Merge pull request #11 from mc-rtc/mergify/bp/main/pr-10

fix(options): fix connection options (backport #10)

Author: arntanguy

flake.lock

@@ -4,11 +4,18 @@
   inputs.mc-rtc-nix.url = "github:mc-rtc/nixpkgs";
   inputs.mc-rtc-magnum-standalone.url = "github:mc-rtc/mc_rtc-magnum/nix";
 
+  inputs.mc-rtc-imgui.url = "github:mc-rtc/mc_rtc-imgui/nix";
+  inputs.mc-rtc-imgui.flake = false;
+
   outputs =
     inputs:
     inputs.mc-rtc-nix.lib.mkFlakoboros inputs (
       { ... }:
       {
+        overrideAttrs.mc-rtc-imgui = {
+          src = inputs.mc-rtc-imgui;
+        };
+
         overrideAttrs.mc-rtc-magnum = {
           src = builtins.warn "warning: mc-rtc-magnum on main branch does not support nix, running from the latest locked commit in nix branch" inputs.mc-rtc-magnum-standalone;
         };

flake.nix

@@ -17,6 +17,31 @@
 namespace mc_rtc::magnum
 {
 
+inline static std::pair<std::string, std::string> get_endpoints(const McRtcGuiConfiguration & config)
+{
+  const auto & c = config;
+  if(c.ipcConfig.use_ipc && c.tcpConfig.use_tcp)
+  {
+    mc_rtc::log::error_and_throw("Cannot use both TCP and IPC, please choose one of the two communication protocols");
+  }
+  else if(!c.ipcConfig.use_ipc && !c.tcpConfig.use_tcp)
+  {
+    mc_rtc::log::error_and_throw("No communication protocol specified, please choose one of TCP or IPC");
+  }
+
+  if(c.ipcConfig.use_ipc) { return {c.ipcConfig.pub_uri, c.ipcConfig.sub_uri}; }
+  else // c.tcpConfig.use_tcp
+  {
+    return {fmt::format("tcp://{}:{}", c.tcpConfig.host, c.tcpConfig.pub_port),
+            fmt::format("tcp://{}:{}", c.tcpConfig.host, c.tcpConfig.sub_port)};
+  }
+}
+
+MagnumClient::MagnumClient(McRtcGui & gui, const McRtcGuiConfiguration & config)
+: mc_rtc::imgui::Client(get_endpoints(config).first, get_endpoints(config).second, 3.0), gui_(gui)
+{
+}
+
 InteractiveMarkerPtr MagnumClient::make_marker(const sva::PTransformd & pose, ControlAxis mask)
 {
   return std::make_unique<InteractiveMarkerImpl>(gui_.camera(), pose, mask);

src/MagnumClient.cpp

@@ -11,9 +11,28 @@ using ElementId = mc_rtc::imgui::ElementId;
 
 struct McRtcGui;
 
+// Todo convert into an mc_rtc::Schema loadable from a config.yaml
+struct McRtcGuiConfiguration
+{
+  struct TcpConfig
+  {
+    bool use_tcp = false;
+    std::string host = "localhost";
+    unsigned sub_port = 4242;
+    unsigned pub_port = 4343;
+  } tcpConfig;
+  struct IpcConfig
+  {
+    bool use_ipc = true;
+    std::string sub_uri = "ipc:///tmp/mc_rtc_rep.ipc";
+    std::string pub_uri = "ipc:///tmp/mc_rtc_pub.ipc";
+  } ipcConfig;
+  std::string confPath = "";
+};
+
 struct MagnumClient : public mc_rtc::imgui::Client
 {
-  MagnumClient(McRtcGui & gui) : mc_rtc::imgui::Client(), gui_(gui) {}
+  MagnumClient(McRtcGui & gui, const McRtcGuiConfiguration & config);
 
   InteractiveMarkerPtr make_marker(const sva::PTransformd & pose = sva::PTransformd::Identity(),
                                    ControlAxis mask = ControlAxis::NONE) override;

src/MagnumClient.h

@@ -41,39 +41,13 @@ struct Grid : public SceneGraph::Drawable3D
   GL::Mesh mesh_;
 };
 
