Add the support for running the creo2urdf headless

src/creo2urdf/include/creo2urdf/Creo2Urdf.h

@@ -61,6 +61,13 @@ class Creo2Urdf : public pfcUICommandActionListener {
      */
     void OnCommand() override;
 
+    Creo2Urdf() = default;
+    ~Creo2Urdf() = default;
+    Creo2Urdf(const std::string& yaml_path, const std::string& csv_path, const std::string& output_path, pfcModel_ptr asm_model_ptr) : m_yaml_path(yaml_path),
+                                                                                                                                       m_csv_path(csv_path),
+                                                                                                                                       m_output_path(output_path),
+                                                                                                                                       m_asm_model_ptr(asm_model_ptr) { }
+
 private:
     /**
      * @brief Export the iDynTree model to URDF format if it is valid.
@@ -137,7 +144,10 @@ class Creo2Urdf : public pfcUICommandActionListener {
     std::array<double, 3> originXYZ {0.0, 0.0, 0.0}; /**< Offset of the root link in XYZ (meters) wrt the world frame. */
     std::array<double, 3> originRPY {0.0, 0.0, 0.0}; /**< Orientation of the root link in Roll-Pitch-Yaw wrt the world frame. */
     bool warningsAreFatal{ true }; /**< Flag indicating whether warnings are treated as fatal errors. */
+    std::string m_yaml_path{ "" }; /**< Path to the YAML configuration file. */
+    std::string m_csv_path{ "" }; /**< Path to the CSV file containing joint information. */
     std::string m_output_path{ "" }; /**< Output path for the exported URDF file. */
+    pfcModel_ptr m_asm_model_ptr{ nullptr }; /**< Handle to the Creo model. */
 };
 
 class Creo2UrdfAccess : public pfcUICommandAccessListener {

src/creo2urdf/src/Creo2Urdf.cpp

@@ -19,7 +19,17 @@
 void Creo2Urdf::OnCommand() {
 
     pfcSession_ptr session_ptr = pfcGetProESession();
-    pfcModel_ptr model_ptr = session_ptr->GetCurrentModel();
+    if (!session_ptr) {
+		printToMessageWindow("Failed to get the session", c2uLogLevel::WARN);
+		return;
+	}
+    if (!m_asm_model_ptr) {
+        m_asm_model_ptr = session_ptr->GetCurrentModel();
+        if (!m_asm_model_ptr) {
+			printToMessageWindow("Failed to get the current model", c2uLogLevel::WARN);
+			return;
+		}
+    }
 
 
     // TODO Principal units probably to be changed from MM to M before getting the model properties
@@ -31,23 +41,28 @@ void Creo2Urdf::OnCommand() {
     auto yaml_file_open_option = pfcFileOpenOptions::Create("*.yml,*.yaml");
     yaml_file_open_option->SetDialogLabel("Select the yaml");
 
-    auto yaml_path = session_ptr->UIOpenFile(yaml_file_open_option);
-
-    if (!loadYamlConfig(string(yaml_path)))
+    // YAML file path
+    if (m_yaml_path.empty()) {
+		m_yaml_path = string(session_ptr->UIOpenFile(yaml_file_open_option));
+	}
+    if (!loadYamlConfig(m_yaml_path))
     {
         printToMessageWindow("Failed to run Creo2Urdf!", c2uLogLevel::WARN);
         return;
     }
-    auto csv_file_open_option = pfcFileOpenOptions::Create("*.csv");
-    csv_file_open_option->SetDialogLabel("Select the csv");
-
-    auto csv_path = session_ptr->UIOpenFile(csv_file_open_option);
-
-    rapidcsv::Document joints_csv_table(string(csv_path), rapidcsv::LabelParams(0, 0));
-    auto output_folder_open_option = pfcDirectorySelectionOptions::Create();
-    output_folder_open_option->SetDialogLabel("Select the output dir");
-
-    m_output_path = string(session_ptr->UISelectDirectory(output_folder_open_option));
+    // CSV file path
+    if (m_csv_path.empty()) {
+		auto csv_file_open_option = pfcFileOpenOptions::Create("*.csv");
+		csv_file_open_option->SetDialogLabel("Select the csv");
+		m_csv_path = string(session_ptr->UIOpenFile(csv_file_open_option));
+	}
+    rapidcsv::Document joints_csv_table(m_csv_path, rapidcsv::LabelParams(0, 0));
+    // Output folder path
+    if (m_output_path.empty()) {
+        auto output_folder_open_option = pfcDirectorySelectionOptions::Create();
+        output_folder_open_option->SetDialogLabel("Select the output dir");
+        m_output_path = string(session_ptr->UISelectDirectory(output_folder_open_option));
+    }
     printToMessageWindow("Output path is: " + m_output_path);
 
