bool ImageDisplayComponent::addDisplaySource(std::string tag, std::string type, DataSourceBase::shared_ptr orig)
{
// creates a copy of the data and an update command to
// update the copy from the original.
//
// Added IplImage type
Logger::In in("ImageDisplayComponent");
// Check if the type is IplImage, if this fail
if(orig->getTypeName()!="IplImage"){
log(Error) << "Could not display '"<< tag <<"': This is not a IplImage type, it the Vision tookkit loaded?" << endlog();
return false;
}
DataSourceBase::shared_ptr clone = orig->getTypeInfo()->buildValue();
if ( !clone ) {
log(Error) << "Could not display '"<< tag <<"' : unknown type." << endlog();
return false;
}
try {
boost::shared_ptr<CommandInterface> comm( clone->updateCommand( orig.get() ) );
assert( comm );
root.push_back( boost::make_tuple( tag, orig, comm, clone, type ) );
} catch ( bad_assignment& ba ) {
log(Error) << "Could not display '"<< tag <<"' : failed to create Command." << endlog();
return false;
}
return true;
}
char * RTT_corba_CConfigurationInterface_i::getPropertyTypeName (
const char * name)
{
DataSourceBase::shared_ptr ds = getPropertyDataSource( name );
if (ds)
return CORBA::string_dup( ds->getTypeName().c_str() );
return CORBA::string_dup( "na" );
}
bool ImageDisplayComponent::configureHook(){
Logger::In in("ImageDisplayComponent");
// Load config file
if ( this->marshalling()->readProperties( this->getName() + ".cpf" ) == false)
return false;
log(Info) << "Loading Ports to display from file." <<endlog();
PropertyDemarshaller dem( config.get() );
PropertyBag bag;
if (dem.deserialize( bag ) == false ) {
log(Error) << "Reading file "<< config.get() << " failed."<<endlog();
return false;
}
bool ok = true;
PropertyBag::const_iterator it = bag.getProperties().begin();
while ( it != bag.getProperties().end() ){
Property<std::string>* compName = dynamic_cast<Property<std::string>* >( *it );
if ( !compName )
log(Error) << "Expected Property \""
<< (*it)->getName() <<"\" to be of type string."<< endlog();
else if ( compName->getName() == "ImagePort" ) {
string cname = compName->value().substr(0, compName->value().find("."));
string pname = compName->value().substr( compName->value().find(".")+1, string::npos);
ok &= this->addDisplayPort(cname, pname);
}
else {
log(Error) << "Expected \"Component\", \"Port\" or \"Data\", got "
<< compName->getName() << endlog();
ok = false;
}
++it;
}
deleteProperties( bag );
// Create window for every dataport
for(Reports::iterator it = root.begin(); it != root.end(); ++it ) {
// Update the dataport
(it->get<2>())->execute();
// Get the base dataport
DataSourceBase::shared_ptr source = it->get<3>();
// Convert to Dataport<IplImage>
DataSource<IplImage>::shared_ptr clone = AdaptDataSource<IplImage>()( source.get() );
IplImage localImage = clone->get();
string dataportName = it->get<0>();
cvNamedWindow(dataportName.data(),CV_WINDOW_AUTOSIZE);
cvShowImage(dataportName.data(),&localImage);
}
// Enter main loop of the window, and update the window if needed
int key;
key = cvWaitKey(3);
// Magic number 3
return ok;
}
bool PropertyBase::compose( const PropertyBag& source)
{
DataSourceBase::shared_ptr dsb = getDataSource();
ConstReferenceDataSource<PropertyBag> rds(source);
rds.ref();
if (dsb)
return dsb->getTypeInfo()->composeType( &rds, dsb);
return false;
}
char * RTT_corba_CConfigurationInterface_i::propertyToString (
const char * name)
{
DataSourceBase::shared_ptr ds = getPropertyDataSource( name );
if (ds) {
std::string result = ds->toString();
return CORBA::string_dup( result.c_str() );
}
return CORBA::string_dup( "na" );
}
::CORBA::Any * RTT_corba_CConfigurationInterface_i::getAttribute (
const char * name)
{
if ( !mar || !mar->hasAttribute( string(name) ) )
return new CORBA::Any();
DataSourceBase::shared_ptr ds = mar->getValue( string(name) )->getDataSource();
const TypeInfo* ti = ds->getTypeInfo();
CorbaTypeTransporter* ctt = dynamic_cast<CorbaTypeTransporter*>( ti->getProtocol(ORO_CORBA_PROTOCOL_ID) );
assert( ctt );
return ctt->createAny( ds );
}
::CORBA::Any * RTT_corba_COperationInterface_i::callOperation (
const char * operation,
::RTT::corba::CAnyArguments & args)
{
if ( mfact->hasMember( string( operation ) ) == false || mfact->isSynchronous(string(operation)) )
throw ::RTT::corba::CNoSuchNameException( operation );
// convert Corba args to C++ args.
