SdoServiceAdmin.cpp
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00001 // -*- C++ -*-
00019 #include <memory>
00020 #include <coil/UUID.h>
00021 #include <coil/Guard.h>
00022 #include <coil/stringutil.h>
00023 #include <rtm/RTObject.h>
00024 #include <rtm/CORBA_SeqUtil.h>
00025 #include <rtm/SdoServiceAdmin.h>
00026 #include <rtm/SdoServiceProviderBase.h>
00027 #include <rtm/SdoServiceConsumerBase.h>
00028 
00029 namespace RTC
00030 {
00031   typedef coil::Guard<coil::Mutex> Guard;
00032 
00040   struct service_id
00041   {
00042     service_id(const char* id) : m_id(id) {};
00043     bool operator()(const SDOPackage::ServiceProfile& s)
00044     {
00045       std::string id(s.id);
00046       return m_id == id;
00047     }
00048     const std::string m_id;
00049   };
00050   
00051 
00059   SdoServiceAdmin::SdoServiceAdmin(::RTC::RTObject_impl& rtobj)
00060     : m_rtobj(rtobj), m_allConsumerEnabled(true),
00061       rtclog("SdoServiceAdmin")
00062   {
00063     RTC_TRACE(("SdoServiceAdmin::SdoServiceAdmin(%s)",
00064                rtobj.getProperties()["instance_name"].c_str()));
00065 
00066     ::coil::Properties& prop(m_rtobj.getProperties());
00067 
00068     //------------------------------------------------------------
00069     // SDO service provider
00070    ::coil::vstring enabledProviderTypes 
00071       = ::coil::split(prop["sdo.service.provider.enabled_services"], ",", true);
00072     RTC_DEBUG(("sdo.service.provider.enabled_services: %s",
00073                prop["sdo.service.provider.enabled_services"].c_str()));
00074 
00075     ::coil::vstring availableProviderTypes 
00076       = SdoServiceProviderFactory::instance().getIdentifiers();
00077     prop["sdo.service.provider.available_services"]
00078       = coil::flatten(availableProviderTypes);
00079     RTC_DEBUG(("sdo.service.provider.available_services: %s",
00080                prop["sdo.service.provider.available_services"].c_str()));
00081 
00082     
00083     // If types include '[Aa][Ll][Ll]', all types enabled in this RTC
00084     ::coil::vstring activeProviderTypes;
00085     for (size_t i(0); i < enabledProviderTypes.size(); ++i)
00086       {
00087         std::string tmp(enabledProviderTypes[i]);
00088         coil::toLower(tmp);
00089         if (tmp == "all")
00090           {
00091             activeProviderTypes = availableProviderTypes;
00092             RTC_DEBUG(("sdo.service.provider.enabled_services: ALL"));
00093             break;
00094           }
00095         for (size_t j(0); j < availableProviderTypes.size(); ++j)
00096           {
00097             if (availableProviderTypes[j] == enabledProviderTypes[i])
00098               {
00099                 activeProviderTypes.push_back(availableProviderTypes[j]);
00100               }
00101           }
00102       }
00103 
00104     SdoServiceProviderFactory& factory(SdoServiceProviderFactory::instance());
00105     for (size_t i(0); i < activeProviderTypes.size(); ++i)
00106       {
00107         SdoServiceProviderBase* svc
00108           = factory.createObject(activeProviderTypes[i]);
00109         
00110         SDOPackage::ServiceProfile prof;
00111         prof.id             = CORBA::string_dup(activeProviderTypes[i].c_str());
00112         prof.interface_type = CORBA::string_dup(activeProviderTypes[i].c_str());
00113         prof.service        = svc->_this();
00114         std::string propkey = ifrToKey(activeProviderTypes[i]);
00115         NVUtil::copyFromProperties(prof.properties,
00116                                    prop.getNode(propkey.c_str()));
00117 
00118         svc->init(rtobj, prof);
00119         m_providers.push_back(svc);
00120       }
00121 
00122     //------------------------------------------------------------
00123     // SDO service consumer
00124     // getting consumer types from RTC's properties
00125 
00126     ::std::string constypes = prop["sdo.service.consumer.enabled_services"];
