void PlugIn::load_library( const std::string &library_file_name )
{
try
{
this->release_library();
m_libraryHandle = this->do_load_library( library_file_name );
if ( m_libraryHandle == NULL )
{
THROW_YAT_ERROR("SHAREDLIBRARY_ERROR",
"Unable to load the specified shared library",
"PlugIn::load_library");
}
Symbol sym = this->find_symbol(kOnLoadSymbol);
OnLoadFunc_t load_func = (OnLoadFunc_t)(sym);
load_func();
}
catch(yat::Exception& ex)
{
RETHROW_YAT_ERROR(ex,
"SHAREDLIBRARY_ERROR",
"Error while loading library",
"PlugIn::load_library");
}
catch (...)
{
THROW_YAT_ERROR("SHAREDLIBRARY_ERROR",
"Unknown error while loading library",
"PlugIn::load_library");
}
}
IPlugInInfo* PlugIn::info()
{
Symbol symbol;
try
{
symbol = this->find_symbol(kGetInfoSymbol);
}
catch(yat::Exception& ex)
{
RETHROW_YAT_ERROR(ex,
"SHAREDLIBRARY_ERROR",
"Unable to find the 'GetInfo' symbol",
"PlugIn::info");
}
GetInfoFunc_t get_info_func = (GetInfoFunc_t)(symbol);
IPlugInInfo* info = 0;
try
{
info = (*get_info_func)();
}
catch(...)
{
THROW_YAT_ERROR("UNKNOWN_ERROR",
"Unknown error during IPlugInInfo instantiation",
"PlugIn::info");
}
return info;
}
void PlugIn::release_library()
{
try
{
if ( m_libraryHandle != NULL )
{
Symbol sym = this->find_symbol(kOnUnLoadSymbol);
OnUnLoadFunc_t unload_func = (OnUnLoadFunc_t)(sym);
unload_func();
this->do_release_library();
m_libraryHandle = NULL;
}
}
catch(yat::Exception& ex)
{
RETHROW_YAT_ERROR(ex,
"SHAREDLIBRARY_ERROR",
"Error while releasing library",
"PlugIn::release_library");
}
catch (...)
{
THROW_YAT_ERROR("SHAREDLIBRARY_ERROR",
"Unknown error while releasing library",
"PlugIn::release_library");
}
}
IPlugInFactory* PlugIn::factory()
{
Symbol symbol;
try
{
symbol = this->find_symbol(kGetFactorySymbol);
}
catch(yat::Exception& ex)
{
RETHROW_YAT_ERROR(ex,
"SHAREDLIBRARY_ERROR",
"Unable to find the 'GetFactory' symbol",
"PlugIn::factory");
}
GetFactoryFunc_t get_factory_func = (GetFactoryFunc_t)(symbol);
IPlugInFactory* factory = 0;
try
{
factory = (*get_factory_func)();
}
catch(...)
{
THROW_YAT_ERROR("UNKNOWN_ERROR",
"Unknown error during factory instantiation",
"PlugIn::factory");
}
return factory;
}
/*virtual*/
void IBASourceBypass::get_image(ImageAndInfo & imginf) throw (yat::Exception)
{
if (!this->image_grabber_->is_Image_allowed(Tango::READ_REQ))
THROW_YAT_ERROR("ATTR_NOT_ALLOWED",
"Image attribute cannot be read in this state.",
"IBASourceBypass::get_image");
GrabAPI::SharedImage* si = 0;
// From now on: act as if it was a Tango request:
{
Tango::AutoTangoMonitor guard(this->image_grabber_);
// Ask for the attributes to be updated...
std::vector<long> attr_list; /// @todo fill attr_list...
