module.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_MODULE_H
#define YARP_MANAGER_MODULE_H
 
 
#include <yarp/manager/ymm-types.h>
#include <yarp/manager/node.h>
#include <yarp/manager/data.h>
#include <yarp/manager/utility.h>
#include <yarp/manager/resource.h>
#include <yarp/conf/api.h>
 
namespace yarp {
namespace manager {
 
 
class Author {
public:
    Author() {}
    Author(const char* name, const char* email) {
        if(name) { strName = name;}
        if(email) { strEmail = email; }
    }
    ~Author() {}
 
    void setName(const char* name) { if(name) { strName = name; } }
    void setEmail(const char* email) { if(email) { strEmail = email; } }
    const char* getName() { return strName.c_str(); }
    const char* getEmail() { return strEmail.c_str(); }
 
    bool operator==(const Author& alt) const {
        return (strName == alt.strName);
    }
 
private:
    std::string strName;
    std::string strEmail;
};
 
class Argument{
 
public:
    Argument(const char* szParam, bool required=false,
             const char* szDesc=nullptr, bool _switch=false) {
        if(szParam) { strParam = szParam; }
        if(szDesc) { strDesc = szDesc; }
        bRequired = required;
        bSwitch = _switch;
        if(bSwitch) { strDefault = "off"; }
        strValue = strDefault;
    }
    virtual ~Argument(){}
 
    void setParam(const char* szParam) { if(szParam) { strParam = szParam; } }
    void setDefault(const char* szDefault) {if(szDefault) { strDefault = szDefault; } }
    void setValue(const char* szValue) {if(szValue) { strValue = szValue; } }
    const char* getDefault() { return strDefault.c_str(); }
    const char* getParam() { return strParam.c_str(); }
    const char* getValue() { return strValue.c_str(); }
    const char* getDescription() { return strDesc.c_str(); }
    bool isSwitch() { return bSwitch; }
    bool isRequired() {return bRequired; }
    bool operator==(const Argument& alt) const {
        return (strParam == alt.strParam);
    }
 
protected:
 
private:
    std::string strParam;
    std::string strDesc;
    std::string strDefault;
    std::string strValue;
    bool bRequired;
    bool bSwitch;
};
 
 
typedef std::vector<InputData> InputContainer;
typedef std::vector<OutputData> OutputContainer;
typedef std::vector<InputData>::iterator InputIterator;
typedef std::vector<OutputData>::iterator OutputIterator;
typedef std::vector<Author> AuthorContainer;
typedef std::vector<Author>::iterator AuthorIterator;
typedef std::vector<Argument> ArgumentContainer;
typedef std::vector<Argument>::iterator ArgumentIterator;
 
 
 
class Module : public Node{
 
public:
    Module();
    Module(const char* szName);
    Module(const Module &mod);
    ~Module() override;
    Node* clone() override;
    Module& operator=(const Module& rhs);
 
    void setName(const char* szName) { if(szName) { strName = szName; } }
    void setRank(int rank) {iRank = rank;}
    void setVersion(const char* szVersion) { if(szVersion) { strVersion = szVersion; } }
    void setDescription(const char* szDesc) { if(szDesc) { strDescription = szDesc; } }
    void setHost(const char* szHost) { if(szHost) { strHost = szHost; } }
    void setForced(bool flag) { bForced = flag; }
 
    bool setParam(const char* szParam);
    void setXmlFile(const char* szFilename) { if(szFilename) { strXmlFile = szFilename;} }
    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 setBasePrefix(const char* szPrefix) { if(szPrefix) { strBasePrefix = szPrefix; } }
    void setNeedDeployer(bool need) { bNeedDeployer = need; }
    void setDisplay(const char* szDisplay) {if(szDisplay) { strDisplay = szDisplay; } }
 
    int getRank() { return iRank; }
    const char* getName() { return strName.c_str(); }
    const char* getVersion() { return strVersion.c_str(); }
    const char* getDescription() { return strDescription.c_str(); }
    const char* getHost() { return strHost.c_str(); }
    bool getForced() { return bForced; }
    bool getNeedDeployer() { return bNeedDeployer; }
 
    const char* getParam() { return strParam.c_str(); }
    const char* getXmlFile() { return strXmlFile.c_str(); }
    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* getBasePrefix() { return strBasePrefix.c_str(); }
    const char* getDisplay() { return strDisplay.c_str(); }
 
 
    int argumentCount() { return arguments.size(); }
    Argument& getArgumentAt(int index){ return arguments[index]; }
    int outputCount() { return outputs.size(); }
    OutputData& getOutputAt(int index) { return outputs[index]; }
    int inputCount() { return inputs.size(); }
    InputData& getInputAt(int index) { return inputs[index]; }
    int resourceCount() const { return resources.size(); }
    GenericResource& getResourceAt(int index) const { return *(resources[index]); }
 
    void addAuthor(Author& author) { authors.push_back(author); }
    int authorCount() { return authors.size(); }
    Author& getAuthorAt(int index) { return authors[index]; }
    bool removeAuthor(Author& author);
 
    bool addArgument(Argument& arg);
    bool removeArgument(Argument& argument);
    bool addOutput(OutputData& output);
    bool removeOutput(OutputData& output);
    bool addInput(InputData& input);
    bool removeInput(InputData& input);
    bool addResource(GenericResource& res);
    bool removeResource(GenericResource& res);
 
    void setPostExecWait(double t) { waitStart = t; }
    double getPostExecWait() { return waitStart; }
    void setPostStopWait(double t) { waitStop = t; }
    double getPostStopWait() { return waitStop; }
 
 
    void clearInputs() { inputs.clear(); }
    void clearOutputs() { outputs.clear(); }
    void clearResources() { resources.clear(); }
 
    void setOwner(Node* owner) { modOwner = owner; }
    Node* owner() { return modOwner; }
 
    void clear();
    // 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; };
 
 
    friend class ModuleInterface;
 
protected:
 
private:
    Node* modOwner;
    std::string strName;
    std::string strVersion;
    std::string strDescription;
    std::string strHost;
    bool bForced;
    int iRank;
    ArgumentContainer arguments;
    AuthorContainer authors;
    OutputContainer outputs;
    InputContainer inputs;
    ResourcePContainer resources;
 
    std::string strParam;
    std::string strXmlFile;
    std::string strWorkDir;
    std::string strStdio;
    std::string strBroker;
    bool bNeedDeployer;
    std::string strPrefix;
    std::string strEnvironment;
    std::string strBasePrefix;
    double waitStart;
    double waitStop;
    std::string strDisplay;
    GraphicModel modelBase;
 
    ArgumentIterator findArgument(Argument& argument);
    InputIterator findInput(InputData& input);
    OutputIterator findOutput(OutputData& output);
    ResourcePIterator findResource(GenericResource& output);
    void swap(const Module &mod);
    bool getParamValue(const char* key, bool bSwitch, std::string &param);
};
 
typedef std::vector<Module*> ModulePContainer;
typedef std::vector<Module*>::iterator ModulePIterator;
 
 
#define PRINT_MODULE(m)\
        {\
        cout<<"Name     : "<<m->getName()<<endl;\
        cout<<"Desc     : "<<m->getDescription()<<endl;\
        cout<<"Version  : "<<m->getVersion()<<endl;\
        cout<<"Rank     : "<<m->getRank()<<endl;\
        cout<<"Param    : "<<endl;\
        for(int i=0; i<m->argumentCount(); i++)\
        {\
            cout<<"           "<<m->getArgumentAt(i).getParam()<<" (";\
            cout<<m->getArgumentAt(i).getDescription()<<")"<<endl;\
        }\
        cout<<"Authors  : "<<endl;\
        for(int i=0; i<m->authorCount(); i++)\
            cout<<"           "<<m->getAuthorAt(i).getName()<<" ("<<m->getAuthorAt(i).getEmail()<<")"<<endl;\
        /*cout<<"Platforms: "<<endl;\
        for(int i=0; i<m->platformCount(); i++)\
            cout<<"           "<<m->getPlatformAt(i).getOS()\
            <<", "<<m->getPlatformAt(i).getDistribution()<<endl;*/\
        cout<<"Inputs   : "<<endl;\
        for(int i=0; i<m->inputCount(); i++)\
        {\
            cout<<"           "<<m->getInputAt(i).getName()\
            <<", "<<m->getInputAt(i).getPort();\
            if(m->getInputAt(i).isRequired())\
                cout<<", [REQUIRED]";\
            if(m->getInputAt(i).withPriority())\
                cout<<", [PRIORITY]";\
            cout<<endl;\
        }\
        cout<<"Outputs  : "<<endl;\
        for(int i=0; i<m->outputCount(); i++)\
            cout<<"           "<<m->getOutputAt(i).getName()\
            <<", "<<m->getOutputAt(i).getPort()<<endl;\
        cout<<endl;\
        }
 
} // namespace yarp
} // namespace manager
 
 
#endif // YARP_MANAGER_MODULE