00127     m_consumerTypes = ::coil::split(constypes, ",", true);
00128     RTC_DEBUG(("sdo.service.consumer.enabled_services: %s", constypes.c_str()));
00129 
00130     prop["sdo.service.consumer.available_services"]
00131       = coil::flatten(SdoServiceConsumerFactory::instance().getIdentifiers());
00132     RTC_DEBUG(("sdo.service.consumer.available_services: %s",
00133                prop["sdo.service.consumer.available_services"].c_str()));
00134 
00135     // If types include '[Aa][Ll][Ll]', all types enabled in this RTC
00136     for (size_t i(0); i < m_consumerTypes.size(); ++i)
00137       {
00138         std::string tmp(m_consumerTypes[i]);
00139         coil::toLower(tmp);
00140         if (tmp == "all")
00141           {
00142             m_allConsumerEnabled = true;
00143             RTC_DEBUG(("sdo.service.consumer.enabled_services: ALL"));
00144           }
00145       }
00146   }
00147 
00155   SdoServiceAdmin::~SdoServiceAdmin()
00156   {
00157     for (size_t i(0); i < m_providers.size(); ++i)
00158       {
00159         m_providers[i]->finalize();
00160         delete m_providers[i];
00161       }
00162     m_providers.clear();
00163 
00164     for (size_t i(0); i < m_consumers.size(); ++i)
00165       {
00166         m_consumers[i]->finalize();
00167         delete m_consumers[i];
00168       }
00169     m_consumers.clear();
00170   }
00171   
00179   SDOPackage::ServiceProfileList* SdoServiceAdmin::getServiceProviderProfiles()
00180   {
00181     SDOPackage::ServiceProfileList_var prof
00182       = new SDOPackage::ServiceProfileList();
00183     SDOPackage::ServiceProfileList prof2;
00184     Guard guard(m_provider_mutex);
00185     for (size_t i(0); i < m_providers.size(); ++i)
00186       {
00187         CORBA_SeqUtil::push_back(prof2, m_providers[i]->getProfile());
00188       }
00189     return prof._retn();
00190   }
00191 
00199   SDOPackage::ServiceProfile*
00200   SdoServiceAdmin::getServiceProviderProfile(const char* id)
00201   {
00202     std::string idstr(id);
00203     Guard guard(m_provider_mutex);
00204     for (size_t i(0); i < m_providers.size(); ++i)
00205       {
00206         if (idstr == static_cast<const char*>(m_providers[i]->getProfile().id))
00207           {
00208             return new SDOPackage::ServiceProfile(m_providers[i]->getProfile());
00209           }
00210       }
00211     throw new SDOPackage::InvalidParameter();
00212     return new SDOPackage::ServiceProfile();
00213   }
00214 
00222   SDOPackage::SDOService_ptr SdoServiceAdmin::getServiceProvider(const char* id)
00223   {
00224     SDOPackage::ServiceProfile_var prof;
00225     prof = getServiceProviderProfile(id);
00226     SDOPackage::SDOService_var sdo 
00227       = SDOPackage::SDOService::_duplicate(prof->service);
00228     return sdo._retn();
00229   }
00230 
00238   bool SdoServiceAdmin::
00239   addSdoServiceProvider(const SDOPackage::ServiceProfile& prof,
00240                         SdoServiceProviderBase* provider)
00241   {
00242     RTC_TRACE(("SdoServiceAdmin::addSdoServiceProvider(if=%s)",
00243                static_cast<const char*>(prof.interface_type)));
00244     Guard guard(m_provider_mutex);
00245 
00246     std::string id(static_cast<const char*>(prof.id));
00247     for (size_t i(0); i < m_providers.size(); ++i)
00248       {
00249         if (id == static_cast<const char*>(m_providers[i]->getProfile().id))
00250           {
00251             RTC_ERROR(("SDO service(id=%s, ifr=%s) already exists",
00252                        static_cast<const char*>(prof.id),
00253                        static_cast<const char*>(prof.interface_type)));
00254             return false;
00255           }
00256       }
00257     m_providers.push_back(provider);
00258     return true;
00259   }
00260 
00268   bool SdoServiceAdmin::removeSdoServiceProvider(const char* id)
00269   {
00270     RTC_TRACE(("removeSdoServiceProvider(%d)", id));