this->image_grabber_->read_attr_hardware(attr_list);
// Get the last image
si = this->image_grabber_->get_last_image();
}
const GrabAPI::Image* gimage = si->get_image();
if (gimage == NULL) {
SAFE_RELEASE(si);
THROW_YAT_ERROR("EMPTY_IMAGE",
"The image is empty.",
"IBASourceBypass::get_image");
}
// So we got the shared image. Now copy it to an image
// in the format expected by ImageBeamAnalyzer
try {
imginf.bit_depth = gimage->bit_depth;
imginf.image = this->convert_image_grabber_to_isl(gimage);
} catch (yat::Exception &) {
SAFE_RELEASE(si);
throw;
} catch (...) {
SAFE_RELEASE(si);
THROW_YAT_ERROR( "UNKNOWN_ERROR",
"Unknown problem when converting ImgGrabber image to isl::Image",
"IBASourceBypass::get_image" );
}
SAFE_RELEASE(si);
}
/*static*/ IBASource* IBASourceFactory::create(const std::string & name)
{
if (!IBASourceFactory::s_first_)
THROW_YAT_ERROR(
"NO_FACTORY",
"No IBASource factory has been defined, so it is not possible to create"
" IBASource objects -> Can't connect to a source of images.",
"IBASourceFactory::create");
return IBASourceFactory::s_first_->create_object(name);
}
IBASource* IBASourceFactory::create_next(const std::string & name)
{
if (!this->next_)
THROW_YAT_ERROR(
"NO_NEXT_FACTORY",
"No IBASource factory has been been able to create"
" a IBASource object -> Can't connect to a source of images.",
"IBASourceFactory::create_next");
return this->next_->create_object(name);
}
//-----------------------------------------------------------------------------
// PlugIn::do_load_library
//-----------------------------------------------------------------------------
PlugIn::LibraryHandle PlugIn::do_load_library( const std::string &library_file_name )
{
PlugIn::LibraryHandle handle = ::dlopen( library_file_name.c_str(), RTLD_NOW | RTLD_GLOBAL );
if( NULL == handle )
{
THROW_YAT_ERROR( std::string("SHAREDLIBRARY_ERROR"),
std::string(::dlerror()),
std::string("PlugIn::do_load_library") );
}
return handle;
}
/*static*/
isl::Image* IBASourceBypass::convert_image_grabber_to_isl(const GrabAPI::Image* gimage) throw (yat::Exception)
{
try {
isl::Image* image = new isl::Image(gimage->width(), gimage->height(), isl::ISL_STORAGE_USHORT);
image->unserialize(gimage->base());
return image;
} catch(isl::Exception & ex) {
GrabAPI::ISL2YATException yat_exc(ex);
isl::ErrorHandler::reset();
RETHROW_YAT_ERROR(yat_exc,
"SOFTWARE_FAILURE",
"Unable to convert from GrabAPI::Image to isl::Image.",
"IBASourceBypass::convert_image_grabber_to_isl.");
} catch(std::bad_alloc &) {
THROW_YAT_ERROR("OUT_OF_MEMORY",
"Allocation of isl::Image failed [std::bad_alloc]",
"IBASourceBypass::convert_image_grabber_to_isl");
} catch(...) {
THROW_YAT_ERROR("UNKNOWN_ERROR",
"Unable to convert from GrabAPI::Image to isl::Image. [Unknown exception caught]",
"IBASourceBypass::convert_image_grabber_to_isl");
}
}
PlugIn::Symbol PlugIn::find_symbol( const std::string &symbol )
{
try
{
Symbol symbol_pointer = this->do_find_symbol( symbol );
if ( symbol_pointer != NULL )
return symbol_pointer;
}
catch ( ... )
{
}
THROW_YAT_ERROR("SHAREDLIBRARY_ERROR",
"Unable to find the requested symbol",
"PlugIn::find_symbol");
return NULL; // keep compiler happy
}
// ----------------------------------------------------------------------------
// Socket::init
// ----------------------------------------------------------------------------
void Socket::init ()
throw (SocketException)
{
if (Socket::init_done)
return;
#ifdef WIN32
//- windows hell: magic initialization call
WSADATA wsdata;
if (::WSAStartup(MAKEWORD(2,2), &wsdata))
{
THROW_YAT_ERROR("YAT_INTERNAL_ERROR",
"win32::socket2 library initialization failed",
"Address::ns_lookup");
}
#endif
Socket::init_done = true;
}
// ----------------------------------------------------------------------------
// Address::ns_lookup
// ----------------------------------------------------------------------------
void Address::ns_lookup (const std::string& _host_ipaddr_or_name)
throw (Exception)
{
YAT_TRACE("Address::ns_lookup");
//- is _host_ipaddr_or_name an IP address or a host name?
unsigned int ip_addr = ::inet_addr(_host_ipaddr_or_name.c_str());
//- in case it's an IP address
if (ip_addr != INADDR_NONE)
{
//- store it into the local member
this->m_ip_addr = _host_ipaddr_or_name;
//- get associated host name
struct hostent * host =
::gethostbyaddr((char*)&ip_addr, sizeof(ip_addr), AF_INET);
//- if host as a valid hostname then store it localy
if (host)
this->m_host_name = host->h_name;
else
this->m_host_name = _host_ipaddr_or_name;
}
//- in case it's a host name
else
{
//- store it into the local member
this->m_host_name = _host_ipaddr_or_name;
//- get associated ip address
struct hostent * host = ::gethostbyname(_host_ipaddr_or_name.c_str());
//- got a valid ip addr?
