int Drivers::yarpdev(int argc, char *argv[]) {
std::signal(SIGINT, handler);
std::signal(SIGTERM, handler);
// get command line options
ResourceFinder rf;
rf.configure(argc, argv); // this will process --from FILE if present
Property options;
// yarpdev will by default try to pass its thread on to the device.
// this is because some libraries need configuration and all
// access methods done in the same thread (e.g. opencv_grabber
// apparently).
options.put("single_threaded", 1);
// interpret command line options as a set of flags
//options.fromCommand(argc,argv,true,false);
options.fromString(rf.toString().c_str(), false);
// check if we're being asked to read the options from file
Value *val;
if (options.check("file",val))
{
// FIXME use argv[0]
yError("*** yarpdev --file is deprecated, please use --from\n");
yError("*** yarpdev --file will be removed in a future version of YARP\n");
std::string fname = val->toString();
options.unput("file");
yDebug("yarpdev: working with config file %s\n", fname.c_str());
options.fromConfigFile(fname,false);
// interpret command line options as a set of flags again
// (just in case we need to override something)
options.fromCommand(argc,argv,true,false);
}
// check if we want to use nested options (less ambiguous)
if (options.check("nested",val)||options.check("lispy",val))
{
std::string lispy = val->toString();
yDebug("yarpdev: working with config %s\n", lispy.c_str());
options.fromString(lispy);
}
if (!options.check("device"))
{
// no device mentioned - maybe user needs help
if (options.check("list"))
{
yInfo("Here are devices listed for your system:");
for (auto& s : split(Drivers::factory().toString(), '\n')) {
yInfo("%s", s.c_str());
}
}
else
{
yInfo("Welcome to yarpdev, a program to create YARP devices\n");
yInfo("To see the devices available, try:\n");
yInfo(" yarpdev --list\n");
yInfo("To create a device whose name you know, call yarpdev like this:\n");
yInfo(" yarpdev --device DEVICENAME --OPTION VALUE ...\n");
yInfo(" For example:\n");
yInfo(" yarpdev --device test_grabber --width 32 --height 16 --name /grabber\n");
yInfo("You can always move options to a configuration file:\n");
yInfo(" yarpdev [--device DEVICENAME] --from CONFIG_FILENAME\n");
yInfo("If you have problems, you can add the \"verbose\" flag to get more information\n");
yInfo(" yarpdev --verbose --device ffmpeg_grabber\n");
if (options.check ("from"))
{
yError("Unable to find --device option in file %s. Closing.", options.find("from").asString().c_str());
}
else
{
yWarning("--device option not specified. Closing.");
}
}
return 0;
}
// ask for a wrapped, remotable device rather than raw device
options.put("wrapped","1");
//YarpDevMonitor monitor;
bool verbose = false;
if (options.check("verbose")) {
verbose = true;
//options.setMonitor(&monitor,"top-level");
}
// we now need network
bool ret=Network::checkNetwork();
if (!ret)
{
yError("YARP network not available, check if yarp server is reachable\n");
return -1;
}
//
// yarpdev initializes the clock only before starting to do real thing.
// This way yarpdev --lish/help will not be affected by network clock.
//
// Shall other devices be affected by network clock ??
// Hereafter the device may need to use the SystemClock or the NetworkClock
// depending by the device, a real or a fake / simulated one.
// Using the YARP_CLOCK_DEFAULT the behaviour will be determined by the
// environment variable.
//
yarp::os::NetworkBase::yarpClockInit(yarp::os::YARP_CLOCK_DEFAULT);
PolyDriver dd(options);
if (verbose) {
toDox(dd,stdout);
}
if (!dd.isValid()) {
yError("yarpdev: ***ERROR*** device not available.\n");
if (argc==1)
{
yInfo("Here are the known devices:\n");
yInfo("%s", Drivers::factory().toString().c_str());
}
else
{
yInfo("Suggestions:\n");
yInfo("+ Do \"yarpdev --list\" to see list of supported devices.\n");
if (!options.check("verbose"))
{
yInfo("+ Or append \"--verbose\" option to get more information.\n");
}
}
return 1;
}
Terminee *terminee = nullptr;
if (dd.isValid()) {
Value *v;
std::string s("/yarpdev/quit");
if (options.check("device", v)) {
if (v->isString()) {
s = "";
s += "/";
s += v->toString();
s += "/quit";
}
}
if (options.check("name", v)) {
s = "";
s += v->toString();
s += "/quit";
}
if (s.find("=") == std::string::npos &&
s.find("@") == std::string::npos) {
terminee = new Terminee(s.c_str());
terminatorKey = s.c_str();
if (terminee == nullptr) {
yError("Can't allocate terminator port\n");
terminatorKey = "";
dd.close();
return 1;
}
if (!terminee->isOk()) {
yError("Failed to create terminator port\n");
terminatorKey = "";
delete terminee;
terminee = nullptr;
dd.close();
return 1;
}
}
}
double dnow = 3;
double startTime = Time::now()-dnow;
IService *service = nullptr;
dd.view(service);
if (service!=nullptr) {
bool backgrounded = service->startService();
if (backgrounded) {
// we don't need to poll this, so forget about the
// service interface
yDebug("yarpdev: service backgrounded\n");
service = nullptr;
}
}
while (dd.isValid() && !(terminated||(terminee&&terminee->mustQuit()))) {
if (service!=nullptr) {
double now = Time::now();
if (now-startTime>dnow) {
yInfo("device active...");
startTime += dnow;
}
// we requested single threading, so need to
// give the device its chance
if(!service->updateService()) {
if(!service->stopService()) {
yWarning("Error while stopping device");
}
terminated = true;
}
} else {
// we don't need to do anything
yInfo("device active in background...");
SystemClock::delaySystem(dnow);
}
}
if (terminee) {
delete terminee;
terminee = nullptr;
}
dd.close();
yInfo("yarpdev is finished.");
return 0;
}
int Drivers::yarpdev(int argc, char *argv[]) {
ACE_OS::signal(SIGINT, (ACE_SignalHandler) handler);
ACE_OS::signal(SIGTERM, (ACE_SignalHandler) handler);
// get command line options
ResourceFinder rf;
rf.configure(argc, argv); // this will process --from FILE if present
Property options;
// yarpdev will by default try to pass its thread on to the device.
