summaryrefslogtreecommitdiff
path: root/pcbnew/pcbnew_config.cpp
diff options
context:
space:
mode:
Diffstat (limited to 'pcbnew/pcbnew_config.cpp')
-rw-r--r--pcbnew/pcbnew_config.cpp553
1 files changed, 553 insertions, 0 deletions
diff --git a/pcbnew/pcbnew_config.cpp b/pcbnew/pcbnew_config.cpp
new file mode 100644
index 0000000..deb126f
--- /dev/null
+++ b/pcbnew/pcbnew_config.cpp
@@ -0,0 +1,553 @@
+/*
+ * This program source code file is part of KiCad, a free EDA CAD application.
+ *
+ * Copyright (C) 2015 Jean-Pierre Charras, jp.charras at wanadoo.fr
+ * Copyright (C) 2012 SoftPLC Corporation, Dick Hollenbeck <dick@softplc.com>
+ * Copyright (C) 2012 Wayne Stambaugh <stambaughw@verizon.net>
+ * Copyright (C) 1992-2012 KiCad Developers, see AUTHORS.txt for contributors.
+ *
+ * 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 2
+ * 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, you may find one here:
+ * http://www.gnu.org/licenses/old-licenses/gpl-2.0.html
+ * or you may search the http://www.gnu.org website for the version 2 license,
+ * or you may write to the Free Software Foundation, Inc.,
+ * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA
+ */
+
+/**
+ * @file pcbnew_config.cpp
+ */
+
+#include <fctsys.h>
+#include <kiface_i.h>
+#include <project.h>
+#include <class_drawpanel.h>
+#include <pcb_draw_panel_gal.h>
+#include <confirm.h>
+#include <gestfich.h>
+#include <xnode.h>
+#include <common.h>
+#include <macros.h>
+#include <wxPcbStruct.h>
+#include <class_board_design_settings.h>
+#include <plot_common.h>
+#include <worksheet.h>
+#include <dialog_hotkeys_editor.h>
+#include <fp_lib_table.h>
+#include <fp_lib_table_lexer.h>
+#include <worksheet_shape_builder.h>
+
+#include <class_board.h>
+#include <class_module.h>
+#include <pcbplot.h>
+#include <pcbnew.h>
+#include <pcbnew_id.h>
+#include <hotkeys.h>
+#include <pcbnew_config.h>
+#include <module_editor_frame.h>
+#include <modview_frame.h>
+
+#include <invoke_pcb_dialog.h>
+#include <dialog_mask_clearance.h>
+#include <dialog_general_options.h>
+#include <wildcards_and_files_ext.h>
+
+
+void PCB_EDIT_FRAME::Process_Config( wxCommandEvent& event )
+{
+ int id = event.GetId();
+ wxFileName fn;
+
+ switch( id )
+ {
+ case ID_MENU_PCB_SHOW_HIDE_LAYERS_MANAGER_DIALOG:
+ m_show_layer_manager_tools = ! m_show_layer_manager_tools;
+ m_auimgr.GetPane( wxT( "m_LayersManagerToolBar" ) ).Show( m_show_layer_manager_tools );
+ m_auimgr.Update();
+
+ GetMenuBar()->SetLabel( ID_MENU_PCB_SHOW_HIDE_LAYERS_MANAGER_DIALOG,
+ m_show_layer_manager_tools ?
+ _("Hide &Layers Manager" ) : _("Show &Layers Manager" ));
+ break;
+
+ case ID_MENU_PCB_SHOW_HIDE_MUWAVE_TOOLBAR:
+ m_show_microwave_tools = ! m_show_microwave_tools;
+ m_auimgr.GetPane( wxT( "m_microWaveToolBar" ) ).Show( m_show_microwave_tools );
+ m_auimgr.Update();
+
+ GetMenuBar()->SetLabel( ID_MENU_PCB_SHOW_HIDE_MUWAVE_TOOLBAR,
+ m_show_microwave_tools ?
+ _( "Hide Microwave Toolbar" ): _( "Show Microwave Toolbar" ));
+ break;
+
+
+ case ID_PCB_LAYERS_SETUP:
+ if( InvokeLayerSetup( this, GetBoard() ) )
+ {
+ LAYER_ID cur_layer = GetActiveLayer();
+
+ // If after showing the dialog the user has removed the active layer,
+ // then select a new active layer (front copper layer).