if (! host)
{
yat::OSStream oss;
oss << "could not resolve IP address for host "
<< _host_ipaddr_or_name
<< std::endl;
THROW_YAT_ERROR("INVALID_HOST", oss.str().c_str(), "Address::ns_lookup");
}
//- store it into the local member
this->m_ip_addr = ::inet_ntoa(*((struct in_addr*)host->h_addr));
}
}
// ============================================================================
// Task::go
// ============================================================================
void Task::go (Message * _msg, size_t _tmo_ms)
throw (Exception)
{
YAT_TRACE("Task::go");
this->start_undetached();
if (
(_msg == 0)
||
(_msg->type() != TASK_INIT)
||
(_msg->waitable() == false)
)
THROW_YAT_ERROR("PROGRAMMING_ERROR",
"invalid INIT message [null, wrong type or not waitable]",
"Task::go");
this->wait_msg_handled (_msg, _tmo_ms);
}
// ======================================================================
// Task::wait_msg_handled
// ======================================================================
void Task::wait_msg_handled (Message * _msg, size_t _tmo_ms)
throw (Exception)
{
YAT_TRACE("Task::wait_msg_handled");
//- check input
if (! _msg || ! _msg->waitable())
{
if (_msg)
_msg->release();
THROW_YAT_ERROR("INVALID_ARGUMENT",
"invalid message [either null or not waitable]",
"Task::wait_msg_handled");
}
try
{
//- post a shallow copy of the msg
this->msg_q_.post(_msg->duplicate());
}
catch (...)
{
_msg->release();
THROW_YAT_ERROR("INTERNAL_ERROR",
"message could not be posted",
"Task::wait_msg_handled");
}
YAT_LOG("Task::wait_msg_handled::waiting for msg ["
<< std::hex
<< (void*)_msg
<< std::dec
<< "] to be handled");
//- wait for the msg to be handled or tmo expiration
if (_msg->wait_processed(_tmo_ms))
{
YAT_LOG("Task::wait_msg_handled::msg ["
<< std::hex
<< (void*)_msg
<< std::dec
<< "] handled [gave error::"
<< (_msg->has_error() ? "yes" : "no")
<< "]" );
Exception msg_exception;
bool msg_gave_error = _msg->has_error();
//- to store error localy before releasing msg
if (msg_gave_error)
msg_exception = _msg->get_error();
//- release msg
_msg->release();
//- throw an exception if msg gave error
if (msg_gave_error)
throw msg_exception;
//- msg did not gave error, just return
return;
}
//- too bad, timeout expired...
YAT_LOG("Task::wait_msg_handled::timeout expired while waiting for msg ["
<< std::hex
<< (void*)_msg
<< std::dec
<< "] to be handled");
//- release msg
_msg->release();
//- throw timeout exception
THROW_YAT_ERROR("TIMEOUT_EXPIRED",
"timeout expired while waiting for message to be handled",
"Task::wait_msg_handled");
}
// ======================================================================
// Task::exit
// ======================================================================
void Task::exit ()
throw (Exception)
{
YAT_TRACE("Task::exit");
//- we may have to implicitly delete the thread
bool delete_self = false;
//- enter critical section
this->m_lock.lock();
//- get underlying thread state
Thread::State ts = this->state_i();
//- if the thread is running, then ask it to exit
if (ts == yat::Thread::STATE_RUNNING)
{
yat::Message * msg = 0;
try
{
msg = Message::allocate (yat::TASK_EXIT, EXIT_MSG_PRIORITY, true);
}
catch (Exception &ex)
{
this->m_lock.unlock();
RETHROW_YAT_ERROR(ex,
"SOFTWARE_ERROR",
"Could not stop task [yat::Message allocation failed]",
"Task::exit");
}
catch (...)
{
this->m_lock.unlock();
THROW_YAT_ERROR("UNKNOWN_ERROR",
"Could not stop task [yat::Message allocation failed]",
"Task::exit");
}
//- unlock the thread lock (avoid deadlock during message handling)
this->m_lock.unlock();
try
{
//- ... then wait for TASK_EXIT msg to be handled
//- TODO: change kINFINITE_WAIT to a more flexible TIMEOUT
YAT_LOG("Task::exit - waiting for the TASK_EXIT msg to be handled");
this->wait_msg_handled (msg, kINFINITE_WAIT);
}
catch (...)
{
//- ignore any error
}
//- wait for the thread to actually quit
try
{
Thread::IOArg dummy = 0;
YAT_LOG("Task::exit - about to join with the underlying thread");
this->join (&dummy);
}
catch (...)
{
//- ignore any error
}
}
else if (ts == yat::Thread::STATE_NEW)
{
//- delete the thread (instanciated but never been started)
YAT_LOG("Task::exit - about to delete the thread [has never been started]");
delete_self = true;
//- leave critical section
this->m_lock.unlock();
}
else
{
//- nothing to do...
YAT_LOG("Task::exit - do nothing");
//- leave critical section
this->m_lock.unlock();
}
//- delete (if required)
if (delete_self)
{
YAT_LOG("Task::exit - deleting <this> Task instance");
delete this;
}
}