 
@@ -56,7 +71,7 @@ void Creo2Urdf::OnCommand() {
 
     bool ret;
 
-    auto asm_component_list = model_ptr->ListItems(pfcModelItemType::pfcITEM_FEATURE);
+    auto asm_component_list = m_asm_model_ptr->ListItems(pfcModelItemType::pfcITEM_FEATURE);
     if (asm_component_list->getarraysize() == 0) {
         printToMessageWindow("There are no FEATURES in the asm", c2uLogLevel::WARN);
         return;
@@ -117,7 +132,7 @@ void Creo2Urdf::OnCommand() {
 
         elem_tree.populateJointInfoFromElementTree(feat, joint_info_map);
 
-        pfcComponentPath_ptr comp_path = pfcCreateComponentPath(pfcAssembly::cast(model_ptr), seq);
+        pfcComponentPath_ptr comp_path = pfcCreateComponentPath(pfcAssembly::cast(m_asm_model_ptr), seq);
 
         auto component_handle = session_ptr->RetrieveModel(pfcComponentFeat::cast(feat)->GetModelDescr());
 
@@ -358,6 +373,12 @@ void Creo2Urdf::OnCommand() {
 
     exportModelToUrdf(idyn_model, export_options);
 
+    // Let's clear the map in case of multiple click TODO UNIFY
+    m_yaml_path.clear();
+    m_csv_path.clear();
+    m_output_path.clear();
+    m_asm_model_ptr = nullptr;
+
     return;
 }
 

src/creo2urdf/src/main.cpp

@@ -8,6 +8,42 @@
 
 #include <creo2urdf/Creo2Urdf.h>
 #include <creo2urdf/Validator.h>
+#include <ProTKRunTime.h>
+#include <ProCore.h>
+#include <pfcExceptions.h>
+
+
+ /*! @brief Do batch mode stuff
+ */
+ProError evaluateBatchMode(const std::string& asm_path, const std::string& yaml_path, const std::string& csv_path, const std::string& output_path) {
+    if (asm_path.empty() || yaml_path.empty() || csv_path.empty() || output_path.empty()) { 
+        return PRO_TK_BAD_INPUTS; // to be safe
+    } 
+    ProError err = PRO_TK_NO_ERROR;
+
+    pfcBaseSession* session = pfcGetProESession();
+    if (!session) {
+        ProTKPrintf("Creo2Urdf: impossible to retrieve the session");
+		return PRO_TK_GENERAL_ERROR;
+	}
+
+    pfcModel_ptr asm_model_ptr{ nullptr };
+
+    try {
+        asm_model_ptr = session->RetrieveModel(pfcModelDescriptor::CreateFromFileName(asm_path.c_str()));
+    }
+    xcatchbegin
+    xcatchcip(defaultEx)
+    {
+        ProTKPrintf("Exception caught: %s", pfcXPFC::cast(defaultEx)->GetMessage());
+        return PRO_TK_E_NOT_FOUND;
+    }
+    xcatchend
+
+    Creo2Urdf creo2urdfApp(yaml_path, csv_path, output_path, asm_model_ptr);
+    creo2urdfApp.OnCommand();
+    return err;
+}
 
 /**
  * @brief Initializes the buttons by associating them with the corresponding functions
@@ -23,6 +59,28 @@ extern "C" int user_initialize(
 {
     auto session = pfcGetProESession();
 
+    if (argc > 4) {
+        std::string asm_path    = argv[1];
+        std::string yaml_path   = argv[2];
+        std::string csv_path    = argv[3];
+        std::string output_path = argv[4];
+
+        // We need to remove the '+' character from the paths
+        asm_path.erase(std::find(asm_path.begin(), asm_path.end(), '+'));
+        yaml_path.erase(std::find(yaml_path.begin(), yaml_path.end(), '+'));
+        csv_path.erase(std::find(csv_path.begin(), csv_path.end(), '+'));
+        output_path.erase(std::find(output_path.begin(), output_path.end(), '+'));
+
+        ProTKPrintf("Running in batch mode");
+        auto debug_msg = "Assembly path: " + asm_path + " yaml path " + yaml_path + " csv_path " + csv_path + " output_path " + output_path;
+        ProTKPrintf("%s\n", debug_msg.c_str());
+        ProError err = evaluateBatchMode(asm_path, yaml_path, csv_path, output_path);
+        ProEngineerEnd();
+        return (int)err; // or whatever you want
+    }
+
+    ProTKPrintf("Creo2Urdf version %s build %s\n", version, build);
+
     auto cmd = session->UICreateCommand("Creo2Urdf", new Creo2Urdf());
     cmd->AddActionListener(new Creo2UrdfAccess()); // To be checked it is odd
     cmd->Designate("ui.txt", "Run Creo2Urdf", "Run Creo2Urdf", "Run Creo2Urdf");