[#1084] solved bug in comm and RGBDViewer related with server selection

src/libs/comm_cpp/CMakeLists.txt

@@ -34,6 +34,7 @@ include_directories(
 
 set(HEADERS
     include/jderobot/comm/communicator.hpp
+    include/jderobot/comm/tools.hpp
     include/jderobot/comm/laserClient.hpp
     include/jderobot/comm/interfaces/laserClient.hpp
     include/jderobot/comm/ice/laserIceClient.hpp
@@ -65,6 +66,7 @@ set(HEADERS
 
 set(SOURCES
     src/communicator.cpp
+    src/tools.cpp
     src/laserClient.cpp
     src/ice/laserIceClient.cpp
     src/cameraClient.cpp

src/libs/comm_cpp/include/jderobot/comm/ardroneextraClient.hpp

@@ -22,8 +22,13 @@
 
 
 #include <Ice/Communicator.h>
+#include <jderobot/comm/tools.hpp>
 #include <jderobot/comm/communicator.hpp>
 #include <jderobot/comm/interfaces/ardroneextraClient.hpp>
+#include <jderobot/comm/ice/ardroneextraIceClient.hpp>
+#ifdef JDERROS
+//#include <jderobot/comm/ros/publisherArDroneExtra.hpp>
+#endif
 
 
 

src/libs/comm_cpp/include/jderobot/comm/bumperClient.hpp

@@ -22,8 +22,13 @@
 
 #include <jderobot/types/bumperData.h>
 #include <Ice/Communicator.h>
+#include <jderobot/comm/tools.hpp>
 #include <jderobot/comm/communicator.hpp>
 #include <jderobot/comm/interfaces/bumperClient.hpp>
+#include <jderobot/comm/ice/bumperIceClient.hpp>
+#ifdef JDERROS
+#include <jderobot/comm/ros/listenerBumper.hpp>
+#endif
 
 
 

src/libs/comm_cpp/include/jderobot/comm/cameraClient.hpp

@@ -22,8 +22,13 @@
 
 #include <jderobot/types/image.h>
 #include <Ice/Communicator.h>
+#include <jderobot/comm/tools.hpp>
 #include <jderobot/comm/communicator.hpp>
 #include <jderobot/comm/interfaces/cameraClient.hpp>
+#include <jderobot/comm/ice/cameraIceClient.hpp>
+#ifdef JDERROS
+#include <jderobot/comm/ros/listenerCamera.hpp>
+#endif
 
 
 

src/libs/comm_cpp/include/jderobot/comm/cmdvelClient.hpp

@@ -22,8 +22,13 @@
 
 #include <jderobot/types/cmdvel.h>
 #include <Ice/Communicator.h>
+#include <jderobot/comm/tools.hpp>
 #include <jderobot/comm/communicator.hpp>
 #include <jderobot/comm/interfaces/cmdvelClient.hpp>
+#include <jderobot/comm/ice/cmdvelIceClient.hpp>
+#ifdef JDERROS
+//#include <jderobot/comm/ros/publisherCMDVel.hpp>
+#endif
 
 
 

src/libs/comm_cpp/include/jderobot/comm/communicator.hpp

@@ -23,6 +23,7 @@
 #include <Ice/Communicator.h>
 #include <Ice/Initialize.h>
 #include <jderobot/config/properties.hpp>
+#include <jderobot/comm/tools.hpp>
 
 
 namespace Comm {

src/libs/comm_cpp/include/jderobot/comm/laserClient.hpp

@@ -22,8 +22,13 @@
 
 #include <jderobot/types/laserData.h>
 #include <Ice/Communicator.h>
+#include <jderobot/comm/tools.hpp>
 #include <jderobot/comm/communicator.hpp>
 #include <jderobot/comm/interfaces/laserClient.hpp>
+#include <jderobot/comm/ice/laserIceClient.hpp>
+#ifdef JDERROS
+#include <jderobot/comm/ros/listenerLaser.hpp>
+#endif
 
 
 

src/libs/comm_cpp/include/jderobot/comm/motorsClient.hpp

@@ -22,8 +22,14 @@
 
 #include <jderobot/types/cmdvel.h>
 #include <Ice/Communicator.h>
+#include <jderobot/comm/tools.hpp>
 #include <jderobot/comm/communicator.hpp>
 #include <jderobot/comm/interfaces/motorsClient.hpp>
+#include <jderobot/comm/ice/motorsIceClient.hpp>
+#include <jderobot/comm/tools.hpp>
+#ifdef JDERROS
+#include <jderobot/comm/ros/publisherMotors.hpp>
+#endif
 
 
 

src/libs/comm_cpp/include/jderobot/comm/navdataClient.hpp

@@ -22,8 +22,13 @@
 
 #include <jderobot/types/navdataData.h>
 #include <Ice/Communicator.h>
+#include <jderobot/comm/tools.hpp>
 #include <jderobot/comm/communicator.hpp>
 #include <jderobot/comm/interfaces/navdataClient.hpp>
+#include <jderobot/comm/ice/navdataIceClient.hpp>
+#ifdef JDERROS
+//#include <jderobot/comm/ros/listenerNavdata.hpp>
+#endif
 
