ocl: ocl: DeploymentComponent.hpp Source File

00001 /***************************************************************************
00002   tag: Peter Soetens  Thu Jul 3 15:34:31 CEST 2008  DeploymentComponent.hpp
00003 
00004                         DeploymentComponent.hpp -  description
00005                            -------------------
00006     begin                : Thu July 03 2008
00007     copyright            : (C) 2008 Peter Soetens
00008     email                : peter.soetens@fmtc.be
00009 
00010  ***************************************************************************
00011  *   This library is free software; you can redistribute it and/or         *
00012  *   modify it under the terms of the GNU Lesser General Public            *
00013  *   License as published by the Free Software Foundation; either          *
00014  *   version 2.1 of the License, or (at your option) any later version.    *
00015  *                                                                         *
00016  *   This library is distributed in the hope that it will be useful,       *
00017  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
00018  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU     *
00019  *   Lesser General Public License for more details.                       *
00020  *                                                                         *
00021  *   You should have received a copy of the GNU Lesser General Public      *
00022  *   License along with this library; if not, write to the Free Software   *
00023  *   Foundation, Inc., 59 Temple Place,                                    *
00024  *   Suite 330, Boston, MA  02111-1307  USA                                *
00025  *                                                                         *
00026  ***************************************************************************/
00027 
00028 
00029 #ifndef OCL_DEPLOYMENTCOMPONENT_HPP
00030 #define OCL_DEPLOYMENTCOMPONENT_HPP
00031 
00032 #include <rtt/RTT.hpp>
00033 #include <rtt/TaskContext.hpp>
00034 #include <rtt/extras/Properties.hpp>
00035 #include <rtt/Attribute.hpp>
00036 #include <rtt/InputPort.hpp>
00037 #include <rtt/OutputPort.hpp>
00038 #include <ocl/OCL.hpp>
00039 #include <vector>
00040 #include <map>
00041 #include <rtt/marsh/PropertyDemarshaller.hpp>
00042 
00043 // Suppress warnings in ocl/Component.hpp
00044 #ifndef OCL_STATIC
00045 #define OCL_STATIC
00046 #include <ocl/Component.hpp>
00047 #undef OCL_STATIC
00048 #else
00049 #include <ocl/Component.hpp>
00050 #endif
00051 
00052 namespace OCL
00053 {
00054 
00086     class OCL_API DeploymentComponent
00087         : public RTT::TaskContext
00088     {
00089     protected:
00094         RTT::PropertyBag root;
00095         std::string compPath;
00096         RTT::Property<bool> autoUnload;
00097         RTT::Attribute<bool> validConfig;
00098         RTT::Constant<int> sched_RT;
00099         RTT::Constant<int> sched_OTHER;
00100         RTT::Constant<int> lowest_Priority;
00101         RTT::Constant<int> highest_Priority;
00102         RTT::Attribute<std::string> target;
00104         int nextGroup;
00105 
00111         struct ComponentData {
00112             ComponentData()
00113                 : instance(0), act(0), loaded(false), loadedProperties(false),
00114                   autostart(false), autoconf(false),
00115                   autoconnect(false),  autosave(false),
00116                   proxy(false), server(false),
00117                   use_naming(true),
00118                   configfile(""),
00119                   group(0)
00120             {}
00124             RTT::TaskContext* instance;
00129             base::ActivityInterface* act;
00135             bool loaded;
00140             bool loadedProperties;
00141             bool autostart, autoconf, autoconnect, autosave;
00142             bool proxy, server, use_naming;
00143             std::string configfile;
00144             std::vector<std::string> plugins;
00146             int group;
00147         };
00148 
00152         struct ConnectionData {
00153             typedef std::vector<RTT::base::PortInterface*> Ports;
00154             typedef std::vector<RTT::TaskContext*>   Owners;
00155             Ports ports;
00156             Owners owners;
00157             RTT::ConnPolicy policy;
00158         };
00159 
00163         typedef std::map<std::string, ConnectionData> ConMap;
00164         ConMap conmap;
00165 
00169         typedef std::map<std::string, ComponentData> CompList;
00170         CompList comps;
00171 
00178         bool configureHook();
00179 
00184         bool unloadComponentImpl( CompList::iterator cit );
00185 
00186 
00194         virtual bool componentLoaded(RTT::TaskContext* c);
00195 
00201         virtual void componentUnloaded(RTT::TaskContext* c);
00202 
00211         Service::shared_ptr stringToService(std::string const& names);
00220         ServiceRequester* stringToServiceRequester(std::string const& names);
00229         base::PortInterface* stringToPort(std::string const& names);
00230 
00235         bool waitForSignal(int signumber);
00236 
00241         bool waitForInterrupt();
00242 
00243     public:
00263         DeploymentComponent(std::string name = "Deployer", std::string siteFile = "");
00264 
00271         ~DeploymentComponent();
00272 
00273         RTT::TaskContext* myGetPeer(std::string name) {return comps[ name ].instance; }
00274 
00285         bool connectPeers(const std::string& one, const std::string& other);
00286 
00287         using TaskContext::connectPorts;
00305         bool connectPorts(const std::string& one, const std::string& other);