+ if( !GetBoard()->GetEnabledLayers()[ cur_layer ] )
+ cur_layer = F_Cu;
+
+ SetActiveLayer( cur_layer );
+
+ OnModify();
+ ReCreateLayerBox();
+ ReFillLayerWidget();
+
+ if( IsGalCanvasActive() )
+ static_cast<PCB_DRAW_PANEL_GAL*>( GetGalCanvas() )->SyncLayersVisibility( GetBoard() );
+ }
+ break;
+
+ case ID_PCB_LIB_WIZARD:
+ case ID_PCB_LIB_TABLE_EDIT:
+ {
+ bool tableChanged = false;
+ int r = 0;
+
+ if( id == ID_PCB_LIB_TABLE_EDIT )
+ r = InvokePcbLibTableEditor( this, &GFootprintTable, Prj().PcbFootprintLibs() );
+ else
+ r = InvokeFootprintWizard( this, &GFootprintTable, Prj().PcbFootprintLibs() );
+
+ if( r & 1 )
+ {
+ try
+ {
+ FILE_OUTPUTFORMATTER sf( FP_LIB_TABLE::GetGlobalTableFileName() );
+
+ GFootprintTable.Format( &sf, 0 );
+ tableChanged = true;
+ }
+ catch( const IO_ERROR& ioe )
+ {
+ wxString msg = wxString::Format( _(
+ "Error occurred saving the global footprint library "
+ "table:\n\n%s" ),
+ GetChars( ioe.errorText.GetData() )
+ );
+ wxMessageBox( msg, _( "File Save Error" ), wxOK | wxICON_ERROR );
+ }
+ }
+
+ // If no board file is defined, do not save the project specific library table. It
+ // is kept in memory and created in the path when the new board is saved.
+ if( (r & 2) && !GetBoard()->GetFileName().IsEmpty() )
+ {
+ wxString tblName = Prj().FootprintLibTblName();
+
+ try
+ {
+ Prj().PcbFootprintLibs()->Save( tblName );
+ tableChanged = true;
+ }
+ catch( const IO_ERROR& ioe )
+ {
+ wxString msg = wxString::Format( _(
+ "Error occurred saving project specific footprint library "
+ "table:\n\n%s" ),
+ GetChars( ioe.errorText )
+ );
+ wxMessageBox( msg, _( "File Save Error" ), wxOK | wxICON_ERROR );
+ }
+ }
+
+ FOOTPRINT_VIEWER_FRAME* viewer;
+
+ if( tableChanged && (viewer = (FOOTPRINT_VIEWER_FRAME*)Kiway().Player( FRAME_PCB_MODULE_VIEWER, false )) != NULL )
+ {
+ viewer->ReCreateLibraryList();
+ }
+ }
+ break;
+
+ case ID_PCB_3DSHAPELIB_WIZARD:
+#ifdef BUILD_GITHUB_PLUGIN
+ Invoke3DShapeLibsDownloaderWizard( this );
+#endif
+ break;
+
+ case ID_PCB_MASK_CLEARANCE:
+ {
+ DIALOG_PADS_MASK_CLEARANCE dlg( this );
+
+ if( dlg.ShowModal() == 1 && IsGalCanvasActive() )
+ {
+ for( MODULE* module = GetBoard()->m_Modules; module; module = module->Next() )
+ module->ViewUpdate();
+
+ GetGalCanvas()->Refresh();
+ }
+ }
+ break;
+
+ case wxID_PREFERENCES:
+ {
+ DIALOG_GENERALOPTIONS dlg( this );
+ dlg.ShowModal();
+ }
+ break;
+
+ case ID_PCB_PAD_SETUP:
+ InstallPadOptionsFrame( NULL );
+ break;
+
+ case ID_CONFIG_SAVE:
+ SaveProjectSettings( true );
+ break;
+
+ case ID_CONFIG_READ:
+ {
+ fn = GetBoard()->GetFileName();
+ fn.SetExt( ProjectFileExtension );
+
+ wxFileDialog dlg( this, _( "Read Project File" ), fn.GetPath(),