00271     Guard gurad(m_provider_mutex);
00272 
00273     std::string strid(id);
00274     std::vector<SdoServiceProviderBase*>::iterator it = m_providers.begin();
00275     std::vector<SdoServiceProviderBase*>::iterator it_end = m_providers.end();
00276     while (it != it_end)
00277       {
00278         if (strid == static_cast<const char*>((*it)->getProfile().id))
00279           {
00280             (*it)->finalize();
00281             SdoServiceProviderFactory& 
00282               factory(SdoServiceProviderFactory::instance());
00283             factory.deleteObject(*it);
00284             m_providers.erase(it);
00285             RTC_INFO(("SDO service provider has been deleted: %s", id));
00286             return true;
00287           }
00288         ++it;
00289       }
00290     RTC_WARN(("Specified SDO service provider not found: %s", id));
00291     return false;
00292   }
00293 
00301   bool SdoServiceAdmin::
00302   addSdoServiceConsumer(const SDOPackage::ServiceProfile& sProfile)
00303   {
00304     Guard guard(m_consumer_mutex);
00305     RTC_TRACE(("addSdoServiceConsumer(IFR = %s)",
00306                static_cast<const char*>(sProfile.interface_type)));
00307     
00308     // Not supported consumer type -> error return
00309     if (!isEnabledConsumerType(sProfile))  { return false; }
00310     if (!isExistingConsumerType(sProfile)) { return false; }
00311     RTC_DEBUG(("Valid SDO service required"));
00312     if (strncmp(sProfile.id, "", 1) == 0)   
00313       {
00314         RTC_WARN(("No id specified. It should be given by clients."));
00315         return false;
00316       }
00317     RTC_DEBUG(("Valid ID specified"));
00318     { // re-initialization
00319       std::string id(sProfile.id);
00320       for (size_t i(0); i < m_consumers.size(); ++i)
00321         {
00322           if (id == static_cast<const char*>(m_consumers[i]->getProfile().id))
00323             {
00324               RTC_INFO(("Existing consumer is reinitilized."));
00325               RTC_DEBUG(("Propeteis are: %s",
00326                          NVUtil::toString(sProfile.properties).c_str()));
00327               return m_consumers[i]->reinit(sProfile);
00328             }
00329         }
00330     }
00331     RTC_DEBUG(("SDO service properly initialized."));
00332 
00333     // new pofile
00334     SdoServiceConsumerFactory& 
00335       factory(SdoServiceConsumerFactory::instance());
00336     const char* ctype = static_cast<const char*>(sProfile.interface_type);
00337     if (ctype == NULL) { return false; }
00338     SdoServiceConsumerBase* consumer(factory.createObject(ctype));
00339     if (consumer == NULL) 
00340       {
00341         RTC_ERROR(("Hmm... consumer must be created."));
00342         return false; 
00343       }
00344     RTC_DEBUG(("An SDO service consumer created."));
00345 
00346     // initialize
00347     if (!consumer->init(m_rtobj, sProfile))
00348       {
00349         RTC_WARN(("SDO service initialization was failed."));
00350         RTC_DEBUG(("id:         %s", static_cast<const char*>(sProfile.id)));
00351         RTC_DEBUG(("IFR:        %s",
00352                    static_cast<const char*>(sProfile.interface_type)));
00353         RTC_DEBUG(("properties: %s",
00354                    NVUtil::toString(sProfile.properties).c_str()));
00355         factory.deleteObject(consumer);
00356         RTC_INFO(("SDO consumer was deleted by initialization failure"));
00357         return false;
00358       }
00359     RTC_DEBUG(("An SDO service consumer initialized."));
00360     RTC_DEBUG(("id:         %s", static_cast<const char*>(sProfile.id)));
00361     RTC_DEBUG(("IFR:        %s",
00362                static_cast<const char*>(sProfile.interface_type)));
00363     RTC_DEBUG(("properties: %s",
00364                NVUtil::toString(sProfile.properties).c_str()));
00365 
00366     // store consumer
00367     m_consumers.push_back(consumer);
