void Dying::refresh()
{
ErrorLogger* logger = ErrorLogger::Instance();
int ret = executable->getBroker()->running();
if(ret == 0)
Dying::moduleFailed();
else if(ret == -1)
logger->addError(executable->getBroker()->error());
}
bool XmlModLoader::init()
{
module.clear();
fileNames.clear();
ErrorLogger* logger = ErrorLogger::Instance();
/**
* loading single module indicated by its xml file name
*/
if(!strFileName.empty())
{
fileNames.push_back(strFileName);
return true;
}
if(strPath.empty())
{
logger->addError("No module path is introduced.");
return false;
}
DIR *dir;
struct dirent *entry;
if ((dir = opendir(strPath.c_str())) == nullptr)
{
OSTRINGSTREAM err;
err<<"Cannot access "<<strPath;
logger->addError(err);
return false;
}
/* we need to load all xml modules */
while((entry = readdir(dir)))
{
string name = entry->d_name;
if(name.size() > 3)
{
string ext = name.substr(name.size()-3,3);
if(compareString(ext.c_str(), "xml"))
fileNames.push_back(strPath+name);
}
}
closedir(dir);
/*
if(fileNames.empty())
{
OSTRINGSTREAM err;
err<<"No xml module file found in "<<strPath;
logger->addWarning(err);
//return true;
}
*/
return true;
}
// refresh() from Suspended can be used for recovering from
// unexptected termination of manager.
void Suspended::refresh(void)
{
ErrorLogger* logger = ErrorLogger::Instance();
int ret = executable->getBroker()->running();
if(ret == 1)
{
executable->getEvent()->onExecutableStart(executable);
castEvent(EventFactory::recoverEvent);
}
else if(ret == -1)
logger->addError(executable->getBroker()->error());
}
bool Arbitrator::trainWeights(const char* opnd)
{
__CHECK_NULLPTR(opnd);
ErrorLogger* logger = ErrorLogger::Instance();
string rule = getRule(opnd);
if(!rule.length())
{
std::map<std::string, double> w;
alphas[opnd] = w;
biases[opnd] = 1.0;
return true;
}
BinaryExpParser parser;
std::map<string, string>::iterator itr;
for(itr=rules.begin(); itr!=rules.end(); itr++)
parser.addRestrictedOperand((itr->first).c_str());
// parsing the compact logic
rule = string(opnd) + " : " + rule;
if(!parser.parse(rule.c_str()))
return false;
// trining the weights
LinkTrainer trainer;
if(trainer.train(parser.getTruthTable()))
{
biases[opnd] = trainer.getBias();
std::vector<double> alf = trainer.getAlphas();
std::map<std::string, double> w;
std::map<std::string, bool>::iterator itr;
std::map<std::string, bool> operands = parser.getOperands();
int i=0;
for(itr=operands.begin(); itr!=operands.end(); itr++)
{
w[itr->first] = alf[i];
i++;
}
alphas[opnd] = w;
}
else
{
logger->addError("Maximum number of iterations is reached without finding any solution. Check for the correctness of the expression logic.");
return false;
}
return true;
}
void YConsoleManager::reportErrors(void)
{
ErrorLogger* logger = ErrorLogger::Instance();
if(logger->errorCount() || logger->warningCount())
{
const char* msg;
while((msg=logger->getLastError()))
cout<<FAIL<<"ERROR: "<<INFO<<msg<<ENDC<<endl;
while((msg=logger->getLastWarning()))
cout<<WARNING<<"WARNING: "<<INFO<<msg<<ENDC<<endl;
}
}
bool SingleAppLoader::init(void)
{
ErrorLogger* logger = ErrorLogger::Instance();
app.clear();
if(strModule.empty())
{
logger->addError("Empty module name.");
return false;
}
app.setName(strModule.c_str());
ModuleInterface module(strModule.c_str());
module.setHost(strHost.c_str());
app.addImodule(module);
return true;
}
void Dying::killModule(void)
{