+ fn.GetFullName(), ProjectFileWildcard,
+ wxFD_OPEN | wxFD_FILE_MUST_EXIST | wxFD_CHANGE_DIR );
+
+ if( dlg.ShowModal() == wxID_CANCEL )
+ break;
+
+ if( !wxFileExists( dlg.GetPath() ) )
+ {
+ wxString msg = wxString::Format( _(
+ "File %s not found" ),
+ GetChars( dlg.GetPath() )
+ );
+ DisplayError( this, msg );
+ break;
+ }
+
+ wxString pro_file = dlg.GetPath();
+
+ Prj().ConfigLoad( Kiface().KifaceSearch(), GROUP_PCB, GetProjectFileParameters(), pro_file );
+ }
+ break;
+
+ // Hotkey IDs
+ case ID_PREFERENCES_HOTKEY_EXPORT_CONFIG:
+ ExportHotkeyConfigToFile( g_Board_Editor_Hokeys_Descr, wxT( "pcbnew" ) );
+ break;
+
+ case ID_PREFERENCES_HOTKEY_IMPORT_CONFIG:
+ ImportHotkeyConfigFromFile( g_Board_Editor_Hokeys_Descr, wxT( "pcbnew" ) );
+ break;
+
+ case ID_PREFERENCES_HOTKEY_SHOW_EDITOR:
+ InstallHotkeyFrame( this, g_Board_Editor_Hokeys_Descr );
+ break;
+
+ case ID_PREFERENCES_HOTKEY_SHOW_CURRENT_LIST:
+ // Display current hotkey list for Pcbnew.
+ DisplayHotkeyList( this, g_Board_Editor_Hokeys_Descr );
+ break;
+
+ // Macros IDs
+ case ID_PREFRENCES_MACROS_SAVE:
+ SaveMacros();
+ break;
+
+ case ID_PREFRENCES_MACROS_READ:
+ ReadMacros();
+ break;
+
+ default:
+ DisplayError( this, wxT( "PCB_EDIT_FRAME::Process_Config error" ) );
+ }
+}
+
+
+bool PCB_EDIT_FRAME::LoadProjectSettings()
+{
+ wxLogDebug( wxT( "Loading project '%s' settings." ),
+ GetChars( Prj().GetProjectFullName() ) );
+
+ bool rc = Prj().ConfigLoad( Kiface().KifaceSearch(), GROUP_PCB, GetProjectFileParameters() );
+
+ // Load the page layout decr file, from the filename stored in
+ // BASE_SCREEN::m_PageLayoutDescrFileName, read in config project file
+ // If empty, or not existing, the default descr is loaded
+ WORKSHEET_LAYOUT& pglayout = WORKSHEET_LAYOUT::GetTheInstance();
+ wxString pg_fullfilename = WORKSHEET_LAYOUT::MakeFullFileName(
+ BASE_SCREEN::m_PageLayoutDescrFileName,
+ Prj().GetProjectPath() );
+
+ pglayout.SetPageLayout( pg_fullfilename );
+
+ return rc;
+}
+
+
+void PCB_EDIT_FRAME::SaveProjectSettings( bool aAskForSave )
+{
+ wxFileName fn = Prj().GetProjectFullName();
+
+ if( aAskForSave )
+ {
+ wxFileDialog dlg( this, _( "Save Project File" ),
+ fn.GetPath(), fn.GetFullName(),
+ ProjectFileWildcard, wxFD_SAVE | wxFD_CHANGE_DIR );
+
+ if( dlg.ShowModal() == wxID_CANCEL )
+ return;
+
+ fn = dlg.GetPath();
+ }
+
+ wxString pro_name = fn.GetFullPath();
+
+ Prj().ConfigSave( Kiface().KifaceSearch(), GROUP_PCB, GetProjectFileParameters(), pro_name );
+}
+
+
+PARAM_CFG_ARRAY PCB_EDIT_FRAME::GetProjectFileParameters()
+{
+ PARAM_CFG_ARRAY pca;
+
+ // This one cannot be cached because some settings are going to/from the BOARD,
+ // so pointers into that cannot be saved for long.
