Merge pull request #138 from mujin/fixSamples20230801

fix samples/tests compilation
mujin · Nov 13, 2024 · e24f8a2 · e24f8a2
2 parents 7597a02 + e12e58a
commit e24f8a2
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Showing 14 changed files with 33 additions and 49 deletions.
diff --git a/samples/CMakeLists.txt b/samples/CMakeLists.txt
@@ -36,19 +36,19 @@ build_sample(mujindeleteallscenes)
 build_sample(mujindeleteallitlprograms)
 if (libzmq_FOUND)
   build_sample(mujinbinpickingtask)
-  build_sample(mujinjog)
+  # build_sample(mujinjog)
   build_sample(mujinupdategeometry)
-  build_sample(mujinmovetoollinear)
+  # build_sample(mujinmovetoollinear)
   build_sample(mujintransform)
   build_sample(mujinsetdofvalues)
-  build_sample(mujincreateikparam)
-  build_sample(mujingetpublishedtaskstate)
+  # build_sample(mujincreateikparam)
+  # build_sample(mujingetpublishedtaskstate)
   build_sample(mujingrabrelease)
-  build_sample(mujinpointcloud)
+  # build_sample(mujinpointcloud)
   build_sample(mujincreateinstobject)
-  build_sample(mujinmovetohandposition)
-  build_sample(mujinmoveandcancel)
-  build_sample(mujinplanexecute)
+  # build_sample(mujinmovetohandposition)
+  # build_sample(mujinmoveandcancel)
+  # build_sample(mujinplanexecute)
   build_sample(mujincreateitltask)
   build_sample(mujinlistobjects)
   build_sample(mujinqueryobject)

diff --git a/samples/mujinbinpickingtask.cpp b/samples/mujinbinpickingtask.cpp
@@ -58,6 +58,6 @@ int main(int argc, char ** argv)
     binpickingzmq->Initialize("", binpickingTaskZmqPort, binpickingTaskHeartbeatPort, zmqcontext);
 
     Transform t;
-    binpickingzmq->GetTransform(testobjectname,t);
+    binpickingzmq->GetTransform(testobjectname,t,"mm");
     std::cout  << "testobject " << testobjectname << " pose: [" << t.quaternion[0] << ", " << t.quaternion[1] << ", " << t.quaternion[2] << ", " << t.quaternion[3] << ", " << t.translate[0] << ", " << t.translate[1] << ", " << t.translate[2] << "]";
 }
diff --git a/samples/mujinexecutetask.cpp b/samples/mujinexecutetask.cpp
@@ -13,7 +13,7 @@ using namespace mujinclient;
 
 int main(int argc, char ** argv)
 {
-    if( argc < 2 ) {
+    if( argc < 3 ) {
         std::cout << "need username:password. Example: mujinclienttest myuser:mypass [url]\n\nurl - [optional] For example https://controller.mujin.co.jp/" << std::endl;
         return 1;
     }
@@ -22,7 +22,7 @@ int main(int argc, char ** argv)
         if( argc >= 5 ) {
             controller = CreateControllerClient(argv[1], argv[2], argv[3], argv[4]);
         }
-        if( argc == 4 ) {
+        else if( argc == 4 ) {
             controller = CreateControllerClient(argv[1], argv[2], argv[3]);
         }
         else if( argc == 3 ) {

diff --git a/samples/mujinexecutetask_fast.cpp b/samples/mujinexecutetask_fast.cpp
@@ -13,7 +13,7 @@ using namespace mujinclient;
 
 int main(int argc, char ** argv)
 {
-    if( argc < 2 ) {
+    if( argc < 3 ) {
         std::cout << "need username:password. Example: mujinclienttest myuser:mypass [url]\n\nurl - [optional] For example https://controller.mujin.co.jp/" << std::endl;
         return 1;
     }
@@ -22,7 +22,7 @@ int main(int argc, char ** argv)
         if( argc >= 5 ) {
             controller = CreateControllerClient(argv[1], argv[2], argv[3], argv[4]);
         }
-        if( argc == 4 ) {
+        else if( argc == 4 ) {
             controller = CreateControllerClient(argv[1], argv[2], argv[3]);
         }
         else if( argc == 3 ) {

diff --git a/samples/mujinexecutetask_robodia.cpp b/samples/mujinexecutetask_robodia.cpp
@@ -13,7 +13,7 @@ using namespace mujinclient;
 
