localbroker.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_LOCALBROKER
#define YARP_MANAGER_LOCALBROKER
 
#include <cstdio>
#include <string>
#include <iostream>
 
#include <yarp/os/Time.h>
#include <yarp/os/Port.h>
#include <yarp/os/BufferedPort.h>
#include <yarp/os/Network.h>
#include <yarp/os/Property.h>
#include <string>
#include <yarp/os/PeriodicThread.h>
#include <yarp/os/Thread.h>
 
#include <yarp/manager/broker.h>
 
#if defined(_WIN32)
    #include<Windows.h>
#endif
 
namespace yarp {
namespace manager {
 
class LocalBroker: public Broker, public yarp::os::Thread {
 
public:
 
     typedef enum  {  WINDOW_HIDDEN=0,                  //window is hidden, catch stdout
                      WINDOW_VISIBLE=1,                 //window is visible
                      WINDOW_MINIMIZED=2                //window is started minimized
    } WindowMode;
 
 
    LocalBroker();
    virtual ~LocalBroker();
    bool init() override;
    bool init(const char* szcmd, const char* szparam,
              const char* szhost, const char* szstdio,
              const char* szworkdir, const char* szenv) override;
    void fini() override;
    bool start() override;
    bool stop() override;
    bool kill() override;
    bool connect(const char* from, const char* to,
                 const char* carrier, bool persist=false) override;
    bool disconnect(const char* from, const char* to,
                    const char *carrier) override;
    int running() override;
    bool exists(const char* port) override;
    const char* requestRpc(const char* szport, const char* request, double timeout) override;
    bool connected(const char* from, const char* to,
                   const char* carrier) override;
    const char* error() override;
    bool initialized() override { return bInitialized;}
    bool attachStdout() override;
    void detachStdout() override;
 
    void setWindowMode(WindowMode m);
 
public: // for rate thread
    void run() override;
    bool threadInit() override;
    void threadRelease() override;
 
protected:
 
private:
    std::string strCmd;
    std::string strParam;
    std::string strHost;
    std::string strStdio;
    std::string strWorkdir;
    std::string strTag;
    std::string strEnv;
    int ID;
    std::string strError;
    bool bOnlyConnector;
    bool bInitialized;
    int  pipe_to_stdout[2];
    FILE* fd_stdout;
    WindowMode windowMode;
 
    bool timeout(double base, double timeout);
    int ExecuteCmd();
    bool psCmd(int pid);
    bool killCmd(int pid);
    bool stopCmd(int pid);
#if defined(_WIN32)
    HANDLE read_from_pipe_cmd_to_stdout;
    HANDLE write_to_pipe_cmd_to_stdout;
    std::string lastError2String();
#else
    int waitPipe(int pipe_fd);
    int waitPipeSignal(int pipe_fd);
    void splitLine(char *pLine, char **pArgs);
    void parseArguments(char *io_pLine, int *o_pArgc, char **o_pArgv);
#endif
    bool startStdout();
    void stopStdout();
 
    inline bool IS_PARENT_OF(int pid){ return pid>0; }
    inline bool IS_NEW_PROCESS(int pid){ return !pid; }
    inline bool IS_INVALID(int pid){ return pid<0; }
};
 
} // namespace yarp
} // namespace manager
 
 
#endif // __YARP_MANAGER_LOCALBROKER__