ErrorLogger* logger = ErrorLogger::Instance();
if(!executable->getBroker()->kill())
{
OSTRINGSTREAM msg;
msg<<"cannot kill "<<executable->getCommand()<<" on "<<executable->getHost();
if(executable->getBroker()->error())
msg<<" : "<<executable->getBroker()->error();
logger->addError(msg);
executable->getEvent()->onError(executable);
castEvent(EventFactory::killModuleEventFailed);
}
else
{
castEvent(EventFactory::killModuleEventOk);
executable->getEvent()->onExecutableDied(executable);
}
}
void Dying::disconnectAllPorts(void)
{
ErrorLogger* logger = ErrorLogger::Instance();
if(executable->autoConnect())
{
CnnIterator itr;
for(itr=executable->getConnections().begin();
itr!=executable->getConnections().end(); itr++)
{
if( !executable->getBroker()->disconnect((*itr).from(), (*itr).to()) )
{
OSTRINGSTREAM msg;
msg<<"cannot disconnect "<<(*itr).from() <<" to "<<(*itr).to();
if(executable->getBroker()->error())
msg<<" : "<<executable->getBroker()->error();
logger->addError(msg);
}
else
executable->getEvent()->onCnnReleased(&(*itr));
}
}
// We do not need to handle event disconnectAllPortsEventOk
}
void SafeManager::onExecutableFailed(void* which)
{
WAIT_SEMAPHOR();
ErrorLogger* logger = ErrorLogger::Instance();
Executable* exe = static_cast<Executable*>(which);
if(exe)
{
if(m_pConfig->find("module_failure").asString() == "prompt")
{
OSTRINGSTREAM err;
err<<exe->getCommand()<<" from "<<exe->getHost()<<" is failed! [id:"<<exe->getID()<<"]";
logger->addError(err);
if(eventReceiver && exe)
eventReceiver->onModStop(exe->getID());
}
if(m_pConfig->find("module_failure").asString() == "recover")
{
OSTRINGSTREAM err;
err<<exe->getCommand()<<" from "<<exe->getHost()<<" is failed! [id:"<<exe->getID()<<"] (restarting...)";
logger->addError(err);
exe->start();
}
if(m_pConfig->find("module_failure").asString() == "terminate")
{
OSTRINGSTREAM err;
err<<exe->getCommand()<<" from "<<exe->getHost()<<" is failed! [id:"<<exe->getID()<<"] (terminating...)";
logger->addError(err);
Manager::stop();
}
}
if(eventReceiver)
eventReceiver->onError();
POST_SEMAPHOR();
}
void Dying::stopModule()
{
ErrorLogger* logger = ErrorLogger::Instance();
if (executable->getPostStopWait() > 0)
{
yarp::os::SystemClock::delaySystem(executable->getPostStopWait());
}
executable->restoreOriginalPostStopWait();
if(!executable->getBroker()->stop())
{
OSTRINGSTREAM msg;
msg<<"cannot stop "<<executable->getCommand()<<" on "<<executable->getHost();
if(executable->getBroker()->error())
msg<<" : "<<executable->getBroker()->error();
logger->addError(msg);
executable->getEvent()->onError(executable);
castEvent(EventFactory::stopModuleEventFailed);
}
else
{
castEvent(EventFactory::stopModuleEventOk);
executable->getEvent()->onExecutableStop(executable);
}
}
bool CheckNullPointer::analyseWholeProgram(const CTU::FileInfo *ctu, const std::list<Check::FileInfo*> &fileInfo, const Settings& settings, ErrorLogger &errorLogger)
{
if (!ctu)
return false;
bool foundErrors = false;
(void)settings; // This argument is unused
const std::map<std::string, std::list<const CTU::FileInfo::CallBase *>> callsMap = ctu->getCallsMap();
for (Check::FileInfo *fi1 : fileInfo) {
const MyFileInfo *fi = dynamic_cast<MyFileInfo*>(fi1);
if (!fi)
continue;
for (const CTU::FileInfo::UnsafeUsage &unsafeUsage : fi->unsafeUsage) {
for (int warning = 0; warning <= 1; warning++) {
if (warning == 1 && !settings.isEnabled(Settings::WARNING))
