void MainAppDriver::initUrgDriver()
{
//! --- Start Hukuyo ---
ud = UrgDriver::getUrgDriver();
// On récupére le port com
Argument<string>* portcom = am->getArg(TAG_PORTCOM,ArgManager::GET_STRING);
if(portcom->isValid()){
ud->setComPort(portcom->getValue());
}
else{
ud->setComPort(ud->hokuyoFindPortCom(10));
}
// On récupére la couleur
Argument<int>* argColor = am->getArg(TAG_COLOR,ArgManager::GET_INT);
if(argColor->isValid()){
ud->updateParamWithColor(argColor->getValue());
}
else{
ud->updateParamWithColor(ud->hokuyoFindColor());
}
ud->refInit();
#if DEBUG
ud->toString();
#endif
ud->start();
}
CyberXML::Node *MediaPlayer::browse(
Device *dev,
const char *objectID,
const char *browseFlag,
const char *filter,
int startIndex,
int requestedCount,
const char *sortCaiteria)
{
if (dev == NULL)
return NULL;
Service *conDir = dev->getService(ContentDirectory::SERVICE_TYPE);
if (conDir == NULL)
return NULL;
Action *action = conDir->getAction(ContentDirectory::BROWSE);
if (action == NULL)
return NULL;
BrowseAction browseAction(action);
browseAction.setObjectID(objectID);
browseAction.setBrowseFlag(browseFlag);
browseAction.setStartingIndex(startIndex);
browseAction.setRequestedCount(requestedCount);
browseAction.setFilter(filter);
browseAction.setSortCriteria(sortCaiteria);
if (browseAction.postControlAction() == false)
return NULL;
Argument *resultArg = browseAction.getArgument(BrowseAction::RESULT);
if (resultArg == NULL)
return NULL;
const char *resultStr = resultArg->getValue();
if (resultStr == NULL)
return NULL;
Node *node = NULL;
Parser xmlParser;
int resultUniStrLen;
UnicodeStr *resultUniStr = XML::Local2Unicode(resultStr, resultUniStrLen);
if (resultUniStr != NULL) {
node = xmlParser.parse(resultUniStr, resultUniStrLen);
delete []resultUniStr;
}
if (node == NULL)
node = xmlParser.parse(resultStr);
return node;
}
Node *ActionRequest::createContentNode(Service *service, CyberLink::Action *action, ArgumentList *argList) {
const char *actionName = action->getName();
const char *serviceType = service->getServiceType();
Node *actionNode = new Node();
actionNode->setName(Control::NS, actionName);
actionNode->setNameSpace(Control::NS, serviceType);
int argListCnt = argList->size();
for (int n = 0; n < argListCnt; n++) {
Argument *arg = argList->getArgument(n);
Node *argNode = new Node();
string name = arg->getName();
string value = arg->getValue();
argNode->setName(name.c_str());
argNode->setValue(value.c_str());
actionNode->addNode(argNode);
}
return actionNode;
}
ClockDevice::ClockDevice() : Device(CLOCK_DESCRIPTION_FILE_NAME)
#else
ClockDevice::ClockDevice() : Device()
#endif
{
#if !defined(USE_CLOCK_DESCRIPTION_FILE)
loadDescription(CLOCK_DEVICE_DESCRIPTION);
Service *timeService = getService("urn:schemas-upnp-org:service:timer:1");
timeService->loadSCPD(CLOCK_SERVICE_DESCRIPTION);
#endif
Action *getTimeAction = getAction("GetTime");
getTimeAction->setActionListener(this);
Action *setTimeAction = getAction("SetTime");
setTimeAction->setActionListener(this);
ServiceList *serviceList = getServiceList();
Service *service = serviceList->getService(0);
service->setQueryListener(this);
m_timeVar = getStateVariable("Time");
setLeaseTime(60);
}
////////////////////////////////////////////////
// ActionListener
////////////////////////////////////////////////
bool ClockDevice::actionControlReceived(Action *action)
{
const char *actionName = action->getName();
if (strcmp("GetTime", actionName) == 0) {
std::string dateStr;
Clock clock;
clock.toString(dateStr);
Argument *timeArg = action->getArgument("CurrentTime");
timeArg->setValue(dateStr.c_str());
return true;
}
if (strcmp(actionName, "SetTime") == 0) {
Argument *timeArg = action->getArgument("NewTime");
const char *newTime = timeArg->getValue();
Argument *resultArg = action->getArgument("Result");
std::ostringstream valbuf;
valbuf << "Not implemented (" << newTime << ")";
resultArg->setValue(valbuf.str().c_str());
return true;
}
return false;
}
////////////////////////////////////////////////
// QueryListener
////////////////////////////////////////////////