-McRtcGui::McRtcGui(const McRtcGui::McRtcGuiConfiguration & config, const Arguments & arguments)
-: Platform::Application{
-    arguments, Configuration{}
-                   .setTitle("mc_rtc - Magnum based GUI")
-                   .setWindowFlags(Configuration::WindowFlag::Resizable | Configuration::WindowFlag::Maximized)},
-
-    client_(*this)
+McRtcGui::McRtcGui(const mc_rtc::magnum::McRtcGuiConfiguration & config, const Arguments & arguments)
+: Platform::Application{arguments, Configuration{}
+                                       .setTitle("mc_rtc - Magnum based GUI")
+                                       .setWindowFlags(Configuration::WindowFlag::Resizable
+                                                       | Configuration::WindowFlag::Maximized)},
+  client_(*this, config)
 {
-  {
-    const auto & c = config;
-    if(c.ipcConfig.use_icp && c.tcpConfig.use_tcp)
-    {
-      std::cerr << "Cannot use both TCP and IPC, please choose one of the two communication protocols" << std::endl;
-      this->exit(1);
-      return;
-    }
-    else if(!c.ipcConfig.use_icp && !c.tcpConfig.use_tcp)
-    {
-      std::cerr << "No communication protocol specified, please choose one of TCP or IPC" << std::endl;
-      this->exit(1);
-      return;
-    }
-
-    if(c.ipcConfig.use_icp)
-    {
-      client_.connect(c.ipcConfig.sub_uri, c.ipcConfig.pub_uri);
-    }
-    else if(c.tcpConfig.use_tcp)
-    {
-      client_.connect(fmt::format("tcp://{}:{}", c.tcpConfig.host, c.tcpConfig.sub_port),
-                       fmt::format("tcp://{}:{}", c.tcpConfig.host, c.tcpConfig.pub_port));
-    }
-  }
   {
     // Update runtime paths (robot modules, etc)
     // This is required in nix to ensure that plugins installed in different store location are available
@@ -442,15 +416,12 @@ void McRtcGui::draw(GL::Mesh & mesh, const Color4 & color, const Matrix4 & world
 
 } // namespace mc_rtc::magnum
 
-
-void loadFromArgs(int argc, char ** argv)
-{
-}
+void loadFromArgs(int argc, char ** argv) {}
 
 int main(int argc, char ** argv)
 {
   using McRtcGui = mc_rtc::magnum::McRtcGui;
-  auto c = McRtcGui::McRtcGuiConfiguration{};
+  auto c = mc_rtc::magnum::McRtcGuiConfiguration{};
   po::options_description desc("mc-rtc-magnum options");
   // clang-format off
   desc.add_options()
@@ -473,15 +444,18 @@ int main(int argc, char ** argv)
   po::notify(vm);
   if(vm.count("tcp"))
   {
+    mc_rtc::log::warning("--tcp");
     c.tcpConfig.use_tcp = true;
-    c.ipcConfig.use_icp = false;
+    c.ipcConfig.use_ipc = false;
     c.tcpConfig.host = vm["tcp"].as<std::string>();
-    std::cout << "Warning use of '--tcp' option is deprecated, use '--use-tcp --tcp-host <hostname>' instead" << std::endl;
+    std::cout << "Warning use of '--tcp' option is deprecated, use '--use-tcp --tcp-host <hostname>' instead"
+              << std::endl;
   }
-  if(vm.count("use-tcp"))
+  if(vm["use-tcp"].as<bool>())
   {
+    mc_rtc::log::warning("--use-tcp");
     c.tcpConfig.use_tcp = true;
-    c.ipcConfig.use_icp = false;
+    c.ipcConfig.use_ipc = false;
   }
   if(vm.count("help"))
   {
@@ -498,7 +472,7 @@ int main(int argc, char ** argv)
   )" << desc << "\n";
     exit(0);
   }
-  
+
   auto app = McRtcGui{c, {argc, argv}};
   return app.exec();
 }

src/McRtcGui.cpp

@@ -16,26 +16,6 @@ struct MagnumClient;
 
 struct McRtcGui : public Platform::Application
 {
-  // Todo convert into an mc_rtc::Schema loadable from a config.yaml
-  struct McRtcGuiConfiguration
-  {
-    struct TcpConfig
-    {
-      bool use_tcp = false;
-      std::string host = "localhost";
-      unsigned sub_port = 4242;
-      unsigned pub_port = 4343;
-    } tcpConfig;
-    struct IpcConfig
-    {
-      bool use_icp = true;
-      std::string sub_uri = "ipc:///tmp/mc_rtc_sub.ipc";
-      std::string pub_uri = "ipc:///tmp/mc_rtc_pub.ipc";
-    } ipcConfig;
-    std::string confPath = "";
-
-  };
-
   explicit McRtcGui(const McRtcGuiConfiguration & config, const Arguments & arguments);
 
   void drawEvent() override;