break;
const std::list<ErrorLogger::ErrorMessage::FileLocation> &locationList =
ctu->getErrorPath(CTU::FileInfo::InvalidValueType::null,
unsafeUsage,
callsMap,
"Dereferencing argument ARG that is null",
nullptr,
warning);
if (locationList.empty())
continue;
const ErrorLogger::ErrorMessage errmsg(locationList,
emptyString,
warning ? Severity::warning : Severity::error,
"Null pointer dereference: " + unsafeUsage.myArgumentName,
"ctunullpointer",
CWE476, false);
errorLogger.reportErr(errmsg);
foundErrors = true;
break;
}
}
}
return foundErrors;
}
bool compile(const std::string& file)
{
std::ifstream fin(file.c_str());
if (!fin.is_open())
{
reporter_->fileNotFound(file);
return false;
}
if (boost::optional<cst::Module> module = parseFile(file, fin, logger_))
{
ast::Module parsed = parseModule(*module, logger_);
if (!logger_.errors().empty()) return true;
FunctionAddrMap fam;
generateBytecode(parsed, fam).swap(bytecode_);
}
return true;
}
Module* XmlModLoader::parsXml(const char* szFile)
{
module.clear();
ErrorLogger* logger = ErrorLogger::Instance();
TiXmlDocument doc(szFile);
if(!doc.LoadFile())
{
OSTRINGSTREAM err;
err<<"Syntax error while loading "<<szFile<<" at line "\
<<doc.ErrorRow()<<": ";
err<<doc.ErrorDesc();
logger->addError(err);
return nullptr;
}
/* retrieving root module */
TiXmlElement *root = doc.RootElement();
if(!root)
{
OSTRINGSTREAM err;
err<<"Syntax error while loading "<<szFile<<" . ";
err<<"No root element.";
logger->addError(err);
return nullptr;
}
if(!compareString(root->Value(), "module"))
{
/*
OSTRINGSTREAM msg;
msg<<szFile<<" is not a module descriptor file.";
logger->addWarning(msg);
*/
return nullptr;
}
/* retrieving name */
auto* name = (TiXmlElement*) root->FirstChild("name");
if(!name || !name->GetText())
{
OSTRINGSTREAM err;
err<<"Module from "<<szFile<<" has no name.";
logger->addError(err);
//return NULL;
}
for(TiXmlElement* var = root->FirstChildElement("var"); var; var = var->NextSiblingElement())
{
if(var->Attribute("name") && var->GetText())
{
parser->addVariable(var->Attribute("name"), var->GetText());
}
}
module.setXmlFile(szFile);
if(name)
module.setName(parser->parseText(name->GetText()).c_str());
/* retrieving description */
TiXmlElement* desc;
if((desc = (TiXmlElement*) root->FirstChild("description")))
module.setDescription(parser->parseText(desc->GetText()).c_str());
/* retrieving version */
TiXmlElement* ver;
if((ver = (TiXmlElement*) root->FirstChild("version")))
module.setVersion(parser->parseText(ver->GetText()).c_str());
/* retrieving parameter */
TiXmlElement* arguments;
if((arguments = (TiXmlElement*) root->FirstChild("arguments")))
for(TiXmlElement* param = arguments->FirstChildElement(); param;
param = param->NextSiblingElement())
{
if(compareString(param->Value(), "param"))
{
if(param->GetText())
{
bool brequired = false;
if(compareString(param->Attribute("required"), "yes"))
brequired = true;
Argument arg(parser->parseText(param->GetText()).c_str(),
brequired,
param->Attribute("desc"));
arg.setDefault(param->Attribute("default"));
module.addArgument(arg);
}
}
else
if(compareString(param->Value(), "switch"))
{
if(param->GetText())
{
bool brequired = false;
if(compareString(param->Attribute("required"), "yes"))
brequired = true;
Argument arg(parser->parseText(param->GetText()).c_str(),
brequired,
param->Attribute("desc"), true);
arg.setDefault(param->Attribute("default"));