// this is because some libraries need configuration and all
// access methods done in the same thread (e.g. opencv_grabber
// apparently).
options.put("single_threaded", 1);
// interpret command line options as a set of flags
//options.fromCommand(argc,argv,true,false);
options.fromString(rf.toString().c_str(), false);
// check if we're being asked to read the options from file
Value *val;
if (options.check("file",val)) {
fprintf(stderr,"*** yarpdev --file is deprecated, please use --from\n");
fprintf(stderr,"*** yarpdev --file will be removed in a future version of YARP\n");
ConstString fname = val->toString();
options.unput("file");
printf("yarpdev: working with config file %s\n", fname.c_str());
options.fromConfigFile(fname,false);
// interpret command line options as a set of flags again
// (just in case we need to override something)
options.fromCommand(argc,argv,true,false);
}
// check if we want to use nested options (less ambiguous)
if (options.check("nested",val)||options.check("lispy",val)) {
ConstString lispy = val->toString();
printf("yarpdev: working with config %s\n", lispy.c_str());
options.fromString(lispy);
}
if (!options.check("device")) {
// no device mentioned - maybe user needs help
if (options.check("list")) {
printf("Here are devices listed for your system:\n");
printf("%s", Drivers::factory().toString().c_str());
} else {
printf("Welcome to yarpdev, a program to create YARP devices\n");
printf("To see the devices available, try:\n");
printf(" yarpdev --list\n");
printf("To create a device whose name you know, call yarpdev like this:\n");
printf(" yarpdev --device DEVICENAME --OPTION VALUE ...\n");
printf("For example:\n");
printf(" yarpdev --device test_grabber --width 32 --height 16 --name /grabber\n");
printf("You can always move options to a configuration file:\n");
printf(" yarpdev [--device DEVICENAME] --from CONFIG_FILENAME\n");
printf("If you have problems, you can add the \"verbose\" flag to get more information\n");
printf(" yarpdev --verbose --device ffmpeg_grabber\n");
}
return 0;
}
// ask for a wrapped, remotable device rather than raw device
options.put("wrapped","1");
//YarpDevMonitor monitor;
bool verbose = false;
if (options.check("verbose")) {
verbose = true;
//options.setMonitor(&monitor,"top-level");
}
// we now need network
bool ret=Network::checkNetwork();
if (!ret)
{
fprintf(stderr, "YARP network not available, check if yarp server is reachable\n");
return -1;
}
PolyDriver dd(options);
if (verbose) {
toDox(dd,stdout);
}
if (!dd.isValid()) {
printf("yarpdev: ***ERROR*** device not available.\n");
if (argc==1) {
printf("Here are the known devices:\n");
printf("%s", Drivers::factory().toString().c_str());
} else {
printf("Suggestions:\n");
printf("+ Do \"yarpdev --list\" to see list of supported devices.\n");
if (!options.check("verbose")) {
printf("+ Or append \"--verbose\" option to get more information.\n");
}
}
return 1;
}
Terminee *terminee = 0;
if (dd.isValid()) {
Value *v;
ConstString s("/yarpdev/quit");
if (options.check("device", v)) {
if (v->isString()) {
s = "";
s += "/";
s += v->toString();
s += "/quit";
}
}
if (options.check("name", v)) {
s = "";
s += v->toString();
s += "/quit";
}
if (s.find("=") == ConstString::npos &&
s.find("@") == ConstString::npos) {
terminee = new Terminee(s.c_str());
terminatorKey = s.c_str();
if (terminee == 0) {
printf("Can't allocate terminator port\n");
terminatorKey = "";
dd.close();
return 1;
}
if (!terminee->isOk()) {
printf("Failed to create terminator port\n");
terminatorKey = "";
delete terminee;
terminee = NULL;
dd.close();
return 1;
}
}
}
double dnow = 3;
double startTime = Time::now()-dnow;
IService *service = NULL;
dd.view(service);
if (service!=NULL) {
bool backgrounded = service->startService();
if (backgrounded) {
// we don't need to poll this, so forget about the
// service interface
printf("yarpdev: service backgrounded\n");
service = NULL;
}
}
while (dd.isValid() && !(terminated||(terminee&&terminee->mustQuit()))) {
if (service!=NULL) {
double now = Time::now();
if (now-startTime>dnow) {
if (yarp_show_info()) {
YARP_LOG_INFO("device active...");
}
startTime += dnow;
}
// we requested single threading, so need to
// give the device its chance
service->updateService();
} else {
// we don't need to do anything
if (yarp_show_info()) {
YARP_LOG_INFO("device active in background...");
}
Time::delay(dnow);
}
}
if (terminee) {
delete terminee;
terminee = NULL;
}
dd.close();
if (yarp_show_info()) {
printf("yarpdev is finished.\n");
}
return 0;
}