00306 
00322         bool connectPorts(const std::string& one, const std::string& one_port,
00323                           const std::string& other, const std::string& other_port);
00324 
00335         bool connect(const std::string& one, const std::string& other, ConnPolicy policy);
00336 
00344         bool stream(const std::string& port, ConnPolicy policy);
00345 
00349         bool createStream(const std::string& component, const std::string& port, ConnPolicy policy);
00350 
00351         using TaskContext::connectServices;
00360         bool connectServices(const std::string& one, const std::string& other);
00361 
00368         bool connectOperations(const std::string& required, const std::string& provided);
00369 
00380         bool addPeer(const std::string& from, const std::string& target);
00381 
00393         bool aliasPeer(const std::string& from, const std::string& target, const std::string& alias);
00394 
00395         using RTT::TaskContext::addPeer;
00396         using RTT::TaskContext::connectPeers;
00397 
00412         bool import(const std::string& package);
00413 
00421         void path(const std::string& path);
00422 
00432         bool loadLibrary(const std::string& name);
00433 
00443         bool reloadLibrary(const std::string& filepath);
00444 
00456         bool loadComponent(const std::string& name, const std::string& type);
00457 
00472         bool loadService(const std::string& component, const std::string& service);
00473 
00482         bool unloadComponent(const std::string& name);
00483 
00489         void displayComponentTypes() const;
00490 
00496         std::vector<std::string> getComponentTypes() const;
00497 
00509         bool setPeriodicActivity(const std::string& comp_name,
00510                                  double period, int priority,
00511                                  int scheduler);
00512 
00524         bool setActivity(const std::string& comp_name,
00525                          double period, int priority,
00526                          int scheduler);
00527 
00539         bool setFileDescriptorActivity(const std::string& comp_name,
00540                          double timeout, int priority,
00541                          int scheduler);
00542                                                  
00555         bool setActivityOnCPU(const std::string& comp_name,
00556                          double period, int priority,
00557                               int scheduler, unsigned int cpu_nr);
00558 
00567         bool setSequentialActivity(const std::string& comp_name);
00568 
00578         bool setSlaveActivity(const std::string& comp_name,
00579                               double period);
00580 
00589         bool setMasterSlaveActivity(const std::string& comp_name,
00590                                     const std::string& master_name);
00591 
00607         bool setNamedActivity(const std::string& comp_name,
00608                          const std::string& act_type,
00609                          double period, int priority,
00610                          int scheduler, const std::string& master_name = "");
00611 
00626         bool setNamedActivity(const std::string& comp_name,
00627                          const std::string& act_type,
00628                          double period, int priority,
00629                          int scheduler, unsigned cpu_affinity,
00630                          const std::string& master_name = "");
00631 
00647         bool loadComponents(const std::string& config_file);
00661         bool loadComponentsInGroup(const std::string& config_file,
00662                                    const int group);
00663 
00690         bool configureComponents();
00691 
00699         bool configureComponentsGroup(const int group);
00700 
00706         bool startComponents();
00712         bool startComponentsGroup(const int group);
00713 
00718         void clearConfiguration();
00719 
00723         bool stopComponents();
00729         bool stopComponentsGroup(const int group);
00730 
00734         bool cleanupComponents();
00740         bool cleanupComponentsGroup(const int group);        
00741 
00745         bool unloadComponents();
00751         bool unloadComponentsGroup(const int group);
00752 
00757         bool kickStart(const std::string& file_name);
00758 
00764         bool kickOutComponent(const std::string& comp_name);
00765 
00770         void kickOut(const std::string& config_file);
00771 
00777         bool kickOutAll();
00782         bool kickOutGroup(const int group);
00783 
00788         bool runScript(const std::string& file_name);
00789 
00790         using base::TaskCore::configure;
00791 
00800         bool configure(const std::string& name);
00801 
00811         bool configureFromFile(const std::string& name, const std::string& filename);
00812 
00827         bool loadConfiguration(const std::string& config_file);
00828 
00835         bool loadConfigurationString(const std::string& config_text);
00836 
00841         const RTT::FactoryMap& getFactories() const;
00842 
00848         bool stopComponent(RTT::TaskContext *instance);
00849 
00855         bool stopComponent(const std::string& comp_name)
00856         {
00857             return this->stopComponent(  this->getPeer(comp_name) );
00858         }
00859 
00865         bool cleanupComponent(RTT::TaskContext *instance);
00866 
00872         bool cleanupComponent(const std::string& comp_name)
00873         {
00874             return this->cleanupComponent( this->getPeer(comp_name) );
00875         }
00876 
00883                 void shutdownDeployment();
00884 
00885     };
00886 
00887 
00888 }
00889 #endif