+
+ pca.push_back( new PARAM_CFG_FILENAME( wxT( "PageLayoutDescrFile" ),
+ &BASE_SCREEN::m_PageLayoutDescrFileName ) );
+
+ pca.push_back( new PARAM_CFG_FILENAME( wxT( "LastNetListRead" ), &m_lastNetListRead ) );
+
+ GetBoard()->GetDesignSettings().AppendConfigs( &pca );
+
+ return pca;
+}
+
+
+PARAM_CFG_ARRAY& PCB_EDIT_FRAME::GetConfigurationSettings()
+{
+ DISPLAY_OPTIONS* displ_opts = (DISPLAY_OPTIONS*)GetDisplayOptions();
+
+ if( m_configSettings.empty() )
+ {
+ COLORS_DESIGN_SETTINGS cds; // constructor fills this with sensible colors
+
+ // Units used in dialogs and toolbars
+ m_configSettings.push_back( new PARAM_CFG_INT( true, wxT( "Units" ),
+ (int*)&g_UserUnit, MILLIMETRES ) );
+
+ m_configSettings.push_back( new PARAM_CFG_BOOL( true, wxT( "DisplayPolarCoords" ),
+ &displ_opts->m_DisplayPolarCood, false ) );
+ // Display options and modes:
+ m_configSettings.push_back( new PARAM_CFG_INT( true, wxT( "ViaHoleDisplayMode" ),
+ (int*) &displ_opts->m_DisplayViaMode,
+ VIA_SPECIAL_HOLE_SHOW, VIA_HOLE_NOT_SHOW,
+ OPT_VIA_HOLE_END - 1 ) );
+ m_configSettings.push_back( new PARAM_CFG_INT( true, wxT( "ShowNetNamesMode" ),
+ &displ_opts->m_DisplayNetNamesMode, 3, 0, 3 ) );
+ m_configSettings.push_back( new PARAM_CFG_BOOL( true, wxT( "DisplayTrackFilled" ),
+ &displ_opts->m_DisplayPcbTrackFill, true ) );
+ m_configSettings.push_back( new PARAM_CFG_INT( true, wxT( "TrackDisplayClearance" ),
+ (int*) &displ_opts->m_ShowTrackClearanceMode,
+ SHOW_CLEARANCE_NEW_TRACKS_AND_VIA_AREAS ) );
+ m_configSettings.push_back( new PARAM_CFG_BOOL( true, wxT( "PadFill" ),
+ &displ_opts->m_DisplayPadFill, true ) );
+ m_configSettings.push_back( new PARAM_CFG_BOOL( true, wxT( "ViaFill" ),
+ &displ_opts->m_DisplayViaFill, true ) );
+ m_configSettings.push_back( new PARAM_CFG_BOOL( true, wxT( "PadAffG" ),
+ &displ_opts->m_DisplayPadIsol, true ) );
+ m_configSettings.push_back( new PARAM_CFG_BOOL( true, wxT( "PadSNum" ),
+ &displ_opts->m_DisplayPadNum, true ) );
+ m_configSettings.push_back( new PARAM_CFG_BOOL( true, wxT( "ModAffC" ),
+ &displ_opts->m_DisplayModEdgeFill, FILLED ) );
+ m_configSettings.push_back( new PARAM_CFG_BOOL( true, wxT( "ModAffT" ),
+ &displ_opts->m_DisplayModTextFill, FILLED ) );
+ m_configSettings.push_back( new PARAM_CFG_BOOL( true, wxT( "PcbAffT" ),
+ &displ_opts->m_DisplayDrawItemsFill, FILLED ) );
+ m_configSettings.push_back( new PARAM_CFG_INT( true, wxT( "PcbShowZonesMode" ),
+ &displ_opts->m_DisplayZonesMode, 0, 0, 2 ) );
+
+ // layer colors:
+ wxASSERT( DIM( cds.m_LayersColors ) == LAYER_ID_COUNT );
+ for( int i = 0; i<LAYER_ID_COUNT; ++i )
+ {
+ wxString vn = wxString::Format(
+ wxT( "ColorPCBLayer_%s" ),
