767  manager_.setSelectedItem((GrxBaseItem)plugin, true);
768  }
769  }
770 
771  return plugin;
772  }
773 
774  private boolean containSimulationItem(NodeList list){
775  for (int i = 0; i < list.getLength(); i++) {
776  if(((Element) list.item(i)).getAttribute("class").equals(PreferenceConstants.SIMULATIONITEM))
777  return true;
778  }
779  return false;
780  }
781 
782  private static final File DEFAULT_ISE_PROJECT_DIR = new File("../ISE/Projects"); //$NON-NLS-1$
783  public void importISEProject() {
784 
785  FileDialog fDialog = new FileDialog(null,SWT.SAVE);
786 
787  String [] exts = {"*.prj"}; //$NON-NLS-1$
788  String [] filterNames = {"ISE Project File(*.prj)"}; //$NON-NLS-1$
789  fDialog.setFilterExtensions(exts);
790  fDialog.setFilterNames(filterNames);
791  if( DEFAULT_ISE_PROJECT_DIR != null )
792  fDialog.setFilterPath( DEFAULT_ISE_PROJECT_DIR.getPath() );
793 
794  String openPath = fDialog.open();
795 
796  if( openPath != null ) {
797  //manager_.processingWindow_.setTitle("Importing ISE Project");
798  //manager_.processingWindow_.setMessage(" importing ISE Project ...");
799  //manager_.processingWindow_.setVisible(true);
800  //Thread t = new Thread() {
801  //public void run() {
802  //File f = fc.getSelectedFile();
803  File f = new File( openPath );
804  setName(f.getName().split(".prj")[0]); //$NON-NLS-1$
805  importISEProject(f);
806  //manager_.processingWindow_.setVisible(false);
807  //fc.setSelectedFile(null);
808  storeMode(manager_.getCurrentModeName());
809  //}
810  //};
811  //t.start();
812  }
813  }
814 
815  public Properties getViewProperties(String viewName){
816  return viewProperties_.get(viewName);
817  }
818 
819  private static String ENVIRONMENT_NODE = "jp.go.aist.hrp.simulator.EnvironmentNode"; //$NON-NLS-1$
820  private static String ROBOT_NODE = "jp.go.aist.hrp.simulator.RobotNode"; //$NON-NLS-1$
821  private static String COLLISIONPAIR_NODE = "jp.go.aist.hrp.simulator.CollisionPairNode"; //$NON-NLS-1$
822  private static String GRAPH_NODE = "jp.go.aist.hrp.simulator.GraphNode"; //$NON-NLS-1$
823 
824  private static String WORLD_STATE_ITEM = "com.generalrobotix.ui.item.GrxWorldStateItem"; //$NON-NLS-1$
825  private static String MODEL_ITEM = "com.generalrobotix.ui.item.GrxModelItem"; //$NON-NLS-1$
826  private static String COLLISIONPAIR_ITEM = "com.generalrobotix.ui.item.GrxCollisionPairItem"; //$NON-NLS-1$
827  private static String GRAPH_ITEM = "com.generalrobotix.ui.item.GrxGraphItem"; //$NON-NLS-1$
828 
829  public void importISEProject(File f) {
830  manager_.removeAllItems();
831 
832  GrxConfigBundle prop = null;
833  try {
834  prop = new GrxConfigBundle(f.getAbsolutePath());
835  } catch (FileNotFoundException e) {
836  e.printStackTrace();
837  } catch (IOException e) {
838  e.printStackTrace();
839  }
840 
841  setProperty("nsHost", GrxCorbaUtil.nsHost()); //$NON-NLS-1$
842  Integer nsPort = new Integer(GrxCorbaUtil.nsPort());
843  setProperty("nsPort", nsPort.toString()); //$NON-NLS-1$
844 
845  String pname = prop.getStr("Project.name", ""); //$NON-NLS-1$ //$NON-NLS-2$
846  Class cls = manager_.registerPlugin(WORLD_STATE_ITEM);
847  GrxBaseItem newItem = manager_.createItem((Class <? extends GrxBaseItem>)cls, pname);
848  newItem.setDbl("totalTime", prop.getDbl("Project.totalTime", 20.0)); //$NON-NLS-1$ //$NON-NLS-2$
