application.h

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/*
 * Copyright (C) 2006-2020 Istituto Italiano di Tecnologia (IIT)
 * All rights reserved.
 *
 * This software may be modified and distributed under the terms of the
 * BSD-3-Clause license. See the accompanying LICENSE file for details.
 */
 
#ifndef YARP_MANAGER_APPLICATION
#define YARP_MANAGER_APPLICATION
 
#include <map>
 
#include <yarp/manager/ymm-types.h>
#include <yarp/manager/node.h>
#include <yarp/manager/module.h>
#include <yarp/manager/utility.h>
#include <yarp/manager/logicresource.h>
#include <yarp/manager/primresource.h>
#include <yarp/manager/arbitrator.h>
 
 
namespace yarp {
namespace manager {
 
 
class Portmap{
 
public:
    Portmap(const char* szOld, const char* szNew) {
        if(szOld) { strOld = szOld; }
        if(szNew) { strNew = szNew; }
    }
    virtual ~Portmap() = default;
    const char* oldPort() { return strOld.c_str(); }
    const char* newPort() { return strNew.c_str(); }
    bool operator==(const Portmap& alt) const {
        return ((strOld == alt.strOld) && (strNew == alt.strNew));
    }
 
protected:
 
private:
    std::string strOld;
    std::string strNew;
};
 
typedef std::vector<Portmap> PortmapContainer;
typedef std::vector<Portmap>::iterator PortmapIterator;
 
 
 
class Connection
{
public:
    Connection() { Connection(nullptr, nullptr); }
    Connection(const char* szFrom, const char* szTo, const char* szCr=nullptr) {
        if(szFrom) { strFrom = szFrom; }
        if(szTo) { strTo = szTo; }
        if(szCr) { strCarrier = szCr; }
        bWithPriority = false;
        appOwner = nullptr;
        bExternalFrom = false;
        bExternalTo = false;
        existsFrom = false;
        existsTo = false;
        bPersist = false;
        input = nullptr;
        output = nullptr;
        model = nullptr;
    }
    virtual ~Connection() = default;
    const char* from() { return strFrom.c_str();}
    const char* to() { return strTo.c_str();}
    const char* carrier() { return strCarrier.c_str(); }
    const char* qosFrom() { return strQosFrom.c_str(); }
    const char* qosTo() { return strQosTo.c_str(); }
    void setFrom(const char* szFrom) { if(szFrom) { strFrom = szFrom; } }
    void setTo(const char* szTo) { if(szTo) { strTo = szTo; } }
    void setCarrier(const char* szCr) { if(szCr) { strCarrier = szCr; } }
    void setFromExternal(bool ext) { bExternalFrom = ext;}
    void setToExternal(bool ext) { bExternalTo = ext; }
    void setFromExists(bool exists) { existsFrom = exists;}
    void setToExists(bool exists) { existsTo = exists; }
    bool getFromExists() const { return existsFrom; }
    bool getToExists() const { return existsTo; }
    void setPersistent(bool per) { bPersist = per; }
    void setQosFrom(const char* szQos) { if(szQos) { strQosFrom = szQos; } }
    void setQosTo(const char* szQos) { if(szQos) { strQosTo = szQos; } }
    bool isExternalFrom() { return bExternalFrom; }
    bool isExternalTo() { return bExternalTo; }
    bool isPersistent() { return bPersist; }
 
 
    void setId(const char* id) { if(id) { strId = id; } }
    const char* getId() { return strId.c_str(); }
 
    void setOwner(Node* owner){ appOwner = owner; }
    Node* owner() { return appOwner; }
 
    void setCorInputData(InputData* in) { input = in;}
    InputData* getCorInputData() { return input;}
    void setCorOutputData(OutputData* out) { output = out;}
    OutputData* getCorOutputData() { return output;}
 
    void setPriority(bool withprio) { bWithPriority = withprio; }
    bool withPriority() { return bWithPriority; }
 
    GraphicModel* getModel() { return model;}
    void setModel(GraphicModel* mdl) { model = mdl; }
 
    // modelBased is used to keep the graphic and geometric
    // information which is directly loaded from application
    // description file.
    GraphicModel& getModelBase() { return modelBase;}
    void setModelBase(GraphicModel& mdl) { modelBase = mdl; }
 
 
    bool operator==(const Connection& alt) const {
        return ((strFrom == alt.strFrom) && (strTo == alt.strTo));
    }
 
protected:
 
private:
    std::string strFrom;
    std::string strTo;
    std::string strId;
    bool bExternalTo;
    bool bExternalFrom;
    bool existsFrom;
    bool existsTo;
    std::string strCarrier;
    std::string strQosFrom;
    std::string strQosTo;
    bool bPersist;
    Node* appOwner;
    bool bWithPriority;
    InputData* input;
    OutputData* output;
    GraphicModel* model;
    GraphicModel modelBase;
 
