void LLCacheName::dump()
{
for (Cache::iterator iter = impl.mCache.begin(),
end = impl.mCache.end();
iter != end; iter++)
{
LLCacheNameEntry* entry = iter->second;
if (entry->mIsGroup)
{
llinfos
<< iter->first << " = (group) "
<< entry->mGroupName
<< " @ " << entry->mCreateTime
<< llendl;
}
else
{
llinfos
<< iter->first << " = "
<< buildFullName(entry->mFirstName, entry->mLastName)
<< " @ " << entry->mCreateTime
<< llendl;
}
}
}
BOOL LLCacheName::getFullName(const LLUUID& id, std::string& fullname)
{
std::string first_name, last_name;
BOOL res = impl.getName(id, first_name, last_name);
fullname = buildFullName(first_name, last_name);
return res;
}
bool LLCacheName::importFile(std::istream& istr)
{
LLSD data;
if(LLSDParser::PARSE_FAILURE == LLSDSerialize::fromXMLDocument(data, istr))
{
return false;
}
// We'll expire entries more than a week old
U32 now = (U32)time(NULL);
const U32 SECS_PER_DAY = 60 * 60 * 24;
U32 delete_before_time = now - (7 * SECS_PER_DAY);
// iterate over the agents
S32 count = 0;
LLSD agents = data[AGENTS];
LLSD::map_iterator iter = agents.beginMap();
LLSD::map_iterator end = agents.endMap();
for( ; iter != end; ++iter)
{
LLUUID id((*iter).first);
LLSD agent = (*iter).second;
U32 ctime = (U32)agent[CTIME].asInteger();
if(ctime < delete_before_time) continue;
LLCacheNameEntry* entry = new LLCacheNameEntry();
entry->mIsGroup = false;
entry->mCreateTime = ctime;
entry->mFirstName = agent[FIRST].asString();
entry->mLastName = agent[LAST].asString();
impl.mCache[id] = entry;
std::string fullname = buildFullName(entry->mFirstName, entry->mLastName);
impl.mReverseCache[fullname] = id;
++count;
}
llinfos << "LLCacheName loaded " << count << " agent names" << llendl;
count = 0;
LLSD groups = data[GROUPS];
iter = groups.beginMap();
end = groups.endMap();
for( ; iter != end; ++iter)
{
LLUUID id((*iter).first);
LLSD group = (*iter).second;
U32 ctime = (U32)group[CTIME].asInteger();
if(ctime < delete_before_time) continue;
LLCacheNameEntry* entry = new LLCacheNameEntry();
entry->mIsGroup = true;
entry->mCreateTime = ctime;
entry->mGroupName = group[NAME].asString();
impl.mCache[id] = entry;
impl.mReverseCache[entry->mGroupName] = id;
++count;
}
llinfos << "LLCacheName loaded " << count << " group names" << llendl;
return true;
}
// This is a little bit kludgy. LLCacheNameCallback is a slot instead of a function pointer.
// The reason it is a slot is so that the legacy get() function below can bind an old callback
// and pass it as a slot. The reason it isn't a boost::function is so that trackable behavior
// doesn't get lost. As a result, we have to bind the slot to a signal to call it, even when
// we call it immediately. -Steve
// NOTE: Even though passing first and last name is a bit of extra overhead, it eliminates the
// potential need for any parsing should any code need to handle first and last name independently.
boost::signals2::connection LLCacheName::get(const LLUUID& id, bool is_group, const LLCacheNameCallback& callback)
{
boost::signals2::connection res;
if(id.isNull())
{
LLCacheNameSignal signal;
signal.connect(callback);
signal(id, sCacheName["nobody"], is_group);
return res;
}
LLCacheNameEntry* entry = get_ptr_in_map(impl.mCache, id );
if (entry)
{
LLCacheNameSignal signal;
signal.connect(callback);
// id found in map therefore we can call the callback immediately.
if (entry->mIsGroup)
{
signal(id, entry->mGroupName, entry->mIsGroup);
}
else
{
std::string fullname =
buildFullName(entry->mFirstName, entry->mLastName);
signal(id, fullname, entry->mIsGroup);
}
}
else
{
// id not found in map so we must queue the callback call until available.