try {
OperationCallerC orig(mfact->getPart(operation), operation, 0);
vector<DataSourceBase::shared_ptr> results;
for (size_t i =0; i != args.length(); ++i) {
const TypeInfo* ti = mfact->getPart(operation)->getArgumentType( i + 1);
CorbaTypeTransporter* ctt = dynamic_cast<CorbaTypeTransporter*> ( ti->getProtocol(ORO_CORBA_PROTOCOL_ID) );
// we need to store the results for returning them to caller (args is inout!) after the call()
results.push_back( ctt->createDataSource( &args[i] ) );
orig.arg( results[i] );
}
if ( orig.ready() ) {
DataSourceBase::shared_ptr ds = orig.getCallDataSource();
CORBA::Any* retany;
// Try to get the return result :
const TypeInfo* ti = ds->getTypeInfo();
CorbaTypeTransporter* ctt = dynamic_cast<CorbaTypeTransporter*> ( ti->getProtocol(ORO_CORBA_PROTOCOL_ID) );
if ( !ctt ) {
log(Warning) << "Could not return results of call to " << operation << ": unknown return type by CORBA transport."<<endlog();
ds->evaluate(); // equivalent to orig.call()
retany = new CORBA::Any();
} else {
retany = ctt->createAny( ds ); // call evaluate internally
}
// Return results into args:
for (size_t i =0; i != args.length(); ++i) {
const TypeInfo* ti = mfact->getPart(operation)->getArgumentType( i + 1);
CorbaTypeTransporter* ctta = dynamic_cast<CorbaTypeTransporter*> ( ti->getProtocol(ORO_CORBA_PROTOCOL_ID) );
ctta->updateAny(results[i], args[i]);
}
return retany;
} else {
orig.check(); // will throw
}
} catch (no_asynchronous_operation_exception& ) {
throw ::RTT::corba::CNoSuchNameException( operation );
} catch ( name_not_found_exception& ) {
throw ::RTT::corba::CNoSuchNameException( operation );
} catch ( wrong_number_of_args_exception& wna ) {
throw ::RTT::corba::CWrongNumbArgException( wna.wanted, wna.received );
} catch (wrong_types_of_args_exception& wta ) {
throw ::RTT::corba::CWrongTypeArgException( wta.whicharg, wta.expected_.c_str(), wta.received_.c_str() );
}
return new ::CORBA::Any();
}
CORBA::Boolean RTT_corba_CConfigurationInterface_i::propertyFromString (
const char* name, const char* value
)
{
DataSourceBase::shared_ptr ds = getPropertyDataSource( name );
if (!ds)
return false;
if ( ds->getTypeInfo()->fromString( value, ds ) ) {
RTT::log(RTT::Error) << "corba::CConfigurationInterface: Could not assign string to "<< ds->getType() <<"." <<RTT::endlog();
return false;
}
return true;
}
::CORBA::Boolean RTT_corba_CConfigurationInterface_i::setProperty (
const char * name,
const ::CORBA::Any & value)
{
if (mar)
mbag = mar->properties(); // leave this here to get latest propertybag.