bool ClockDevice::queryControlReceived(StateVariable *stateVar)
{
const char *varName = stateVar->getName();
Clock clock;
string clockVal;
stateVar->setValue(clock.toString(clockVal));
return true;
}
////////////////////////////////////////////////
// HttpRequestListner
////////////////////////////////////////////////
//void ClockDevice::httpRequestRecieved(HTTPRequest *httpReq)
HTTP::StatusCode ClockDevice::httpRequestRecieved(HTTPRequest *httpReq)
{
ParameterList paramList;
httpReq->getParameterList(paramList);
for (int n=0; n<paramList.size(); n++) {
Parameter *param = paramList.getParameter(n);
cout << "[" << n << "] : " << param->getName() << " = " << param->getValue() << endl;
}
string uri;
httpReq->getURI(uri);
if (uri.find(CLOCK_PRESENTATION_URI) == string::npos) {
Device::httpRequestRecieved(httpReq);
return HTTP::OK_REQUEST;
//return ;
}
string clockStr;
Clock clock;
clock.toString(clockStr);
string contents;
contents = "<HTML><BODY><H1>";
contents += clockStr;
contents += "</H1></BODY></HTML>";
HTTPResponse httpRes;
httpRes.setStatusCode(HTTP::OK_REQUEST);
httpRes.setContent(contents);
return httpReq->post(&httpRes) ? HTTP::OK_REQUEST : HTTP::INTERNAL_SERVER_ERROR;
}
void PropertiesTable::showModuleTab(Module *mod)
{
modules.clear();
disconnect(moduleProperties,SIGNAL(itemChanged(QTreeWidgetItem*,int)),this,SLOT(onModItemChanged(QTreeWidgetItem*,int)));
disconnect(moduleProperties,SIGNAL(itemDoubleClicked(QTreeWidgetItem*,int)),this,SLOT(onModItemDoubleClicked(QTreeWidgetItem*,int)));
currentApplication = NULL;
currentModule = mod;
propertiesTab->clear();
propertiesTab->addTab(moduleProperties,"Module Properties");
propertiesTab->addTab(moduleDescription,"Description");
moduleProperties->clear();
moduleDescription->clear();
appProperties->hide();
moduleProperties->show();
moduleDescription->show();
modName = new QTreeWidgetItem(moduleProperties,QStringList() << "Name" << mod->getName());
modNode = new QTreeWidgetItem(moduleProperties,QStringList() << "Node");
modStdio = new QTreeWidgetItem(moduleProperties,QStringList() << "Stdio" << mod->getStdio());
modWorkDir = new QTreeWidgetItem(moduleProperties,QStringList() << "Workdir" << mod->getWorkDir());
modPrefix = new QTreeWidgetItem(moduleProperties,QStringList() << "Prefix" << mod->getBasePrefix());
modDeployer = new QTreeWidgetItem(moduleProperties,QStringList() << "Deployer");
modParams = new QTreeWidgetItem(moduleProperties,QStringList() << "Parameters" << mod->getParam());
lastPrefix = mod->getBasePrefix();
modStdio->setFlags(modStdio->flags() | Qt::ItemIsEditable);
modWorkDir->setFlags(modWorkDir->flags() | Qt::ItemIsEditable);
modPrefix->setFlags(modPrefix->flags() | Qt::ItemIsEditable);
moduleProperties->addTopLevelItem(modName);
moduleProperties->addTopLevelItem(modNode);
moduleProperties->addTopLevelItem(modStdio);
moduleProperties->addTopLevelItem(modWorkDir);
moduleProperties->addTopLevelItem(modPrefix);
moduleProperties->addTopLevelItem(modDeployer);
moduleProperties->addTopLevelItem(modParams);
if(deployerCombo){
delete deployerCombo;
deployerCombo = NULL;
}
if(nodeCombo){
delete nodeCombo;
nodeCombo = NULL;
}
deployerCombo = new QComboBox();
nodeCombo = new QComboBox();
deployerCombo->setEditable(true);
nodeCombo->setEditable(true);
if(compareString(mod->getBroker(),"yarpdev")){
deployerCombo->addItem("yarpdev");
}else if(compareString(mod->getBroker(),"icubmoddev")){
deployerCombo->addItem("icubmoddev");
}else{
deployerCombo->addItem("local");
deployerCombo->addItem("yarprun");
}
if(strlen(mod->getBroker())){
deployerCombo->setCurrentText(mod->getBroker());
}else if(compareString(mod->getHost(),"localhost")){
deployerCombo->setCurrentText("local");
}
if(mod->getNeedDeployer()){
deployerCombo->setEditable(false);
}
nodeCombo->addItem(mod->getHost());
if(QString(mod->getHost()) != "localhost"){
nodeCombo->addItem("localhost");
}
ResourcePContainer resources = manager->getKnowledgeBase()->getResources();
for(ResourcePIterator itr=resources.begin(); itr!=resources.end(); itr++){
Computer* comp = dynamic_cast<Computer*>(*itr);