 
 

src/libs/comm_cpp/include/jderobot/comm/pose3dClient.hpp

@@ -22,8 +22,13 @@
 
 #include <jderobot/types/laserData.h>
 #include <Ice/Communicator.h>
+#include <jderobot/comm/tools.hpp>
 #include <jderobot/comm/communicator.hpp>
 #include <jderobot/comm/interfaces/pose3dClient.hpp>
+#include <jderobot/comm/ice/pose3dIceClient.hpp>
+#ifdef JDERROS
+#include <jderobot/comm/ros/listenerPose.hpp>
+#endif
 
 
 

src/libs/comm_cpp/include/jderobot/comm/rgbdClient.hpp

@@ -22,8 +22,13 @@
 
 #include <jderobot/types/rgbd.h>
 #include <Ice/Communicator.h>
+#include <jderobot/comm/tools.hpp>
 #include <jderobot/comm/communicator.hpp>
 #include <jderobot/comm/interfaces/rgbdClient.hpp>
+#include <jderobot/comm/ice/rgbdIceClient.hpp>
+#ifdef JDERROS
+//#include <jderobot/comm/ros/listenerRgbd.hpp>
+#endif
 
 
 

src/libs/comm_cpp/include/jderobot/comm/tools.hpp

@@ -0,0 +1,33 @@
+/*
+ *  Copyright (C) 1997-2018 JDE Developers Team
+ *
+ *  This program is free software: you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation, either version 3 of the License, or
+ *  (at your option) any later version.
+ *
+ *  This program is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License
+ *  along with this program.  If not, see http://www.gnu.org/licenses/.
+ *  Authors :
+ *       Aitor Martinez Fernandez <aitor.martinez.fernandez@gmail.com>
+ */
+
+#ifndef JDEROBOTCOMM_TOOLS_H
+#define JDEROBOTCOMM_TOOLS_H
+
+#include <jderobot/config/properties.hpp>
+
+
+namespace Comm {
+
+	int server2int (std::string server);
+
+
+} //NS
+
+#endif // JDEROBOTCOMM_TOOLS_H

src/libs/comm_cpp/src/ardroneextraClient.cpp

@@ -1,8 +1,5 @@
 #include <jderobot/comm/ardroneextraClient.hpp>
-#include <jderobot/comm/ice/ardroneextraIceClient.hpp>
-#ifdef JDERROS
-//#include <jderobot/comm/ros/publisherArDroneExtra.hpp>
-#endif
+
 
 namespace Comm {
 
@@ -12,14 +9,7 @@ getArDroneExtraClient(Comm::Communicator* jdrc, std::string prefix){
 
 	int server;
 	std::string server_name = jdrc->getConfig().asString(prefix+".Server");
-	std::transform(server_name.begin(), server_name.end(), server_name.begin(), ::tolower);
-	if(server_name == "ice"){
-		server = 1;
-	}
-	else if(server_name == "ros"){
-		server = 2;
-	}
-	else server = 0;
+	server = server2int(server_name);
 
 	switch (server){
 		case 0:

src/libs/comm_cpp/src/bumperClient.cpp

@@ -1,8 +1,5 @@
-#include <jderobot/comm/interfaces/bumperClient.hpp>
-#include <jderobot/comm/ice/bumperIceClient.hpp>
-#ifdef JDERROS
-#include <jderobot/comm/ros/listenerBumper.hpp>
-#endif
+#include <jderobot/comm/bumperClient.hpp>
+
 
 namespace Comm {
 
@@ -12,14 +9,7 @@ getBumperClient(Comm::Communicator* jdrc, std::string prefix){
 
 	int server;
 	std::string server_name = jdrc->getConfig().asString(prefix+".Server");
-	std::transform(server_name.begin(), server_name.end(), server_name.begin(), ::tolower);
-	if(server_name == "ice"){
-		server = 1;
-	}
-	else if(server_name == "ros"){
-		server = 2;
-	}
-	else server = 0;
+	server = server2int(server_name);
 
 	switch (server){
 		case 0:

src/libs/comm_cpp/src/cameraClient.cpp

@@ -17,10 +17,7 @@
  *       Aitor Martinez Fernandez <aitor.martinez.fernandez@gmail.com>
  */
 #include <jderobot/comm/cameraClient.hpp>
-#include <jderobot/comm/ice/cameraIceClient.hpp>
-#ifdef JDERROS
-#include <jderobot/comm/ros/listenerCamera.hpp>
-#endif
+
 
 namespace Comm {
 
@@ -30,14 +27,7 @@ getCameraClient(Comm::Communicator* jdrc, std::string prefix){
 