849  newItem.setDbl("timeStep", prop.getDbl("Project.timeStep", 0.001)); //$NON-NLS-1$ //$NON-NLS-2$
850  newItem.setDbl("logTimeStep", prop.getDbl("Project.timeStep", 0.001)); //$NON-NLS-1$ //$NON-NLS-2$
851  newItem.setProperty("method", prop.getStr("Project.method")); //$NON-NLS-1$ //$NON-NLS-2$
852  manager_.itemChange(newItem, GrxPluginManager.ADD_ITEM);
853  manager_.setSelectedItem(newItem, true);
854 
855  for (int i = 0; i < prop.getInt("Project.num_object", 0); i++) { //$NON-NLS-1$
856  String header = "Object" + i + "."; //$NON-NLS-1$ //$NON-NLS-2$
857  String oName = prop.getStr(header + "name"); //$NON-NLS-1$
858  String cName = prop.getStr(header + "class"); //$NON-NLS-1$
859  if (oName == null || cName == null)
860  continue;
861 
862  if (cName.equals(ENVIRONMENT_NODE) || cName.equals(ROBOT_NODE)) {
863  cls = manager_.registerPlugin(MODEL_ITEM);
864  try {
865  URL url = new URL(prop.getStr(header + "url")); //$NON-NLS-1$
866  newItem = manager_.loadItem((Class<? extends GrxBaseItem>)cls, oName, url.getPath());
867  if(newItem!=null){
868  manager_.itemChange(newItem, GrxPluginManager.ADD_ITEM);
869  manager_.setSelectedItem(newItem, true);
870  }
871  } catch (Exception e) {
872  e.printStackTrace();
873  }
874  if (newItem == null)
875  continue;
876 
877  if (cName.equals(ENVIRONMENT_NODE)) {
878  newItem.setProperty("isRobot", "false"); //$NON-NLS-1$ //$NON-NLS-2$
879  } else if (cName.equals(ROBOT_NODE)) {
880  newItem.setProperty("isRobot", "true"); //$NON-NLS-1$ //$NON-NLS-2$
881  Enumeration e = prop.keys();
882  while (e.hasMoreElements()) {
883  String key = (String)e.nextElement();
884  if (key.startsWith(header)) {
885  String newKey = key.substring(header.length());
886  if (key.endsWith(".angle")) { //$NON-NLS-1$
887  newItem.setDbl(newKey, prop.getDbl(key, 0.0));
888  } else if (key.endsWith(".mode")) { //$NON-NLS-1$
889  newItem.setProperty(newKey, prop.getStr(key, "Torque")); //$NON-NLS-1$
890  } else if (key.endsWith(".translation")) { //$NON-NLS-1$
891  newItem.setDblAry(newKey,
892  prop.getDblAry(key, new double[]{0.0, 0.0, 0.0}));
893  } else if (key.endsWith(".rotation")) { //$NON-NLS-1$
894  newItem.setDblAry(newKey,
895  prop.getDblAry(key, new double[]{0.0, 1.0, 0.0, 0.0}));
896  }
897  }
898  }
899 
900  String controller = prop.getStr(header + "controller"); //$NON-NLS-1$
901  controller = controller.replaceFirst("openhrp.", ""); //$NON-NLS-1$ //$NON-NLS-2$
902  double controlTime = prop.getDbl(header + "controlTime", 0.001); //$NON-NLS-1$
903  newItem.setProperty("controller", controller); //$NON-NLS-1$
904  newItem.setProperty("controlTime", String.valueOf(controlTime)); //$NON-NLS-1$
905 
906  String imageProcessor = prop.getStr(header + "imageProcessor"); //$NON-NLS-1$
907  if (imageProcessor != null) {
908  double imageProcessTime = prop.getDbl(header + "imageProcessTime", 0.001); //$NON-NLS-1$
909  newItem.setProperty("imageProcessor", imageProcessor); //$NON-NLS-1$
910  newItem.setProperty("imageProcessTime", String.valueOf(imageProcessTime)); //$NON-NLS-1$
911  }
912  }
913 
914  } else if (cName.equals(COLLISIONPAIR_NODE)) {
915  cls = manager_.registerPlugin(COLLISIONPAIR_ITEM);
916  newItem = manager_.createItem((Class<? extends GrxBaseItem>)cls, oName);
917  newItem.setProperty("objectName1", prop.getStr(header + "objectName1")); //$NON-NLS-1$ //$NON-NLS-2$
