Merge issue-47-OpenraveYarpPluginLoader to develop for #47

roboticslab-uc3m · Dec 23, 2017 · d5cfee2 · d5cfee2
2 parents 28ce5e9 + 164c23f
commit d5cfee2
Showing 1 changed file with 38 additions and 3 deletions.
diff --git a/libraries/OpenravePlugins/OpenraveYarpPluginLoader/OpenraveYarpPluginLoader.cpp b/libraries/OpenravePlugins/OpenraveYarpPluginLoader/OpenraveYarpPluginLoader.cpp
@@ -66,11 +66,46 @@ class OpenraveYarpPluginLoader : public OpenRAVE::ModuleBase
         RAVELOG_INFO("module unloaded from environment\n");
     }
 
-    /*int main(const string& cmd)
+    int main(const std::string& cmd)
     {
-        RAVELOG_INFO("module initialized cmd; %s\n", cmd.c_str());
+        CD_DEBUG("[%s]\n", cmd.c_str());
+        std::stringstream ss(cmd);
+
+        //-- Fill openStrings
+        std::vector<std::string> openStrings;
+        while( ! ss.eof() )
+        {
+            std::string tmp;
+            ss >> tmp;
+            if(tmp == "open")
+            {
+                std::string openString;;
+                openStrings.push_back(openString);
+            }
+            else
+            {
+                if(openStrings.size() == 0)
+                {
+                    CD_ERROR("args must start with open, sorry! Bye!\n");
+                    return 1;
+                }
+                openStrings[openStrings.size()-1].append(tmp);
+                openStrings[openStrings.size()-1].append(" ");
+            }
+        }
+
+        //-- Open each openString
+        for(int i=0;i<openStrings.size();i++)
+        {
+            CD_DEBUG("open[%d]: [%s]\n",i,openStrings[i].c_str());
+
+            std::istringstream sinput( openStrings[i] );
+            std::ostringstream sout;
+            if( ! Open(sout,sinput) )
+                return 1;
+        }
         return 0;
-    }*/
+    }
 
     bool Open(std::ostream& sout, std::istream& sinput)
     {