if (!impl.isRequestPending(id))
{
if (is_group)
{
impl.mAskGroupQueue.insert(id);
}
else
{
impl.mAskNameQueue.insert(id);
}
}
res = impl.addPending(id, callback);
}
return res;
}
int ModManDecentral::registerAtServer()
{
voraus::robot_registration logInTemp;
logInTemp.request.name = name.name;
if (logIn.call(logInTemp))
{
robot.state = voraus::Voraus::idle;
name.id = logInTemp.response.id;
robot.maxTimeWithoutHeartbeat = ros::Duration(logInTemp.response.timeout);
central.task_scheduling = logInTemp.response.task_scheduling;
central.localisation = logInTemp.response.localisation;
central.path_planing = logInTemp.response.path_planing;
central.demo = logInTemp.response.demo;
} else {
robot.state = voraus::Voraus::unregistered;
name.id = 0;
robot.maxTimeWithoutHeartbeat = ros::Duration(3600);
central.task_scheduling = true;
central.localisation = true;
central.path_planing = true;
central.demo = true;
}
robot.lastHeartbeatWithMyIdCounter = 0;
buildFullName();
if (name.id == 0)
{
ROS_ERROR("%s server unreachable", name.full.c_str());
} else {
std::ostringstream temp;
temp.str("");
temp << "Module-Config: ";
temp << "task_scheduling = " << ((central.task_scheduling) ? "central" : "decentral");
temp << "; localisation = " << ((central.localisation) ? "central" : "decentral");
temp << "; path_planing = " << ((central.path_planing) ? "central" : "decentral");
temp << "; demo = " << ((central.demo) ? "central" : "decentral");
ROS_INFO("%s Connected to server; TimeOut: %.2fs; %s", name.full.c_str(), robot.maxTimeWithoutHeartbeat.toSec(), temp.str().c_str());
}
return 0;
}
BOOL LLCacheName::getUUID(const std::string& first, const std::string& last, LLUUID& id)
{
std::string full_name = buildFullName(first, last);
return getUUID(full_name, id);
}
void initStateEntities(AssetAPI* assetAPI, const char* stateName, std::map<hash_t, Entity>& entities) {
LOGF_IF(!assetAPI, "Missing assetAPI");
// Retrieve .entity in scene subfolder
char* subfolder = (char*) alloca(sizeof("entities/") + strlen(stateName) + 100);
strcpy(subfolder, "entities/");
strcat(subfolder, stateName);
auto files = assetAPI->listAssetContent(".entity", subfolder);
std::list<Entity> entitiesBuilt;
unsigned buildCount = entitiesBuilt.size();
// build all entities (inefficient but only used ~10 times)
while (!files.empty()) {
bool earlyExit = false;
for (auto f=files.begin(); f!=files.end(); ++f) {
auto* fullname = buildFullName(stateName, (*f).c_str(), subfolder);
const EntityTemplateRef tmpl = theEntityManager.entityTemplateLibrary.load(fullname);
const EntityTemplate* t = theEntityManager.entityTemplateLibrary.get(tmpl, false);
if (!t->autoCreate) {
files.erase(f);
earlyExit = true;
break;
}
// Only build if all dependencies have been built
bool dependenciesReady = true;
std::for_each(t->dependencies.begin(), t->dependencies.end(), [&entitiesBuilt, &dependenciesReady] (hash_t h) -> void {
Entity e = theEntityManager.getEntityByName(h);
if (e == 0) {
if (std::find(entitiesBuilt.begin(), entitiesBuilt.end(), h) == entitiesBuilt.end()) {
LOGV(2, "Missing " << INV_HASH(h));
dependenciesReady = false;
}
}
});
if (dependenciesReady) {
hash_t h = Murmur::RuntimeHash(fullname);
entities[h] =
theEntityManager.CreateEntityFromTemplate(fullname);
entitiesBuilt.push_back(h);
files.erase(f);
break;
}
}
if (!earlyExit) {
unsigned newCount = entitiesBuilt.size();
if (newCount <= buildCount) {
#if SAC_ENABLE_LOG
LOGE("Entities built:");
for (auto e: entitiesBuilt) LOGE("\t* " << INV_HASH(e) << ".entity");
LOGE("Entities not-built");
for (auto e: files) {
auto* fullname = buildFullName(stateName, (e).c_str(), subfolder);
const EntityTemplateRef tmpl = theEntityManager.entityTemplateLibrary.load(fullname);
const EntityTemplate* t = theEntityManager.entityTemplateLibrary.get(tmpl, false);
std::stringstream d;
d << "dependencies=";
for (auto dep: t->dependencies) {
d << INV_HASH(dep) << " ";
}
LOGE("\t* " << stateName << '/' << e << ".entity (" << d.str() << ')');
}
#endif
LOGF("Entities defined for state " << stateName << " have circular dependencies (" << entitiesBuilt.size() << " built and " << files.size() << " not built)");
}
buildCount = newCount;
}
}
}