};
 
 
typedef std::vector<Connection> CnnContainer;
typedef std::vector<Connection>::iterator CnnIterator;
 
typedef std::vector<ResYarpPort> ResourceContainer;
typedef std::vector<ResYarpPort>::iterator ResourceIterator;
 
 
 
class ModuleInterface{
 
public:
    ModuleInterface( const char* szName) {
        if(szName) { strName = szName; }
        iRank = -1;
        waitStart = waitStop = 0.0;
    }
 
    ModuleInterface(Module* module);
 
    virtual ~ModuleInterface() = default;
 
    void setHost(const char* szHost) { if(szHost) { strHost = szHost; } }
    void setParam(const char* szParam) { if(szParam) { strParam = szParam; } }
    void setRank(int irank) { iRank = irank; }
    void setWorkDir(const char* szWDir) { if(szWDir) { strWorkDir = szWDir; } }
    void setStdio(const char* szStdio) { if(szStdio) { strStdio = szStdio; } }
    void setBroker(const char* szBroker) { if(szBroker) { strBroker = szBroker; } }
    void setPrefix(const char* szPrefix) {if(szPrefix) { strPrefix = szPrefix; } }
    void setEnvironment(const char* szEnv) {if(szEnv) { strEnvironment = szEnv; } }
    void setTag(const char* szTag) {if(szTag) { strTag = szTag; } }
    void setDisplay(const char* szDisplay) {if(szDisplay) { strDisplay = szDisplay; } }
 
    const char* getName() { return strName.c_str(); }
    const char* getHost() { return strHost.c_str(); }
    const char* getParam() { return strParam.c_str(); }
    int getRank() { return iRank; }
    const char* getWorkDir() { return strWorkDir.c_str(); }
    const char* getStdio() { return strStdio.c_str(); }
    const char* getBroker() { return strBroker.c_str(); }
    const char* getPrefix() { return strPrefix.c_str(); }
    const char* getEnvironment() { return strEnvironment.c_str(); }
    const char* getTag() { return strTag.c_str(); }
    const char* getDisplay() { return strDisplay.c_str(); }
 
    bool operator==(const ModuleInterface& modint) const {
        return (strName == modint.strName);
    }
 
    void addResource(ResYarpPort &res) { resources.push_back(res); }
    ResourceContainer& getResources() { return resources; }
 
    void setPostExecWait(double t) { waitStart = t; }
    double getPostExecWait() { return waitStart; }
    void setPostStopWait(double t) { waitStop = t; }
    double getPostStopWait() { return waitStop; }
 
 
    int portmapCount() { return portmaps.size(); }
    Portmap& getPortmapAt(int index){ return portmaps[index]; }
    bool addPortmap(Portmap &portmap);
    bool removePortmap(Portmap& portmap);
 
    //void setModule(Module* mod) { module = mod; }
    //Module* getModule() { return module;}
 
    GraphicModel& getModelBase() { return modelBase;}
    void setModelBase(GraphicModel& mdl) { modelBase = mdl; };
 
 
 
protected:
 
private:
    std::string strName;
    std::string strHost;
    std::string strParam;
    std::string strWorkDir;
    std::string strStdio;
    std::string strBroker;
    std::string strPrefix;
    std::string strEnvironment;
    std::string strDisplay;
    int iRank;
    ResourceContainer resources;
    double waitStart;
    double waitStop;
    PortmapContainer portmaps;
    PortmapIterator findPortmap(Portmap& portmap);
    std::string strTag;
    GraphicModel modelBase;
};
 
 
typedef std::vector<ModuleInterface> IModuleContainer;
typedef std::vector<ModuleInterface>::iterator IModuleIterator;
 
 
class ApplicationInterface {
 
public:
    ApplicationInterface(const char* szName) {
        if(szName) { strName = szName; }
    }
    virtual ~ApplicationInterface() = default;
    void setPrefix(const char* szPrefix) { if(szPrefix) { strPrefix = szPrefix; } }
    const char* getName() { return strName.c_str(); }
    const char* getPrefix() { return strPrefix.c_str(); }
    bool operator==(const ApplicationInterface& alt) const {
        return (strName == alt.strName);
    }
 