module.addArgument(arg);
}
}
else
{
OSTRINGSTREAM war;
war<<"Unrecognized tag from "<<szFile<<" at line "\
<<param->Row()<<".";
logger->addWarning(war);
}
}
/* retrieving rank */
TiXmlElement* rank;
if((rank = (TiXmlElement*) root->FirstChild("rank")) &&
rank->GetText())
module.setRank(atoi(parser->parseText(rank->GetText()).c_str()));
/* retrieving authors information*/
TiXmlElement* authors;
if((authors = (TiXmlElement*) root->FirstChild("authors")))
for(TiXmlElement* ath = authors->FirstChildElement(); ath;
ath = ath->NextSiblingElement())
{
if(compareString(ath->Value(), "author"))
{
Author author;
if(ath->GetText())
author.setName(parser->parseText(ath->GetText()).c_str());
if(ath->Attribute("email"))
author.setEmail(ath->Attribute("email"));
module.addAuthor(author);
}
else
{
OSTRINGSTREAM war;
war<<"Unrecognized tag from "<<szFile<<" at line "\
<<ath->Row()<<".";
logger->addWarning(war);
}
}
/* retrieving data */
if(root->FirstChild("data"))
for(TiXmlElement* data = root->FirstChild("data")->FirstChildElement();
data; data = data->NextSiblingElement())
{
/* output data */
if(compareString(data->Value(), "output"))
{
OutputData output;
if(compareString(data->Attribute("port_type"), "stream") || !data->Attribute("port_type"))
output.setPortType(STREAM_PORT);
else if(compareString(data->Attribute("port_type"), "event"))
output.setPortType(EVENT_PORT);
else if(compareString(data->Attribute("port_type"), "service"))
output.setPortType(SERVICE_PORT);
else
{
OSTRINGSTREAM war;
war<<"Unknown port type \'"<<data->Attribute("port_type")<<"\' from "<<szFile<<" at line "\
<<data->Row()<<". Available types : stream, event, service";
logger->addWarning(war);
}
TiXmlElement* element;
if(output.getPortType() != SERVICE_PORT )
{
if((element = (TiXmlElement*) data->FirstChild("type")))
output.setName(parser->parseText(element->GetText()).c_str());
else
{
OSTRINGSTREAM war;
war<<"Output data from "<<szFile<<" at line "\
<<data->Row()<<" has no type.";
logger->addWarning(war);
}
}
else
output.setName("*");
if((element = (TiXmlElement*) data->FirstChild("port")))
{
output.setPort(parser->parseText(element->GetText()).c_str());
output.setCarrier(element->Attribute("carrier"));
}
else
{
OSTRINGSTREAM war;
war<<"Output data from "<<szFile<<" at line "\
<<data->Row()<<" has no port.";
logger->addWarning(war);
}
if((element = (TiXmlElement*) data->FirstChild("description")))
output.setDescription(parser->parseText(element->GetText()).c_str());
module.addOutput(output);
} // end of output data
/* input data */
if(compareString(data->Value(), "input"))
{
InputData input;
if(compareString(data->Attribute("port_type"), "stream") || !data->Attribute("port_type"))
input.setPortType(STREAM_PORT);
else if(compareString(data->Attribute("port_type"), "event"))
input.setPortType(EVENT_PORT);
else if(compareString(data->Attribute("port_type"), "service"))
input.setPortType(SERVICE_PORT);
else
{
OSTRINGSTREAM war;
war<<"Unknown port type \'"<<data->Attribute("port_type")<<"\' from "<<szFile<<" at line "\
<<data->Row()<<". Available types : stream, event, service";
logger->addWarning(war);
}
TiXmlElement* element;
if(input.getPortType() != SERVICE_PORT )
{
if((element = (TiXmlElement*) data->FirstChild("type")))
input.setName(parser->parseText(element->GetText()).c_str());
else
{
OSTRINGSTREAM war;
war<<"Input data from "<<szFile<<" at line "\