 	int server;
 	std::string server_name = jdrc->getConfig().asString(prefix+".Server");
-	std::transform(server_name.begin(), server_name.end(), server_name.begin(), ::tolower);
-	if(server_name == "ice"){
-		server = 1;
-	}
-	else if(server_name == "ros"){
-		server = 2;
-	}
-	else server = 0;
+	server = server2int(server_name);
 
 	switch (server){
 		case 0:

src/libs/comm_cpp/src/cmdvelClient.cpp

@@ -1,8 +1,5 @@
 #include <jderobot/comm/cmdvelClient.hpp>
-#include <jderobot/comm/ice/cmdvelIceClient.hpp>
-#ifdef JDERROS
-//#include <jderobot/comm/ros/publisherCMDVel.hpp>
-#endif
+
 
 namespace Comm {
 
@@ -12,14 +9,7 @@ getCMDVelClient(Comm::Communicator* jdrc, std::string prefix){
 
 	int server;
 	std::string server_name = jdrc->getConfig().asString(prefix+".Server");
-	std::transform(server_name.begin(), server_name.end(), server_name.begin(), ::tolower);
-	if(server_name == "ice"){
-		server = 1;
-	}
-	else if(server_name == "ros"){
-		server = 2;
-	}
-	else server = 0;
+	server = server2int(server_name);
 
 	switch (server){
 		case 0:

src/libs/comm_cpp/src/laserClient.cpp

@@ -1,8 +1,5 @@
-#include <jderobot/comm/interfaces/laserClient.hpp>
-#include <jderobot/comm/ice/laserIceClient.hpp>
-#ifdef JDERROS
-#include <jderobot/comm/ros/listenerLaser.hpp>
-#endif
+#include <jderobot/comm/laserClient.hpp>
+
 
 namespace Comm {
 
@@ -12,14 +9,7 @@ getLaserClient(Comm::Communicator* jdrc, std::string prefix){
 
 	int server;
 	std::string server_name = jdrc->getConfig().asString(prefix+".Server");
-	std::transform(server_name.begin(), server_name.end(), server_name.begin(), ::tolower);
-	if(server_name == "ice"){
-		server = 1;
-	}
-	else if(server_name == "ros"){
-		server = 2;
-	}
-	else server = 0;
+	server = server2int(server_name);
 
 	switch (server){
 		case 0:

src/libs/comm_cpp/src/motorsClient.cpp

@@ -1,8 +1,4 @@
 #include <jderobot/comm/motorsClient.hpp>
-#include <jderobot/comm/ice/motorsIceClient.hpp>
-#ifdef JDERROS
-#include <jderobot/comm/ros/publisherMotors.hpp>
-#endif
 
 namespace Comm {
 
@@ -12,14 +8,7 @@ getMotorsClient(Comm::Communicator* jdrc, std::string prefix){
 
 	int server;
 	std::string server_name = jdrc->getConfig().asString(prefix+".Server");
-	std::transform(server_name.begin(), server_name.end(), server_name.begin(), ::tolower);
-	if(server_name == "ice"){
-		server = 1;
-	}
-	else if(server_name == "ros"){
-		server = 2;
-	}
-	else server = 0;
+	server = server2int(server_name);
 
 	switch (server){
 		case 0:

src/libs/comm_cpp/src/navdataClient.cpp

@@ -1,8 +1,5 @@
-#include <jderobot/comm/interfaces/navdataClient.hpp>
-#include <jderobot/comm/ice/navdataIceClient.hpp>
-#ifdef JDERROS
-//#include <jderobot/comm/ros/listenerNavdata.hpp>
-#endif
+#include <jderobot/comm/navdataClient.hpp>
+
 
 namespace Comm {
 
@@ -13,13 +10,7 @@ getNavdataClient(Comm::Communicator* jdrc, std::string prefix){
 	int server;
 	std::string server_name = jdrc->getConfig().asString(prefix+".Server");
 	std::transform(server_name.begin(), server_name.end(), server_name.begin(), ::tolower);
-	if(server_name == "ice"){
-		server = 1;
-	}
-	else if(server_name == "ros"){
-		server = 2;
-	}
-	else server = 0;
+	server = server2int(server_name);
 
 	switch (server){
 		case 0:

src/libs/comm_cpp/src/pose3dClient.cpp

@@ -1,8 +1,5 @@
 #include <jderobot/comm/pose3dClient.hpp>
-#include <jderobot/comm/ice/pose3dIceClient.hpp>
-#ifdef JDERROS
-#include <jderobot/comm/ros/listenerPose.hpp>
-#endif
+
 
 namespace Comm {
 
@@ -13,13 +10,7 @@ getPose3dClient(Comm::Communicator* jdrc, std::string prefix){
 	int server;
 	std::string server_name = jdrc->getConfig().asString(prefix+".Server");
 	std::transform(server_name.begin(), server_name.end(), server_name.begin(), ::tolower);
-	if(server_name == "ice"){
-		server = 1;
-	}
-	else if(server_name == "ros"){
-		server = 2;
-	}
-	else server = 0;
+	server = server2int(server_name);
 
 	switch (server){
 		case 0: