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Robot.cpp
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Robot.cpp
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/*
* Copyright (C) 2006-2019 Istituto Italiano di Tecnologia (IIT)
*
* This library is free software; you can redistribute it and/or
* modify it under the terms of the GNU Lesser General Public
* License as published by the Free Software Foundation; either
* version 2.1 of the License, or (at your option) any later version.
*
* This library is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
* Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public
* License along with this library; if not, write to the Free Software
* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
*/
#include "Robot.h"
#include "Action.h"
#include "Device.h"
#include "Param.h"
#include <yarp/os/LogStream.h>
#include <yarp/dev/PolyDriver.h>
#include <yarp/dev/PolyDriverList.h>
#include <string>
#include <iostream>
#include <algorithm>
std::ostringstream& operator<<(std::ostringstream &oss, const RobotInterface::Robot &t)
{
oss << "(name = \"" << t.name() << "\"";
if (!t.params().empty()) {
oss << ", params = [";
oss << t.params();
oss << "]";
}
if (!t.devices().empty()) {
oss << ", devices = [";
oss << t.devices();
oss << "]";
}
oss << ")";
return oss;
}
class RobotInterface::Robot::Private
{
public:
Private(Robot * /*parent*/) :
build(0),
currentPhase(ActionPhaseUnknown),
currentLevel(0)
{
}
// return true if a device with the given name exists
bool hasDevice(const std::string &name) const;
// return the device with the given name or <fatal error> if not found
Device* findDevice(const std::string &name);
// open all the devices and return true if all the open calls were successful
bool openDevices();
// close all the devices and return true if all the close calls were successful
bool closeDevices();
// return a vector of levels that have actions in the requested phase
std::vector<unsigned int> getLevels(ActionPhase phase) const;
// return a vector of actions for that phase and that level
std::vector<std::pair<Device, Action> > getActions(ActionPhase phase, unsigned int level) const;
// run configure action on one device
bool configure(const Device &device, const ParamList ¶ms);
// run calibrate action on one device
bool calibrate(const Device &device, const ParamList ¶ms);
// run attach action on one device
bool attach(const Device &device, const ParamList ¶ms);
// run abort action on one device
bool abort(const Device &device, const ParamList ¶ms);
// run detach action on one device
bool detach(const Device &device, const ParamList ¶ms);
// run park action on one device
bool park(const Device &device, const ParamList ¶ms);
// run custom action on one device
bool custom(const Device &device, const ParamList ¶ms);
std::string name;
unsigned int build;
std::string portprefix;
ParamList params;
DeviceList devices;
RobotInterface::ActionPhase currentPhase;
unsigned int currentLevel;
}; // class RobotInterface::Robot::Private
bool RobotInterface::Robot::Private::hasDevice(const std::string &name) const
{
for (const auto& device : devices) {
if (name == device.name()) {
return true;
}
}
return false;
}
RobotInterface::Device* RobotInterface::Robot::Private::findDevice(const std::string &name)
{
for (auto& device : devices) {
if (name == device.name()) {
return &device;
}
}
yFatal() << "Cannot find device" << name;
return nullptr;
}
bool RobotInterface::Robot::Private::openDevices()
{
bool ret = true;
for (auto& device : devices) {
// yDebug() << device;
if (!device.open()) {
yWarning() << "Cannot open device" << device.name();
ret = false;
}
}
if (ret) {
// yDebug() << "All devices opened.";
} else {
yWarning() << "There was some problem opening one or more devices. Please check the log and your configuration";
}
return ret;
}
bool RobotInterface::Robot::Private::closeDevices()
{
bool ret = true;
for (auto it = devices.rbegin(); it != devices.rend(); ++it) {
RobotInterface::Device &device = *it;
// yDebug() << device;
if (!device.close()) {
yWarning() << "Cannot close device" << device.name();
ret = false;
}
}
if (ret) {
// yDebug() << "All devices closed.";
} else {
yWarning() << "There was some problem closing one or more devices. Please check the log and your configuration";
}
return ret;
}
std::vector<unsigned int> RobotInterface::Robot::Private::getLevels(RobotInterface::ActionPhase phase) const
{
std::vector<unsigned int> levels;
for (const auto& device : devices) {
if (device.actions().empty()) {
continue;
}
for (const auto& action : device.actions()) {
if (action.phase() == phase) {
levels.push_back(action.level());
}
}
}
std::sort(levels.begin(), levels.end());
auto it = std::unique(levels.begin(), levels.end());
levels.resize(it - levels.begin());
return levels;
}
std::vector<std::pair<RobotInterface::Device, RobotInterface::Action> > RobotInterface::Robot::Private::getActions(RobotInterface::ActionPhase phase, unsigned int level) const
{
std::vector<std::pair<RobotInterface::Device, RobotInterface::Action> > actions;
for (const auto& device : devices) {
if (device.actions().empty()) {
continue;
}
for (const auto& action : device.actions()) {
if (action.phase() == phase && action.level() == level) {
actions.emplace_back(device, action);
}
}
}
return actions;
}
bool RobotInterface::Robot::Private::configure(const RobotInterface::Device &device, const RobotInterface::ParamList ¶ms)
{
YARP_FIXME_NOTIMPLEMENTED("configure action")
return true;
}
bool RobotInterface::Robot::Private::calibrate(const RobotInterface::Device &device, const RobotInterface::ParamList ¶ms)
{
if (!RobotInterface::hasParam(params, "target")) {
yError() << "Action \"" << ActionTypeToString(ActionTypeCalibrate) << R"(" requires "target" parameter)";
return false;
}
std::string targetDeviceName = RobotInterface::findParam(params, "target");
if (!hasDevice(targetDeviceName)) {
yError() << "Target device" << targetDeviceName << "does not exist.";
return false;
}
Device &targetDevice = *findDevice(targetDeviceName);
return device.calibrate(targetDevice);
}
bool RobotInterface::Robot::Private::attach(const RobotInterface::Device &device, const RobotInterface::ParamList ¶ms)
{
int check = 0;
if (RobotInterface::hasParam(params, "network")) check++;
if (RobotInterface::hasParam(params, "networks")) check++;
if (RobotInterface::hasParam(params, "all")) check++;
if (check>1)
{
yError() << "Action \"" << ActionTypeToString(ActionTypeAttach) << R"(" : you can have only one option: "network" , "networks" or "all" )";
return false;
}
yarp::dev::PolyDriverList drivers;
if (RobotInterface::hasParam(params, "network")) {
std::string targetNetwork = RobotInterface::findParam(params, "network");
if (!RobotInterface::hasParam(params, "device")) {
yError() << "Action \"" << ActionTypeToString(ActionTypeAttach) << R"(" requires "device" parameter)";
return false;
}
std::string targetDeviceName = RobotInterface::findParam(params, "device");
if (!hasDevice(targetDeviceName)) {
yError() << "Target device" << targetDeviceName << "(network =" << targetNetwork << ") does not exist.";
return false;
}
Device &targetDevice = *findDevice(targetDeviceName);
// yDebug() << "Attach device" << device.name() << "to" << targetDevice.name() << "as" << targetNetwork;
drivers.push(targetDevice.driver(), targetNetwork.c_str());
}
else if (RobotInterface::hasParam(params, "all"))
{
for (auto& device : devices)
{
drivers.push(device.driver(), "all");
}
}
else if (RobotInterface::hasParam(params, "networks")) {
yarp::os::Value v;
v.fromString(RobotInterface::findParam(params, "networks").c_str());
yarp::os::Bottle &targetNetworks = *(v.asList());
for (size_t i = 0; i < targetNetworks.size(); ++i) {
std::string targetNetwork = targetNetworks.get(i).toString();
if (!RobotInterface::hasParam(params, targetNetwork)) {
yError() << "Action \"" << ActionTypeToString(ActionTypeAttach) << "\" requires one parameter per network. \"" << targetNetwork << "\" parameter is missing.";
return false;
}
std::string targetDeviceName = RobotInterface::findParam(params, targetNetwork);
if (!hasDevice(targetDeviceName)) {
yError() << "Target device" << targetDeviceName << "(network =" << targetNetwork << ") does not exist.";
return false;
}
Device &targetDevice = *findDevice(targetDeviceName);
// yDebug() << "Attach device" << device.name() << "to" << targetDevice.name() << "as" << targetNetwork;
drivers.push(targetDevice.driver(), targetNetwork.c_str());
}
}
else
{
yError() << "Action \"" << ActionTypeToString(ActionTypeAttach) << R"(" requires either "network" or "networks" parameter)";
return false;
}
if (!drivers.size()) {
yError() << "Action \"" << ActionTypeToString(ActionTypeAttach) << "\" couldn't find any device.";
return false;
}
return device.attach(drivers);
}
bool RobotInterface::Robot::Private::abort(const RobotInterface::Device &device, const RobotInterface::ParamList ¶ms)
{
YARP_FIXME_NOTIMPLEMENTED("abort action")
return true;
}
bool RobotInterface::Robot::Private::detach(const RobotInterface::Device &device, const RobotInterface::ParamList ¶ms)
{
if (!params.empty()) {
yWarning() << "Action \"" << ActionTypeToString(ActionTypeDetach) << "\" cannot have any parameter. Ignoring them.";
}
return device.detach();
}
bool RobotInterface::Robot::Private::park(const RobotInterface::Device &device, const RobotInterface::ParamList ¶ms)
{
if (!RobotInterface::hasParam(params, "target")) {
yError() << "Action \"" << ActionTypeToString(ActionTypePark) << R"(" requires "target" parameter)";
return false;
}
std::string targetDeviceName = RobotInterface::findParam(params, "target");
if (!hasDevice(targetDeviceName)) {
yError() << "Target device" << targetDeviceName << "does not exist.";
return false;
}
Device &targetDevice = *findDevice(targetDeviceName);
return device.park(targetDevice);
}
bool RobotInterface::Robot::Private::custom(const RobotInterface::Device &device, const RobotInterface::ParamList ¶ms)
{
YARP_FIXME_NOTIMPLEMENTED("custom action")
return true;
}
yarp::os::LogStream operator<<(yarp::os::LogStream dbg, const RobotInterface::Robot &t)
{
std::ostringstream oss;
oss << t;
dbg << oss.str();
return dbg;
}
RobotInterface::Robot::Robot() :
mPriv(new Private(this))
{
}
RobotInterface::Robot::Robot(const std::string& name, const RobotInterface::DeviceList& devices) :
mPriv(new Private(this))
{
mPriv->name = name;
mPriv->devices = devices;
}
RobotInterface::Robot::Robot(const RobotInterface::Robot& other) :
mPriv(new Private(this))
{
mPriv->name = other.mPriv->name;
mPriv->build = other.mPriv->build;
mPriv->portprefix = other.mPriv->portprefix;
mPriv->currentPhase = other.mPriv->currentPhase;
mPriv->currentLevel = other.mPriv->currentLevel;
mPriv->devices = other.mPriv->devices;
mPriv->params = other.mPriv->params;
}
RobotInterface::Robot& RobotInterface::Robot::operator=(const RobotInterface::Robot& other)
{
if (&other != this) {
mPriv->name = other.mPriv->name;
mPriv->build = other.mPriv->build;
mPriv->portprefix = other.mPriv->portprefix;
mPriv->currentPhase = other.mPriv->currentPhase;
mPriv->currentLevel = other.mPriv->currentLevel;
mPriv->devices.clear();
mPriv->devices = other.mPriv->devices;
mPriv->params.clear();
mPriv->params = other.mPriv->params;
}
return *this;
}
RobotInterface::Robot::~Robot()
{
delete mPriv;
}
std::string& RobotInterface::Robot::name()
{
return mPriv->name;
}
unsigned int& RobotInterface::Robot::build()
{
return mPriv->build;
}
std::string& RobotInterface::Robot::portprefix()
{
return mPriv->portprefix;
}
void RobotInterface::Robot::setVerbose(bool verbose)
{
for (auto& device : devices()) {
ParamList ¶ms = device.params();
// Do not override "verbose" param if explicitly set in the xml
if(verbose && !RobotInterface::hasParam(params, "verbose")) {
device.params().push_back(Param("verbose", "1"));
}
}
}
void RobotInterface::Robot::setAllowDeprecatedDevices(bool allowDeprecatedDevices)
{
for (auto& device : devices()) {
ParamList ¶ms = device.params();
// Do not override "allow-deprecated-devices" param if explicitly set in the xml
if(allowDeprecatedDevices && !RobotInterface::hasParam(params, "allow-deprecated-devices")) {
device.params().push_back(Param("allow-deprecated-devices", "1"));
}
}
}
RobotInterface::ParamList& RobotInterface::Robot::params()
{
return mPriv->params;
}
RobotInterface::DeviceList& RobotInterface::Robot::devices()
{
return mPriv->devices;
}
RobotInterface::Device& RobotInterface::Robot::device(const std::string& name)
{
return *mPriv->findDevice(name);
}
const std::string& RobotInterface::Robot::name() const
{
return mPriv->name;
}
const unsigned int& RobotInterface::Robot::build() const
{
return mPriv->build;
}
const std::string& RobotInterface::Robot::portprefix() const
{
return mPriv->portprefix;
}
const RobotInterface::ParamList& RobotInterface::Robot::params() const
{
return mPriv->params;
}
const RobotInterface::DeviceList& RobotInterface::Robot::devices() const
{
return mPriv->devices;
}
const RobotInterface::Device& RobotInterface::Robot::device(const std::string& name) const
{
return *mPriv->findDevice(name);
}
void RobotInterface::Robot::interrupt()
{
yInfo() << "Interrupt received. Stopping all running threads.";
// If we received an interrupt we send a stop signal to all threads
// from previous phases
for (auto& device : devices()) {
device.stopThreads();
}
}
bool RobotInterface::Robot::enterPhase(RobotInterface::ActionPhase phase)
{
yInfo() << ActionPhaseToString(phase) << "phase starting...";
mPriv->currentPhase = phase;
mPriv->currentLevel = 0;
// Open all devices
if (phase == ActionPhaseStartup) {
if (!mPriv->openDevices()) {
yError() << "One or more devices failed opening... see previous log messages for more info";
if (!mPriv->closeDevices()) {
yError() << "One or more devices failed closing";
}
return false;
}
}
// run phase does not accept actions
if (phase == ActionPhaseRun) {
if(mPriv->getLevels(phase).size() != 0) {
yWarning() << "Phase" << ActionPhaseToString(phase) << "does not accept actions. Skipping all actions for this phase";
}
return true;
}
// Before starting any action we ensure that there are no other
// threads running from prevoius phases.
// In interrupt 2 and 3 and this is called by the interrupt callback,
// and therefore main thread will be blocked and join will never
// return. Therefore, since we want to start the abort actions we
// skip this check.
if (phase != ActionPhaseInterrupt2 && phase != ActionPhaseInterrupt3) {
for (auto& device : devices()) {
device.joinThreads();
}
}
std::vector<unsigned int> levels = mPriv->getLevels(phase);
bool ret = true;
for (std::vector<unsigned int>::const_iterator lit = levels.begin(); lit != levels.end(); ++lit) {
// for each level
const unsigned int level = *lit;
yInfo() << "Entering action level" << level << "of phase" << ActionPhaseToString(phase);
mPriv->currentLevel = level;
// If current phase was changed by some other thread, we should
// exit the loop and avoid starting further actions.
if(mPriv->currentPhase != phase) {
ret = false;
break;
}
std::vector<std::pair<Device, Action> > actions = mPriv->getActions(phase, level);
for (auto& ait : actions) {
// for each action in that level
Device &device = ait.first;
Action &action = ait.second;
// If current phase was changed by some other thread, we should
// exit the loop and avoid starting further actions.
if(mPriv->currentPhase != phase) {
ret = false;
break;
}
switch (action.type()) {
case ActionTypeConfigure:
if(!mPriv->configure(device, action.params())) {
yError() << "Cannot run configure action on device" << device.name();
ret = false;
}
break;
case ActionTypeCalibrate:
if(!mPriv->calibrate(device, action.params())) {
yError() << "Cannot run calibrate action on device" << device.name();
ret = false;
}
break;
case ActionTypeAttach:
if (!mPriv->attach(device, action.params())) {
yError() << "Cannot run attach action on device" << device.name();
ret = false;
}
break;
case ActionTypeAbort:
if(!mPriv->abort(device, action.params())) {
yError() << "Cannot run abort action on device" << device.name();
ret = false;
}
break;
case ActionTypeDetach:
if (!mPriv->detach(device, action.params())) {
yError() << "Cannot run detach action on device" << device.name();
ret = false;
}
break;
case ActionTypePark:
if (!mPriv->park(device, action.params())) {
yError() << "Cannot run park action on device" << device.name();
ret = false;
}
break;
case ActionTypeCustom:
if (!mPriv->custom(device, action.params())) {
yError() << "Cannot run custom action on device" << device.name();
ret = false;
}
break;
default:
yWarning() << "Unhandled action" << ActionTypeToString(action.type());
ret = false;
break;
}
}
yInfo() << "All actions for action level" << level << "of" << ActionPhaseToString(phase) << "phase started. Waiting for unfinished actions.";
// Join parallel threads
for (auto& device : devices()) {
device.joinThreads();
// yDebug() << "All actions for device" << device.name() << "at level()" << level << "finished";
}
yInfo() << "All actions for action level" << level << "of" << ActionPhaseToString(phase) << "phase finished.";
}
if (!ret) {
yWarning() << "There was some problem running actions for" << ActionPhaseToString(phase) << "phase . Please check the log and your configuration";
}
if (phase == ActionPhaseShutdown) {
if (!mPriv->closeDevices()) {
yError() << "One or more devices failed closing";
return false;
}
}
yInfo() << ActionPhaseToString(phase) << "phase finished.";
return ret;
}
RobotInterface::ActionPhase RobotInterface::Robot::currentPhase() const
{
return mPriv->currentPhase;
}
int RobotInterface::Robot::currentLevel() const
{
return mPriv->currentLevel;
}
bool RobotInterface::Robot::hasParam(const std::string& name) const
{
return RobotInterface::hasParam(mPriv->params, name);
}
std::string RobotInterface::Robot::findParam(const std::string& name) const
{
return RobotInterface::findParam(mPriv->params, name);
}