918  newItem.setProperty("jointName1", prop.getStr(header + "jointName1")); //$NON-NLS-1$ //$NON-NLS-2$
919  newItem.setProperty("objectName2", prop.getStr(header + "objectName2")); //$NON-NLS-1$ //$NON-NLS-2$
920  newItem.setProperty("jointName2", prop.getStr(header + "jointName2")); //$NON-NLS-1$ //$NON-NLS-2$
921  newItem.setProperty("slidingFriction", prop.getStr(header + "slidingFriction", "0.5")); //$NON-NLS-1$ //$NON-NLS-2$ //$NON-NLS-3$
922  newItem.setProperty("staticFriction", prop.getStr(header + "staticFriction", "0.5")); //$NON-NLS-1$ //$NON-NLS-2$ //$NON-NLS-3$
923  newItem.setProperty("cullingThresh", prop.getStr(header + "cullingThresh", "0.01")); //$NON-NLS-1$ //$NON-NLS-2$ //$NON-NLS-3$
924  newItem.setProperty("Restitution", prop.getStr(header + "Restitution", "0.0")); //$NON-NLS-1$ //$NON-NLS-2$ //$NON-NLS-3$
925  newItem.setProperty("sprintDamperModel", prop.getStr(header + "springDamplerModel", "false")); //$NON-NLS-1$ //$NON-NLS-2$ //$NON-NLS-3$
926  newItem.setProperty("springConstant", prop.getStr(header + "springConstant", "0.0 0.0 0.0 0.0 0.0 0.0")); //$NON-NLS-1$ //$NON-NLS-2$ //$NON-NLS-3$
927  newItem.setProperty("damperConstant", prop.getStr(header + "damperConstant", "0.0 0.0 0.0 0.0 0.0 0.0")); //$NON-NLS-1$ //$NON-NLS-2$ //$NON-NLS-3$
928 
929  } else if (cName.equals(GRAPH_NODE)) {
930  cls = manager_.registerPlugin(GRAPH_ITEM);
931  newItem = manager_.getItem((Class<? extends GrxBaseItem>)cls, null);
932  if (newItem == null)
933  newItem = manager_.createItem((Class<? extends GrxBaseItem>)cls, "GraphList1"); //$NON-NLS-1$
934  String items = prop.getStr(header + "dataItems"); //$NON-NLS-1$
935  newItem.setProperty(oName + ".dataItems", items); //$NON-NLS-1$
936  String[] str = items.split(","); //$NON-NLS-1$
937  String[] p = {
938  "object", "node", "attr", "index", //$NON-NLS-1$ //$NON-NLS-2$ //$NON-NLS-3$ //$NON-NLS-4$
939  "numSibling", "legend", "color" //$NON-NLS-1$ //$NON-NLS-2$ //$NON-NLS-3$
940  };
941  for (int j = 0; j < str.length; j++) {
942  for (int k = 0; k < p.length; k++) {
943  String key = str[j] + "." + p[k]; //$NON-NLS-1$
944  String value = prop.getStr(header + key);
945  if (value != null)
946  newItem.setProperty(oName + "." + key, value); //$NON-NLS-1$
947  }
948  }
949  }
950  newItem.restoreProperties();
951  manager_.setSelectedItem(newItem, true);
952  }
953  }
954 
955  //
956  private void setDefaultDirectory(){
957  String dir = Activator.getDefault().getPreferenceStore().getString("PROJECT_DIR"); //$NON-NLS-1$
958  if(dir.equals("")) //$NON-NLS-1$
959  dir = System.getenv("PROJECT_DIR"); //$NON-NLS-1$
960  if( dir != null ){
961  setDefaultDirectory( dir );
962  }
963  }
964 
965  private void addItem(){
966  TwoInputDialog dialog = new TwoInputDialog( null, MessageBundle.get("GrxProjectItem.dialog.addItem.title"), MessageBundle.get("GrxProjectItem.dialog.addItem.message0"),
967  "", null, MessageBundle.get("GrxProjectItem.dialog.addItem.message1"),"" );
968  if(dialog.open()==InputDialog.OK){
969  String[] values = dialog.getValues();
970  manager_.addPlugin(values[0], values[1]);
971  }
972  }
973 }
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openhrp3
Author(s): AIST, General Robotix Inc., Nakamura Lab of Dept. of Mechano Informatics at University of Tokyo
autogenerated on Thu Sep 8 2022 02:24:03