DataSourceBase::shared_ptr ds = getPropertyDataSource(name);
if ( !ds )
return 0;
const TypeInfo* ti = ds->getTypeInfo();
CorbaTypeTransporter* ctt = dynamic_cast<CorbaTypeTransporter*>( ti->getProtocol(ORO_CORBA_PROTOCOL_ID) );
assert( ctt );
return ctt->updateFromAny( &value, ds );
}
/**
* Update \a target with the contents of \a blob which is an object of a \a protocol.
*/
virtual bool updateFromAny(const CORBA::Any* blob, DataSourceBase::shared_ptr target) const
{
if (warn) {
Logger::In in("CorbaFallBackProtocol");
log(Error) << "Could not update type '"<<target->getTypeName()<<"' with received data : data type not known to CORBA Transport." <<Logger::endl;
}
return false;
}
::CORBA::Any * RTT_corba_CConfigurationInterface_i::getProperty (
const char * name)
{
if (mar)
mbag = mar->properties(); // leave this here to get latest propertybag.
if ( mbag == 0 )
return new CORBA::Any();
DataSourceBase::shared_ptr ds = getPropertyDataSource(name);
if ( !ds ) {
log(Error) <<"CConfigurationInterface: no such property: " << name << ". Returning empty CORBA::Any."<<endlog();
return new CORBA::Any();
}
const TypeInfo* ti = ds->getTypeInfo();
CorbaTypeTransporter* ctt = dynamic_cast<CorbaTypeTransporter*>( ti->getProtocol(ORO_CORBA_PROTOCOL_ID) );
assert( ctt );
return ctt->createAny( ds );
}
void ImageDisplayComponent::updateHook()
{
// For every dataport
for(Reports::iterator it = root.begin(); it != root.end(); ++it ) {
// Update the dataport
(it->get<2>())->execute();
// Get the base dataport
DataSourceBase::shared_ptr source = it->get<3>();
// Convert to Dataport<IplImage>
DataSource<IplImage>::shared_ptr clone = AdaptDataSource<IplImage>()( source.get() );
IplImage localImage = clone->get();
string dataportName = it->get<0>();
cvShowImage(dataportName.data(),&localImage);
}
// Enter main loop of the window, and update the window if needed
int key;
key = cvWaitKey(3);
// Magic number 3
}
void ConditionParser::seenexpression()
{
// get the datasource parsed by the ExpressionParser..
DataSourceBase::shared_ptr mcurdata =
expressionparser.getResult();
expressionparser.dropResult();
// The reference count is stored in the DataSource itself !
// so the ref cnt information is not lost in this cast
ds_bool =
dynamic_cast<DataSource<bool>*>( mcurdata.get() );
if ( ds_bool )
{
mcurdata = 0;
}
else
{
// we only want boolean expressions..