if(comp && !compareString(comp->getName(), "localhost")){
nodeCombo->addItem(comp->getName());
}
}
connect(nodeCombo, SIGNAL(editTextChanged(QString)), paramsSignalMapper, SLOT(map()));
connect(nodeCombo, SIGNAL(currentIndexChanged(int)), paramsSignalMapper, SLOT(map()));
paramsSignalMapper->setMapping(nodeCombo,nodeCombo);
connect(deployerCombo, SIGNAL(editTextChanged(QString)), paramsSignalMapper, SLOT(map()));
connect(deployerCombo, SIGNAL(currentIndexChanged(int)), paramsSignalMapper, SLOT(map()));
paramsSignalMapper->setMapping(deployerCombo,deployerCombo);
/*****************************/
// Populate paramters
for(int i=0;i<mod->argumentCount();i++){
Argument a = mod->getArgumentAt(i);
QTreeWidgetItem *it = new QTreeWidgetItem(modParams,QStringList() << a.getParam());
QComboBox *paramCombo = new QComboBox();
paramCombo->setEditable(true);
paramCombo->addItem(a.getValue());
if(strcmp(a.getDefault(),a.getValue()) != 0 ){
paramCombo->addItem(a.getDefault());
}
moduleProperties->setItemWidget(it,1,paramCombo);
connect(paramCombo, SIGNAL(editTextChanged(QString)), paramsSignalMapper, SLOT(map()));
connect(paramCombo, SIGNAL(currentIndexChanged(int)), paramsSignalMapper, SLOT(map()));
paramsSignalMapper->setMapping(paramCombo,paramCombo);
}
/*****************************/
moduleProperties->setItemWidget(modDeployer,1,deployerCombo);
moduleProperties->setItemWidget(modNode,1,nodeCombo);
modParams->setExpanded(true);
QTreeWidgetItem *nameItem = new QTreeWidgetItem(moduleDescription,QStringList() << "Name" << mod->getName());
QTreeWidgetItem *versionItem = new QTreeWidgetItem(moduleDescription,QStringList() << "Version" << mod->getVersion());
QTreeWidgetItem *descriptionItem = new QTreeWidgetItem(moduleDescription,QStringList() << "Description" << mod->getDescription());
QTreeWidgetItem *parametersItem = new QTreeWidgetItem(moduleDescription,QStringList() << "Parameters");
for(int i=0;i<mod->argumentCount();i++){
Argument a = mod->getArgumentAt(i);
QTreeWidgetItem *it = new QTreeWidgetItem(parametersItem,QStringList() << a.getParam() << a.getDescription());
}
QTreeWidgetItem *authorsItem = new QTreeWidgetItem(moduleDescription,QStringList() << "Authors" );
for(int i=0;i<mod->authorCount();i++){
Author a = mod->getAuthorAt(i);
QTreeWidgetItem *it = new QTreeWidgetItem(authorsItem,QStringList() << a.getName() << a.getEmail());
}
QTreeWidgetItem *inputsItem = new QTreeWidgetItem(moduleDescription,QStringList() << "Inputs" );
for(int i=0;i<mod->inputCount();i++){
InputData a = mod->getInputAt(i);
QTreeWidgetItem *type = new QTreeWidgetItem(inputsItem,QStringList() << "Type" << a.getName());
QTreeWidgetItem *port = new QTreeWidgetItem(type,QStringList() << "Port" << a.getPort());
QTreeWidgetItem *desc = new QTreeWidgetItem(type,QStringList() << "Description" << a.getDescription());
QTreeWidgetItem *req = new QTreeWidgetItem(type,QStringList() << "Required" << (a.isRequired() ? "yes" : "no"));
Q_UNUSED(port);
Q_UNUSED(desc);
Q_UNUSED(req);
}
QTreeWidgetItem *outputsItem = new QTreeWidgetItem(moduleDescription,QStringList() << "Outputs" );
for(int i=0;i<mod->outputCount();i++){
OutputData a = mod->getOutputAt(i); //TODO controllare
QTreeWidgetItem *type = new QTreeWidgetItem(outputsItem,QStringList() << "Type" << a.getName());
QTreeWidgetItem *port = new QTreeWidgetItem(type,QStringList() << "Port" << a.getPort());
QTreeWidgetItem *desc = new QTreeWidgetItem(type,QStringList() << "Description" << a.getDescription());
Q_UNUSED(port);
Q_UNUSED(desc);
}
moduleDescription->addTopLevelItem(nameItem);
moduleDescription->addTopLevelItem(versionItem);
moduleDescription->addTopLevelItem(descriptionItem);
moduleDescription->addTopLevelItem(parametersItem);
moduleDescription->addTopLevelItem(authorsItem);
moduleDescription->addTopLevelItem(inputsItem);
moduleDescription->addTopLevelItem(outputsItem);
connect(moduleProperties,SIGNAL(itemChanged(QTreeWidgetItem*,int)),this,SLOT(onModItemChanged(QTreeWidgetItem*,int)));
connect(moduleProperties,SIGNAL(itemDoubleClicked(QTreeWidgetItem*,int)),this,SLOT(onModItemDoubleClicked(QTreeWidgetItem*,int)));
}