 int main(int argc, char ** argv)
 {
-    if( argc < 2 ) {
+    if( argc < 3 ) {
         std::cout << "need username:password. Example: mujinclienttest myuser:mypass [url]\n\nurl - [optional] For example https://controller.mujin.co.jp/" << std::endl;
         return 1;
     }
@@ -22,7 +22,7 @@ int main(int argc, char ** argv)
         if( argc >= 5 ) {
             controller = CreateControllerClient(argv[1], argv[2], argv[3], argv[4]);
         }
-        if( argc == 4 ) {
+        else if( argc == 4 ) {
             controller = CreateControllerClient(argv[1], argv[2], argv[3]);
         }
         else if( argc == 3 ) {

diff --git a/samples/mujinideal_densowave.cpp b/samples/mujinideal_densowave.cpp
@@ -13,7 +13,7 @@ using namespace mujinclient;
 
 int main(int argc, char ** argv)
 {
-    if( argc < 2 ) {
+    if( argc < 3 ) {
         std::cout << "need username:password. Example: mujinclienttest myuser:mypass [url]\n\nurl - [optional] For example https://controller.mujin.co.jp/" << std::endl;
         return 1;
     }
@@ -24,7 +24,7 @@ int main(int argc, char ** argv)
         if( argc >= 5 ) {
             controller = CreateControllerClient(argv[1], argv[2], argv[3], argv[4]);
         }
-        if( argc == 4 ) {
+        else if( argc == 4 ) {
             controller = CreateControllerClient(argv[1], argv[2], argv[3]);
         }
         else if( argc == 3 ) {

diff --git a/samples/mujinimportscene.cpp b/samples/mujinimportscene.cpp
@@ -11,7 +11,7 @@ using namespace mujinclient;
 
 int main(int argc, char ** argv)
 {
-    if( argc < 2 ) {
+    if( argc < 3 ) {
         std::cout << "need username:password. Example: mujinclienttest myuser:mypass [url]\n\nurl - [optional] For example https://controller.mujin.co.jp/" << std::endl;
         return 1;
     }
@@ -20,7 +20,7 @@ int main(int argc, char ** argv)
         if( argc >= 5 ) {
             controller = CreateControllerClient(argv[1], argv[2], argv[3], argv[4]);
         }
-        if( argc == 4 ) {
+        else if( argc == 4 ) {
             controller = CreateControllerClient(argv[1], argv[2], argv[3]);
         }
         else if( argc == 3 ) {

diff --git a/samples/mujinimportscene_robodia.cpp b/samples/mujinimportscene_robodia.cpp
@@ -11,7 +11,7 @@ using namespace mujinclient;
 
 int main(int argc, char ** argv)
 {
-    if( argc < 2 ) {
+    if( argc < 3 ) {
         std::cout << "need username:password. Example: mujinclienttest myuser:mypass [url]\n\nurl - [optional] For example https://controller.mujin.co.jp/" << std::endl;
         return 1;
     }
@@ -20,14 +20,11 @@ int main(int argc, char ** argv)
         if( argc >= 5 ) {
             controller = CreateControllerClient(argv[1], argv[2], argv[3], argv[4]);
         }
-        if( argc == 4 ) {
+        else if( argc == 4 ) {
             controller = CreateControllerClient(argv[1], argv[2], argv[3]);
         }
-        else if( argc == 3 ) {
-            controller = CreateControllerClient(argv[1], argv[2]);
-        }
         else {
-            controller = CreateControllerClient(argv[1]);
+            controller = CreateControllerClient(argv[1], argv[2]);
         }
         std::cout << "connected to controller v" << controller->GetVersion() << std::endl;
 

diff --git a/samples/mujinshowresults.cpp b/samples/mujinshowresults.cpp
@@ -13,7 +13,7 @@ using namespace mujinclient;
 
 int main(int argc, char ** argv)
 {
-    if( argc < 2 ) {
+    if( argc < 3 ) {
         std::cout << "need username:password. Example: mujinclienttest myuser:mypass [url]\n\nurl - [optional] For example https://controller.mujin.co.jp/" << std::endl;
         return 1;
     }
@@ -22,7 +22,7 @@ int main(int argc, char ** argv)
         if( argc >= 5 ) {
             controller = CreateControllerClient(argv[1], argv[2], argv[3], argv[4]);
         }
-        if( argc == 4 ) {
+        else if( argc == 4 ) {
             controller = CreateControllerClient(argv[1], argv[2], argv[3]);
         }
         else if( argc == 3 ) {