throw parse_exception_semantic_error(
"Attempt to use a non-boolean value as a condition." );
}
}
corba::CMethod_ptr ExpressionServer::CreateMethod( DataSourceBase::shared_ptr expr, MethodC* orig, PortableServer::POA_ptr p ) {
// try to retrieve:
corba::CMethod_ptr result = MServers[ expr ];
if ( !CORBA::is_nil(result) )
return corba::CMethod::_duplicate(result);
// create new:
if ( CORBA::is_nil(p) )
p = ApplicationServer::rootPOA.in();
Logger::log() <<Logger::Debug<< "Created 'Any' CMethod server for type "<< expr->getType()<<Logger::endl;
Orocos_AnyMethod_i* newexpr = new Orocos_AnyMethod_i( *orig, expr, p );
MServers[expr] = newexpr->activate_this();
EServants[expr] = newexpr;
EServers[expr] = corba::CExpression::_narrow(MServers[expr]);
return corba::CMethod::_duplicate( MServers[expr] );
}
corba::CExpression_ptr ExpressionServer::CreateAssignableExpression( DataSourceBase::shared_ptr expr, PortableServer::POA_ptr p ){
// try to retrieve:
corba::CAssignableExpression_ptr result = AServers[ expr ];
if ( !CORBA::is_nil(result) )
return corba::CExpression::_duplicate(result);
// create new:
if ( CORBA::is_nil(p) )
p = ApplicationServer::rootPOA.in();
Logger::log() <<Logger::Debug<< "Created 'Any' Assignable CExpression server for type "<< expr->getType()<<Logger::endl;
Orocos_AnyAssignableExpression_i* newexpr = new Orocos_AnyAssignableExpression_i( expr, p );
AServers[expr] = newexpr->activate_this();
EServants[expr] = newexpr;
EServers[expr] = corba::CExpression::_narrow(AServers[expr]);
corba::CExpression_var ret = corba::CExpression::_duplicate( EServers[expr] );
return ret._retn();
}
int StatementProcessor::execute(const std::string& comm)
{
Logger::In in("StatementProcessor");
TaskContext* taskcontext = d->tc;
// Minor hack : also check if it was an attribute of current TC, for example,
// if both the object and attribute with that name exist. the if
// statement after this one would return and not give the expr parser
// time to evaluate 'comm'.
if ( taskcontext->provides()->getValue( comm ) ) {
d->printResult( taskcontext->provides()->getValue( comm )->getDataSource().get(), true );
return 0;
}
Parser _parser;
Logger::log() <<Logger::Debug << "Trying ValueChange...";
try {
// Check if it was a method or datasource :
DataSourceBase::shared_ptr ds = _parser.parseValueChange( comm, taskcontext );
// methods and DS'es are processed immediately.
if ( ds.get() != 0 ) {
Logger::log() << "ok" << Logger::endl;
d->printResult( ds.get(), false );
return 0; // done here
} else
Logger::log() <<Logger::Debug << "no"<<Logger::endl;
} catch ( fatal_semantic_parse_exception& pe ) { // incorr args, ...
// way to fatal, must be reported immediately
Logger::log() << Logger::Debug << "fatal_semantic_parse_exception: ";
Logger::log() << Logger::Error << pe.what() <<Logger::nl;
return -1;
} catch ( syntactic_parse_exception& pe ) { // wrong content after = sign etc..
// syntactic errors must be reported immediately
Logger::log() << Logger::Error << "syntactic_parse_exception: ";
Logger::log() << Logger::Error << pe.what() <<Logger::nl;
return -1;
} catch ( parse_exception_parser_fail &pe )
{
// ignore, try next parser
Logger::log() << Logger::Debug << "Ignoring ValueChange exception :"<<Logger::nl;
Logger::log() << Logger::Debug << pe.what() <<Logger::nl;
} catch ( parse_exception& pe ) {
// syntactic errors must be reported immediately
Logger::log() << Logger::Error << "parse_exception :";
Logger::log() << Logger::Error << pe.what() <<Logger::nl;
return -1;
}
Logger::log() << Logger::Debug << "Trying Expression..."<<Logger::nl;
try {
// Check if it was a method or datasource :
DataSourceBase::shared_ptr ds = _parser.parseExpression( comm, taskcontext );
// methods and DS'es are processed immediately.
if ( ds.get() != 0 ) {
d->printResult( ds.get(), true );
return 0; // done here
} else
Logger::log() << Logger::Error << "returned zero !"<<Logger::nl;
} catch ( syntactic_parse_exception& pe ) { // missing brace etc
// syntactic errors must be reported immediately
Logger::log() << Logger::Error << "syntactic_parse_exception :";
Logger::log() << Logger::Error << pe.what() <<Logger::nl;
return -1;
} catch ( fatal_semantic_parse_exception& pe ) { // incorr args, ...