    // modelBased is used to keep the graphic and geometric
    // information which is directly loaded from application
    // description file.
    GraphicModel& getModelBase() { return modelBase;}
    void setModelBase(GraphicModel& mdl) { modelBase = mdl; };
 
 
protected:
 
private:
    std::string strName;
    std::string strPrefix;
    GraphicModel modelBase;
};
 
 
typedef std::vector<ApplicationInterface> IApplicationContainer;
typedef std::vector<ApplicationInterface>::iterator IApplicationIterator;
 
class Application : public Node{
 
public:
    Application();
    Application(const char* szName);
    Application(const Application &app);
    ~Application() override;
    void setName(const char* szName) {
        if(szName){
            strName = szName;
        }
    }
    void setVersion(const char* szVersion) { if(szVersion) { strVersion = szVersion; } }
    void setDescription(const char* szDesc) { if(szDesc) { strDescription = szDesc; } }
    const char* getName() { return strName.c_str(); }
    size_t getNameLenght() {return strName.length(); }
    const char* getVersion() { return strVersion.c_str(); }
    const char* getDescription() { return strDescription.c_str(); }
    Node* clone() override;
 
    void addAuthor(Author& author) { authors.push_back(author); }
    int authorCount() { return authors.size(); }
    Author& getAuthorAt(int index) { return authors[index]; }
    bool removeAuthor(Author& author);
 
    int imoduleCount() { return Imodules.size(); }
    ModuleInterface& getImoduleAt(int index){ return Imodules[index]; }
    bool addImodule(ModuleInterface &imod);
    bool removeImodule(ModuleInterface& imod);
    void removeAllImodules() { Imodules.clear(); }
 
    int iapplicationCount() { return Iapplications.size(); }
    ApplicationInterface& getIapplicationAt(int index){ return Iapplications[index]; }
    bool addIapplication(ApplicationInterface &iapp);
    bool removeIapplication(ApplicationInterface& iapp);
    void removeAllIapplications() { Iapplications.clear(); }
 
    int resourcesCount() { return resources.size(); }
    ResYarpPort& getResourceAt(int index){ return resources[index]; }
    bool addResource(ResYarpPort &res);
    bool removeResource(ResYarpPort& res);
 
    void setPrefix(const char* szPrefix) { if(szPrefix) { strPrefix = szPrefix; } }
    const char* getPrefix() { return strPrefix.c_str(); }
    void setBasePrefix(const char* szPrefix) { if(szPrefix) { strBasePrefix = szPrefix; } }
    const char* getBasePrefix() { return strBasePrefix.c_str(); }
 
 
    void setXmlFile(const char* szFilename) { if(szFilename) { strXmlFile = szFilename;} }
    const char* getXmlFile() { return strXmlFile.c_str(); }
 
    int connectionCount() { return connections.size(); }
    Connection& getConnectionAt(int index){ return connections[index]; }
    Connection& addConnection(Connection &cnn);
    bool removeConnection(Connection& cnn);
    //void updateConnectionPrefix();
 
    int arbitratorCount() { return arbitrators.size(); }
    Arbitrator& getArbitratorAt(int index){ return arbitrators[index]; }
    Arbitrator& addArbitrator(Arbitrator &arb);
    bool removeArbitrator(Arbitrator& arb);
 
    void setOwner(Node* owner){ appOwner = owner; }
    Node* owner() { return appOwner; }
 
 
    bool operator==(const Application& app) const {
        return (strName == app.strName);
    }
 
    void clear() {
        strName.clear();
        strVersion.clear();
        strDescription.clear();
        strPrefix.clear();
        strBasePrefix.clear();
        authors.clear();
        Imodules.clear();
        connections.clear();
        strXmlFile.clear();
        Iapplications.clear();
        resources.clear();
        appOwner=nullptr;
    }
 
    GraphicModel& getModelBase() { return modelBase;}
    void setModelBase(GraphicModel& mdl) { modelBase = mdl; };
 
    std::map<std::string, int> modList;
 
protected:
 
private:
    std::string strName;
    std::string strVersion;
    std::string strDescription;
    AuthorContainer authors;
    IModuleContainer Imodules;
    IApplicationContainer Iapplications;
    ResourceContainer resources;
    CnnContainer connections;
    ArbContainer arbitrators;
    std::string strPrefix;
    std::string strBasePrefix;
    std::string strXmlFile;
    Node* appOwner;
 
    GraphicModel modelBase;
 
    IModuleIterator findImodule(ModuleInterface& imod);
    IApplicationIterator findIapplication(ApplicationInterface& iapp);
    ResourceIterator findResource(ResYarpPort& res);
    CnnIterator findConnection(Connection& cnn);
    ArbIterator findArbitrator(Arbitrator& arb);
 
};
 
typedef std::vector<Application*> ApplicaitonPContainer;
typedef std::vector<Application*>::iterator ApplicationPIterator;
 
} // namespace yarp
} // namespace manager
 
 
#endif // __YARP_MANAGER_APPLICATION__