diff --git a/samples/mujinupdateenvironmentstate.cpp b/samples/mujinupdateenvironmentstate.cpp
@@ -165,7 +165,6 @@ int main(int argc, char ** argv)
             }
             std::istringstream ss(s);
             while (ss) {
-                std::string s;
                 if (!std::getline(ss, s, ',')) {
                     break;
                 }

diff --git a/test/mujintestutils.h b/test/mujintestutils.h
@@ -11,14 +11,11 @@ mujinclient::ControllerClientPtr CreateControllerFromCommandLine(int argc, char
     if( argc >= 5 ) {
         controller = mujinclient::CreateControllerClient(argv[1], argv[2], argv[3], argv[4]);
     }
-    if( argc == 4 ) {
+    else if( argc == 4 ) {
         controller = mujinclient::CreateControllerClient(argv[1], argv[2], argv[3]);
     }
-    else if( argc == 3 ) {
-        controller = mujinclient::CreateControllerClient(argv[1], argv[2]);
-    }
     else {
-        controller = mujinclient::CreateControllerClient(argv[1]);
+        controller = mujinclient::CreateControllerClient(argv[1], argv[2]);
     }
     std::cout << "connected to controller v" << controller->GetVersion() << std::endl;
     return controller;

diff --git a/test/settaskparameters.cpp b/test/settaskparameters.cpp
@@ -18,14 +18,11 @@ int main(int argc, char ** argv)
         if( argc >= 5 ) {
             controller = CreateControllerClient(argv[1], argv[2], argv[3], argv[4]);
         }
-        if( argc == 4 ) {
+        else if( argc == 4 ) {
             controller = CreateControllerClient(argv[1], argv[2], argv[3]);
         }
-        else if( argc == 3 ) {
-            controller = CreateControllerClient(argv[1], argv[2]);
-        }
         else {
-            controller = CreateControllerClient(argv[1]);
+            controller = CreateControllerClient(argv[1], argv[2]);
         }
         std::cout << "connected to controller v" << controller->GetVersion() << std::endl;
 

diff --git a/test/showresults.cpp b/test/showresults.cpp
@@ -18,14 +18,11 @@ int main(int argc, char ** argv)
         if( argc >= 5 ) {
             controller = CreateControllerClient(argv[1], argv[2], argv[3], argv[4]);
         }
-        if( argc == 4 ) {
+        else if( argc == 4 ) {
             controller = CreateControllerClient(argv[1], argv[2], argv[3]);
         }
-        else if( argc == 3 ) {
-            controller = CreateControllerClient(argv[1], argv[2]);
-        }
         else {
-            controller = CreateControllerClient(argv[1]);
+            controller = CreateControllerClient(argv[1], argv[2]);
         }
         std::cout << "connected to controller v" << controller->GetVersion() << std::endl;
         std::vector<std::string> scenekeys;

diff --git a/test/uploadregister.cpp b/test/uploadregister.cpp
@@ -12,14 +12,11 @@ int main(int argc, char ** argv)
         if( argc >= 5 ) {
             controller = CreateControllerClient(argv[1], argv[2], argv[3], argv[4]);
         }
-        if( argc == 4 ) {
+        else if( argc == 4 ) {
             controller = CreateControllerClient(argv[1], argv[2], argv[3]);
         }
-        else if( argc == 3 ) {
-            controller = CreateControllerClient(argv[1], argv[2]);
-        }
         else {
-            controller = CreateControllerClient(argv[1]);
+            controller = CreateControllerClient(argv[1], argv[2]);
         }
         std::cout << "connected to controller v" << controller->GetVersion() << std::endl;
 
@@ -35,7 +32,7 @@ int main(int argc, char ** argv)
         std::string desturi = "mujin:/testupload/hello.txt";
         std::vector<unsigned char> vdata(5), vtestoutputdata;
         vdata[0] = 'H'; vdata[1] = 'e'; vdata[2] = 'l'; vdata[3] = 'l'; vdata[4] = 'o';
-        controller->UploadDataToController_UTF8(vdata,desturi);
+        controller->UploadDataToController_UTF8(vdata.data(),vdata.size(),desturi);
 
         controller->DownloadFileFromController_UTF8(desturi, vtestoutputdata);
         BOOST_ASSERT(vdata.size() == vtestoutputdata.size());