bool embObjVirtualAnalogSensor::open(yarp::os::Searchable &config)
{
std::string str;
if(config.findGroup("GENERAL").find("verbose").asBool())
{
str=config.toString().c_str();
_verbose = true;
}
else
str=" ";
yTrace() << str;
// Read stuff from config file
if(!fromConfig(config))
{
yError() << "embObjAnalogSensor missing some configuration parameter. Check logs and your config file.";
return false;
}
// Tmp variables
Bottle groupEth;
ACE_TCHAR address[64];
ACE_UINT16 port;
Bottle groupTransceiver = Bottle(config.findGroup("TRANSCEIVER"));
if(groupTransceiver.isNull())
{
yError() << "embObjVirtualAnalogSensor: Can't find TRANSCEIVER group in config files";
return false;
}
Bottle groupProtocol = Bottle(config.findGroup("PROTOCOL"));
if(groupProtocol.isNull())
{
yError() << "embObjVirtualAnalogSensor: Can't find PROTOCOL group in config files";
return false;
}
// Get both PC104 and EMS ip addresses and port from config file
groupEth = Bottle(config.findGroup("ETH"));
Bottle parameter1( groupEth.find("PC104IpAddress").asString() ); // .findGroup("IpAddress");
port = groupEth.find("CmdPort").asInt(); // .get(1).asInt();
snprintf(_fId.pc104IPaddr.string, sizeof(_fId.pc104IPaddr.string), "%s", parameter1.toString().c_str());
_fId.pc104IPaddr.port = port;
Bottle parameter2( groupEth.find("IpAddress").asString() ); // .findGroup("IpAddress");
snprintf(_fId.boardIPaddr.string, sizeof(_fId.boardIPaddr.string), "%s", parameter2.toString().c_str());
_fId.boardIPaddr.port = port;
sscanf(_fId.boardIPaddr.string,"\"%d.%d.%d.%d", &_fId.boardIPaddr.ip1, &_fId.boardIPaddr.ip2, &_fId.boardIPaddr.ip3, &_fId.boardIPaddr.ip4);
sscanf(_fId.pc104IPaddr.string,"\"%d.%d.%d.%d", &_fId.pc104IPaddr.ip1, &_fId.pc104IPaddr.ip2, &_fId.pc104IPaddr.ip3, &_fId.pc104IPaddr.ip4);
snprintf(_fId.boardIPaddr.string, sizeof(_fId.boardIPaddr.string), "%u.%u.%u.%u:%u", _fId.boardIPaddr.ip1, _fId.boardIPaddr.ip2, _fId.boardIPaddr.ip3, _fId.boardIPaddr.ip4, _fId.boardIPaddr.port);
snprintf(_fId.pc104IPaddr.string, sizeof(_fId.pc104IPaddr.string), "%u.%u.%u.%u:%u", _fId.pc104IPaddr.ip1, _fId.pc104IPaddr.ip2, _fId.pc104IPaddr.ip3, _fId.pc104IPaddr.ip4, _fId.pc104IPaddr.port);
// Debug info
snprintf(_fId.name, sizeof(_fId.name), "embObjAnalogSensor: referred to EMS: %d at address %s\n", _fId.boardNumber, address); // Saving User Friendly Id
Value val =config.findGroup("ETH").check("Ems",Value(1), "Board number");
if(val.isInt())
_fId.boardNumber =val.asInt();
else
{
yError () << "embObjAnalogSensor: EMS Board number identifier not found for IP" << _fId.pc104IPaddr.string;
return false;
}
ethManager = TheEthManager::instance();
if(NULL == ethManager)
{
yError() << "Unable to instantiate ethManager";
return false;
}
// N.B.: use a dynamic_cast to extract correct interface when using this pointer
_fId.interface = this;
_fId.type = ethFeatType_AnalogVirtual;
/* Once I'm ok, ask for resources, through the _fId struct I'll give the ip addr, port and
* and boradNum to the ethManagerin order to create the ethResource requested.
* I'll Get back the very same sturct filled with other data useful for future handling
* like the EPvector and EPhash_function */
res = ethManager->requestResource(config, groupTransceiver, groupProtocol, _fId);
if(NULL == res)
{
yError() << "EMS device not instantiated... unable to continue";
cleanup();
return false;
}
/*IMPORTANT: implement isEpManagedByBoard like every embObj obj when virtaulAnalogSensor will be exist in eo proto!!!!*/
// if(!isEpManagedByBoard())
// {
// yError() << "EMS "<< _fId.boardNumber << "is not connected to virtual analog sensor";
// return false;
// }
// if(!res->verifyProtocol(groupProtocol, eoprot_endpoint_???))
// {
// yError() << "embObjVirtualAnalogSensor and board "<< _fId.boardNumber << "dont not have the same eoprot_endpoint_??? protocol version: DO A FW UPGRADE";
// return false;
// }
yTrace() << "EmbObj Virtual Analog Sensor for board "<< _fId.boardNumber << "instantiated correctly";
opened = true;
return true;
}