00368     
00369     return true;
00370   }
00371     
00379   bool SdoServiceAdmin::removeSdoServiceConsumer(const char* id)
00380   {
00381     Guard guard(m_consumer_mutex);
00382     if (id == NULL || id[0] == '\0')
00383       {
00384         RTC_ERROR(("removeSdoServiceConsumer(): id is invalid."));
00385         return false;
00386       }
00387     RTC_TRACE(("removeSdoServiceConsumer(id = %s)", id));
00388 
00389     std::string strid(id);
00390     std::vector<SdoServiceConsumerBase*>::iterator it = m_consumers.begin();
00391     std::vector<SdoServiceConsumerBase*>::iterator it_end = m_consumers.end();
00392     while (it != it_end)
00393       {
00394         if (strid == static_cast<const char*>((*it)->getProfile().id))
00395           {
00396             (*it)->finalize();
00397             SdoServiceConsumerFactory& 
00398               factory(SdoServiceConsumerFactory::instance());
00399             factory.deleteObject(*it);
00400             m_consumers.erase(it);
00401             RTC_INFO(("SDO service has been deleted: %s", id));
00402             return true;
00403           }
00404         ++it;
00405       }
00406     RTC_WARN(("Specified SDO consumer not found: %s", id));
00407     return false;
00408   }
00409     
00410   //------------------------------------------------------------
00411   // protected functios
00412   //------------------------------------------------------------
00413 
00421   bool SdoServiceAdmin::
00422   isEnabledConsumerType(const SDOPackage::ServiceProfile& sProfile)
00423   {
00424     if (m_allConsumerEnabled) { return true; }
00425 
00426     for (size_t i(0); i < m_consumerTypes.size(); ++i)
00427       {
00428         if (m_consumerTypes[i] == 
00429             static_cast<const char*>(sProfile.interface_type))
00430           {
00431             RTC_DEBUG(("%s is supported SDO service.",
00432                        static_cast<const char*>(sProfile.interface_type)));
00433             return true;
00434           }
00435       }
00436     RTC_WARN(("Consumer type is not supported: %s",
00437               static_cast<const char*>(sProfile.interface_type)));
00438     return false;
00439   }
00440 
00448   bool SdoServiceAdmin::
00449   isExistingConsumerType(const SDOPackage::ServiceProfile& sProfile)
00450   {
00451     SdoServiceConsumerFactory& factory(SdoServiceConsumerFactory::instance());
00452     coil::vstring consumerTypes(factory.getIdentifiers());
00453     
00454     for (size_t i(0); i < consumerTypes.size(); ++i)
00455       {
00456         if (consumerTypes[i] == 
00457             static_cast<const char*>(sProfile.interface_type))
00458           {
00459             RTC_DEBUG(("%s exists in the SDO service factory.",
00460                        static_cast<const char*>(sProfile.interface_type)));
00461             RTC_PARANOID(("Available SDO serices in the factory: %s",
00462                           coil::flatten(consumerTypes).c_str()));
00463             return true;
00464           }
00465       }
00466     RTC_WARN(("No available SDO service in the factory: %s",
00467               static_cast<const char*>(sProfile.interface_type)));
00468     return false;
00469   }
00470 
00471   const std::string SdoServiceAdmin::getUUID() const
00472   {
00473     coil::UUID_Generator uugen;
00474     uugen.init();
00475     std::auto_ptr<coil::UUID> uuid(uugen.generateUUID(2,0x01));
00476     
00477     return (const char*) uuid->to_string();
00478   }
00479 
00480   std::string SdoServiceAdmin::ifrToKey(std::string& ifr)
00481   {
00482     ::coil::vstring ifrvstr = ::coil::split(ifr, ":");
00483     ::coil::toLower(ifrvstr[1]);
00484     ::coil::replaceString(ifrvstr[1], ".", "_");
00485     ::coil::replaceString(ifrvstr[1], "/", ".");
00486     return ifrvstr[1];
00487   }
00488 
00489 
00490 }; // end of namepsace RTC


openrtm_aist
Author(s): Noriaki Ando
autogenerated on Sat Jun 8 2019 18:49:07