<<data->Row()<<" has no type.";
logger->addWarning(war);
}
}
else
input.setName("rpc");
if((element = (TiXmlElement*) data->FirstChild("port")))
{
input.setPort(parser->parseText(element->GetText()).c_str());
input.setCarrier(element->Attribute("carrier"));
}
else
{
OSTRINGSTREAM war;
war<<"Input data from "<<szFile<<" at line "\
<<data->Row()<<" has no port.";
logger->addWarning(war);
}
if((element = (TiXmlElement*) data->FirstChild("description")))
input.setDescription(parser->parseText(element->GetText()).c_str());
if((element = (TiXmlElement*) data->FirstChild("required")))
if(compareString(parser->parseText(element->GetText()).c_str(), "yes"))
input.setRequired(true);
if((element = (TiXmlElement*) data->FirstChild("priority")))
if(compareString(parser->parseText(element->GetText()).c_str(), "yes"))
input.setPriority(true);
module.addInput(input);
} // end of input data
}
if(root->FirstChild("services")) {
for(TiXmlElement* services = root->FirstChild("services")->FirstChildElement();
services; services = services->NextSiblingElement())
{
/* server */
if(compareString(services->Value(), "server"))
{
InputData input;
input.setPortType(SERVICE_PORT);
TiXmlElement* element;
if((element = (TiXmlElement*) services->FirstChild("port"))) {
input.setPort(parser->parseText(element->GetText()).c_str());
input.setCarrier("tcp");
}
if((element = (TiXmlElement*) services->FirstChild("description")))
input.setDescription(parser->parseText(element->GetText()).c_str());
if((element = (TiXmlElement*) services->FirstChild("type")))
input.setName(parser->parseText(element->GetText()).c_str());
else
input.setName("rpc");
module.addInput(input);
}
/* client */
if(compareString(services->Value(), "client"))
{
OutputData output;
output.setPortType(SERVICE_PORT);
TiXmlElement* element;
if((element = (TiXmlElement*) services->FirstChild("port"))) {
output.setPort(parser->parseText(element->GetText()).c_str());
output.setCarrier("tcp");
}
if((element = (TiXmlElement*) services->FirstChild("description")))
output.setDescription(parser->parseText(element->GetText()).c_str());
if((element = (TiXmlElement*) services->FirstChild("type")))
output.setName(parser->parseText(element->GetText()).c_str());
else
output.setName("rpc");
module.addOutput(output);
}
}
}
/* retrieving broker*/
TiXmlElement* element;
if((element = (TiXmlElement*) root->FirstChild("deployer")))
{
module.setBroker(parser->parseText(element->GetText()).c_str());
module.setNeedDeployer(true);
}
/* retrieving dependencies*/
if(root->FirstChild("dependencies"))
for(TiXmlElement* restag = root->FirstChild("dependencies")->FirstChildElement();
restag; restag = restag->NextSiblingElement())
{
Computer computer;
if(compareString(restag->Value(), "computer"))
{
Computer computer;
computer.setXmlFile(szFile);
for(TiXmlElement* comptag = restag->FirstChildElement();
comptag; comptag = comptag->NextSiblingElement())
{
/* retrieving name */
if(compareString(comptag->Value(), "name"))
computer.setName(parser->parseText(comptag->GetText()).c_str());
/* retrieving description */
if(compareString(comptag->Value(), "description"))
computer.setDescription(parser->parseText(comptag->GetText()).c_str());
// platform
if(compareString(comptag->Value(), "platform"))
{
Platform os;
TiXmlElement* element;
if((element = (TiXmlElement*) comptag->FirstChild("name")))
os.setName(parser->parseText(element->GetText()).c_str());
if((element = (TiXmlElement*) comptag->FirstChild("distribution")))
os.setDistribution(parser->parseText(element->GetText()).c_str());
if((element = (TiXmlElement*) comptag->FirstChild("release")))
os.setRelease(parser->parseText(element->GetText()).c_str());
computer.setPlatform(os);
} // end of platform tag
/*
//multiplatform
if(compareString(comptag->Value(), "multiplatform"))
{
MultiPlatform mltPlatform;
for(TiXmlElement* mptag = comptag->FirstChild("multiplatform")->FirstChildElement();
mptag; mptag = mptag->NextSiblingElement())
{
// platform
if(compareString(mptag->Value(), "platform"))
{
Platform os;
TiXmlElement* element;
if((element = (TiXmlElement*) mptag->FirstChild("name")))
os.setName(element->GetText());
if((element = (TiXmlElement*) mptag->FirstChild("distribution")))
os.setDistribution(element->GetText());
if((element = (TiXmlElement*) mptag->FirstChild("release")))
os.setDistribution(element->GetText());
mltPlatform.addPlatform(os);
}
}
module.addResource(mltPlatform);
}
// end of multiplatform tag
*/
// memory
if(compareString(comptag->Value(), "memory"))
{
Memory mem;
TiXmlElement* element;
if((element = (TiXmlElement*) comptag->FirstChild("total_space")))
mem.setTotalSpace((Capacity)atol(parser->parseText(element->GetText()).c_str()));
if((element = (TiXmlElement*) comptag->FirstChild("free_space")))
mem.setFreeSpace((Capacity)atol(parser->parseText(element->GetText()).c_str()));
computer.setMemory(mem);
} // end of memory tag
// storage
if(compareString(comptag->Value(), "storage"))
{
Storage stg;
TiXmlElement* element;
if((element = (TiXmlElement*) comptag->FirstChild("total_space")))
stg.setTotalSpace((Capacity)atol(parser->parseText(element->GetText()).c_str()));
if((element = (TiXmlElement*) comptag->FirstChild("free_space")))
stg.setFreeSpace((Capacity)atol(parser->parseText(element->GetText()).c_str()));
computer.setStorage(stg);
} // end of storage tag
// processor
if(compareString(comptag->Value(), "processor"))
{
Processor proc;
TiXmlElement* element;
if((element = (TiXmlElement*) comptag->FirstChild("architecture")))
proc.setArchitecture(parser->parseText(element->GetText()).c_str());
if((element = (TiXmlElement*) comptag->FirstChild("model")))
proc.setModel(parser->parseText(element->GetText()).c_str());
if((element = (TiXmlElement*) comptag->FirstChild("cores")))
proc.setCores((size_t)atoi(parser->parseText(element->GetText()).c_str()));
if((element = (TiXmlElement*) comptag->FirstChild("siblings")))
proc.setSiblings((size_t)atoi(parser->parseText(element->GetText()).c_str()));
if((element = (TiXmlElement*) comptag->FirstChild("frequency")))
proc.setFrequency(atof(parser->parseText(element->GetText()).c_str()));
computer.setProcessor(proc);
} // end of processor tag
// network
if(compareString(comptag->Value(), "network"))
{
Network net;
TiXmlElement* element;
if((element = (TiXmlElement*) comptag->FirstChild("ip4")))
net.setIP4(parser->parseText(element->GetText()).c_str());
if((element = (TiXmlElement*) comptag->FirstChild("ip6")))
net.setIP6(parser->parseText(element->GetText()).c_str());
if((element = (TiXmlElement*) comptag->FirstChild("mac")))
net.setMAC(parser->parseText(element->GetText()).c_str());
module.addResource(net);
computer.setNetwork(net);
} // end of network tag
// yarp_port
if(compareString(comptag->Value(), "yarp_port"))
{
ResYarpPort yport;