// way to fatal, must be reported immediately
Logger::log() << Logger::Error << "fatal_semantic_parse_exception :";
Logger::log() << Logger::Error << pe.what() <<Logger::nl;
return -1;
} catch ( parse_exception_parser_fail &pe ) {
// ignore, try next parser
Logger::log() << Logger::Debug << "Ignoring Expression exception :"<<Logger::nl;
Logger::log() << Logger::Debug << pe.what() <<Logger::nl;
} catch ( parse_exception& pe ) {
// ignore, try next parser
Logger::log() << Logger::Debug << "Ignoring Expression parse_exception :"<<Logger::nl;
Logger::log() << Logger::Debug << pe.what() <<Logger::nl;
}
return -1;
}
void doPrint( DataSourceBase* ds, bool recurse) {
// this is needed for ds's that rely on initialision.
// e.g. eval true once or time measurements.
// becomes only really handy for 'watches' (todo).
ds->reset();
/**
* If this list of types gets to long, we can still add a virtual
* printOut( std::ostream& ) = 0 to DataSourceBase.
*/
// this method can print some primitive DataSource<>'s.
DataSource<bool>* dsb = DataSource<bool>::narrow(ds);
if (dsb) {
Logger::log() << dsb->get();
return;
}
DataSource<int>* dsi = DataSource<int>::narrow(ds);
if (dsi) {
Logger::log() << dsi->get() ;
return;
}
#if 0
// does not work yet with CORBA layer.
DataSource<long>* dsl = DataSource<long>::narrow(ds);
if (dsl) {
Logger::log() << dsl->get() ;
return;
}
#endif
DataSource<unsigned int>* dsui = DataSource<unsigned int>::narrow(ds);
if (dsui) {
Logger::log() << dsui->get() ;
return;
}
DataSource<std::string>* dss = DataSource<std::string>::narrow(ds);
if (dss) {
Logger::log() <<'"'<< dss->get() << '"' ;
return;
}
#if 0
DataSource<std::vector<double> >* dsvval = DataSource< std::vector<double> >::narrow(ds);
if (dsvval) {
Logger::log() << dsvval->get() ;
return;
}
DataSource< Double6D >* ds6d = DataSource<Double6D>::narrow(ds);
if (ds6d) {
Logger::log() << ds6d->get() ;
return;
}
#endif
DataSource<double>* dsd = DataSource<double>::narrow(ds);
if (dsd) {
Logger::log() << dsd->get() ;
return;
}
DataSource<char>* dsc = DataSource<char>::narrow(ds);
if (dsc) {
Logger::log() <<'\''<< dsc->get()<<'\'' ;
return;
}
DataSource<PropertyBag>* dspbag = DataSource<PropertyBag>::narrow(ds);
if (dspbag) {
PropertyBag bag( dspbag->get() );
if (!recurse) {
int siz = bag.getProperties().size();
Logger::log() << siz <<" Properties";
} else {
if ( ! bag.empty() ) {
Logger::log() <<Logger::nl;
for( PropertyBag::iterator it= bag.getProperties().begin(); it!=bag.getProperties().end(); ++it) {
Logger::log() <<(*it)->getType()<<" "<< (*it)->getName();
DataSourceBase::shared_ptr propds = (*it)->getDataSource();
this->printResult( propds.get(), false );
Logger::log() <<" ("<<(*it)->getDescription()<<')' << Logger::nl;
}
} else {
Logger::log() <<"(empty PropertyBag)";
}
}
return;
}
// Leave void as last since any DS is convertible to void !
DataSource<void>* dsvd = DataSource<void>::narrow(ds);
if (dsvd) {
dsvd->get();
Logger::log() << "(void)" ;
return;
}
if (ds) {
ds->evaluate();
Logger::log() << "( result type '"+ds->getType()+"' not known to TaskBrowser )" ;
}
}