+ LSET::Name( LAYER_ID( i ) ) );
+
+ m_configSettings.push_back( new PARAM_CFG_SETCOLOR( true, vn, LOC_COLOR( i ), cds.m_LayersColors[i] ) );
+ }
+
+ m_configSettings.push_back( new PARAM_CFG_SETCOLOR( true, wxT( "ColorTxtFrontEx" ),
+ ITEM_COLOR( MOD_TEXT_FR_VISIBLE ),
+ LIGHTGRAY ) );
+ m_configSettings.push_back( new PARAM_CFG_SETCOLOR( true, wxT( "ColorTxtBackEx" ),
+ ITEM_COLOR( MOD_TEXT_BK_VISIBLE ),
+ BLUE ) );
+ m_configSettings.push_back( new PARAM_CFG_SETCOLOR( true, wxT( "ColorTxtInvisEx" ),
+ ITEM_COLOR( MOD_TEXT_INVISIBLE ),
+ DARKGRAY ) );
+ m_configSettings.push_back( new PARAM_CFG_SETCOLOR( true, wxT( "ColorAnchorEx" ),
+ ITEM_COLOR( ANCHOR_VISIBLE ), BLUE ) );
+ m_configSettings.push_back( new PARAM_CFG_SETCOLOR( true, wxT( "ColorPadBackEx" ),
+ ITEM_COLOR( PAD_BK_VISIBLE ), GREEN ) );
+ m_configSettings.push_back( new PARAM_CFG_SETCOLOR( true, wxT( "ColorPadFrontEx" ),
+ ITEM_COLOR( PAD_FR_VISIBLE ), RED ) );
+ m_configSettings.push_back( new PARAM_CFG_SETCOLOR( true, wxT( "ColorViaThruEx" ),
+ ITEM_COLOR( VIA_THROUGH_VISIBLE ),
+ LIGHTGRAY ) );
+ m_configSettings.push_back( new PARAM_CFG_SETCOLOR( true, wxT( "ColorViaBBlindEx" ),
+ ITEM_COLOR( VIA_BBLIND_VISIBLE ),
+ BROWN ) );
+ m_configSettings.push_back( new PARAM_CFG_SETCOLOR( true, wxT( "ColorViaMicroEx" ),
+ ITEM_COLOR( VIA_MICROVIA_VISIBLE ),
+ CYAN ) );
+ m_configSettings.push_back( new PARAM_CFG_SETCOLOR( true, wxT( "ColorNonPlatedEx" ),
+ ITEM_COLOR( NON_PLATED_VISIBLE ),
+ YELLOW ) );
+ m_configSettings.push_back( new PARAM_CFG_SETCOLOR( true, wxT( "ColorRatsEx" ),
+ ITEM_COLOR( RATSNEST_VISIBLE ),
+ WHITE ) );
+
+ // Miscellaneous:
+ m_configSettings.push_back( new PARAM_CFG_INT( true, wxT( "RotationAngle" ), &m_rotationAngle,
+ 900, 1, 900 ) );
+ m_configSettings.push_back( new PARAM_CFG_INT( true, wxT( "MaxLnkS" ),
+ &displ_opts->m_MaxLinksShowed,
+ 3, 0, 15 ) );
+ m_configSettings.push_back( new PARAM_CFG_BOOL( true, wxT( "ShowMRa" ),
+ &displ_opts->m_Show_Module_Ratsnest, true ) );
+ m_configSettings.push_back( new PARAM_CFG_BOOL( true, wxT( "TwoSegT" ),
+ &g_TwoSegmentTrackBuild, true ) );
+ m_configSettings.push_back( new PARAM_CFG_BOOL( true, wxT( "SegmPcb45Only" )
+ , &g_Segments_45_Only, true ) );
+ }
+
+ return m_configSettings;
+}
+
+
+void PCB_EDIT_FRAME::SaveMacros()
+{
+ wxXmlDocument xml;
+ wxXmlAttribute *macrosProp, *hkProp, *xProp, *yProp;
+ wxString str, hkStr, xStr, yStr;
+
+ wxFileName fn = GetBoard()->GetFileName();
+ fn.SetExt( MacrosFileExtension );
+
+ wxFileDialog dlg( this, _( "Save Macros File" ), fn.GetPath(), fn.GetFullName(),
+ MacrosFileWildcard, wxFD_SAVE | wxFD_CHANGE_DIR );
+
+ if( dlg.ShowModal() == wxID_CANCEL )
+ return;
+
+ XNODE *rootNode = new XNODE( wxXML_ELEMENT_NODE, wxT( "macrosrootnode" ), wxEmptyString );
+ xml.SetRoot( rootNode );
+
+ for( int number = 9; number >= 0; number-- )
+ {
+ str.Printf( wxT( "%d" ), number );
+ macrosProp = new wxXmlAttribute( wxT( "number" ), str );
+
+ XNODE * macrosNode = new XNODE( rootNode, wxXML_ELEMENT_NODE,
+ wxT( "macros" ), wxEmptyString,
+ macrosProp );
+
+ for( std::list<MACROS_RECORD>::reverse_iterator i = m_Macros[number].m_Record.rbegin();
+ i != m_Macros[number].m_Record.rend();
+ i++ )
+ {
+ hkStr.Printf( wxT( "%d" ), i->m_HotkeyCode );
+ xStr.Printf( wxT( "%d" ), i->m_Position.x );
+ yStr.Printf( wxT( "%d" ), i->m_Position.y );
+
+ yProp = new wxXmlAttribute( wxT( "y" ), yStr );
+ xProp = new wxXmlAttribute( wxT( "x" ), xStr, yProp );
+ hkProp = new wxXmlAttribute( wxT( "hkcode" ), hkStr, xProp );
+
+ new XNODE( macrosNode, wxXML_ELEMENT_NODE, wxT( "hotkey" ),
+ wxEmptyString, hkProp );
+ }
+ }
+
+ xml.SetFileEncoding( wxT( "UTF-8" ) );
+ xml.Save( dlg.GetFilename() );
+}
+
+
+void PCB_EDIT_FRAME::ReadMacros()
+{
+ wxFileName fn;
+
+ fn = GetBoard()->GetFileName();
+ fn.SetExt( MacrosFileExtension );
+
+ wxFileDialog dlg( this, _( "Read Macros File" ), fn.GetPath(),
+ fn.GetFullName(), MacrosFileWildcard,
+ wxFD_OPEN | wxFD_FILE_MUST_EXIST | wxFD_CHANGE_DIR );
+
+ if( dlg.ShowModal() == wxID_CANCEL )
+ return;
+
+ if( !wxFileExists( dlg.GetPath() ) )
+ {
+ wxString msg;
+ msg.Printf( _( "File %s not found" ), GetChars( dlg.GetPath() ) );
+ DisplayError( this, msg );
+ return;
+ }
+
+ wxXmlDocument xml;
+
+ xml.SetFileEncoding( wxT( "UTF-8" ) );
+
+ if( !xml.Load( dlg.GetFilename() ) )
+ return;
+
+ XNODE *macrosNode = (XNODE*) xml.GetRoot()->GetChildren();
+
+ while( macrosNode )
+ {
+ int number = -1;
+
+ if( macrosNode->GetName() == wxT( "macros" ) )
+ {
+ number = wxAtoi( macrosNode->GetAttribute( wxT( "number" ), wxT( "-1" ) ) );
+
+ if( number >= 0 && number < 10 )
+ {
+ m_Macros[number].m_Record.clear();
+
+ XNODE *hotkeyNode = macrosNode->GetChildren();
+
+ while( hotkeyNode )
+ {
+ if( hotkeyNode->GetName() == wxT( "hotkey" ) )
+ {
+ int x = wxAtoi( hotkeyNode->GetAttribute( wxT( "x" ), wxT( "0" ) ) );
+ int y = wxAtoi( hotkeyNode->GetAttribute( wxT( "y" ), wxT( "0" ) ) );
+ int hk = wxAtoi( hotkeyNode->GetAttribute( wxT( "hkcode" ), wxT( "0" ) ) );
+
+ MACROS_RECORD macros_record;
+ macros_record.m_HotkeyCode = hk;
+ macros_record.m_Position.x = x;
+ macros_record.m_Position.y = y;
+ m_Macros[number].m_Record.push_back( macros_record );
+ }
+
+ hotkeyNode = hotkeyNode->GetNext();
+ }
+ }
+ }
+
+ macrosNode = macrosNode->GetNext();
+ }
+}