auto* element = (TiXmlElement*) comptag->FirstChild("name");
if(element && element->GetText())
{
yport.setName(parser->parseText(element->GetText()).c_str());
yport.setPort(parser->parseText(element->GetText()).c_str());
computer.addPeripheral(yport);
}
else
{
OSTRINGSTREAM war;
war<<"yarp_port from "<<szFile<<" at line " <<comptag->Row()<<" has no name.";
logger->addWarning(war);
}
}
// gpu
if(compareString(comptag->Value(), "gpu"))
{
GPU gpu;
TiXmlElement* element;
if((element = (TiXmlElement*) comptag->FirstChild("name")))
gpu.setName(parser->parseText(element->GetText()).c_str());
if((element = (TiXmlElement*) comptag->FirstChild("capability")))
gpu.setCompCompatibility(parser->parseText(element->GetText()).c_str());
if((element = (TiXmlElement*) comptag->FirstChild("cores")))
gpu.setCores((size_t)atoi(parser->parseText(element->GetText()).c_str()));
if((element = (TiXmlElement*) comptag->FirstChild("frequency")))
gpu.setFrequency(atof(parser->parseText(element->GetText()).c_str()));
if((element = (TiXmlElement*) comptag->FirstChild("register_block")))
gpu.setResgisterPerBlock((size_t)atoi(parser->parseText(element->GetText()).c_str()));
if((element = (TiXmlElement*) comptag->FirstChild("thread_block")))
gpu.setThreadPerBlock((size_t)atoi(parser->parseText(element->GetText()).c_str()));
if((element = (TiXmlElement*) comptag->FirstChild("overlap")))
{
if(compareString(parser->parseText(element->GetText()).c_str(), "yes"))
gpu.setOverlap(true);
else
gpu.setOverlap(false);
}
// global memory
if(comptag->FirstChild("global_memory"))
{
TiXmlElement* element;
element = (TiXmlElement*) comptag->FirstChild("global_memory");
if((element = (TiXmlElement*) element->FirstChild("total_space")))
gpu.setGlobalMemory((Capacity)atol(parser->parseText(element->GetText()).c_str()));
} // end of global memory tag
// shared memory
if(comptag->FirstChild("shared_memory"))
{
TiXmlElement* element;
element = (TiXmlElement*) comptag->FirstChild("shared_memory");
if((element = (TiXmlElement*) element->FirstChild("total_space")))
gpu.setSharedMemory((Capacity)atol(parser->parseText(element->GetText()).c_str()));
} // end of shared memory tag
// constant memory
if(comptag->FirstChild("constant_memory"))
{
TiXmlElement* element;
element = (TiXmlElement*) comptag->FirstChild("constant_memory");
if((element = (TiXmlElement*) element->FirstChild("total_space")))
gpu.setConstantMemory((Capacity)atol(parser->parseText(element->GetText()).c_str()));
} // end of shared memory tag
computer.addPeripheral(gpu);
} // end of gpu tag
} // end of computer tag loop
module.addResource(computer);
} //end of if computer tag
}// end of dependecnies tag
return &module;
}
bool XmlAppSaver::serialXml(Application* app, const char* szFile)
{
// updating application xml file name
app->setXmlFile(szFile);
ErrorLogger* logger = ErrorLogger::Instance();
TiXmlDocument doc; //(szFile);
TiXmlElement * root = new TiXmlElement("application");
doc.LinkEndChild( root );
TiXmlElement * appName = new TiXmlElement("name"); //are all these NEW ok?
appName->LinkEndChild(new TiXmlText(app->getName()));
root->LinkEndChild(appName);
if (strcmp(app->getDescription(), ""))
{
TiXmlElement * desc= new TiXmlElement( "description");
desc->LinkEndChild(new TiXmlText( app->getDescription()));
root->LinkEndChild(desc);
}
if(strcmp (app->getVersion(), ""))
{
TiXmlElement * vers= new TiXmlElement( "version");
vers->LinkEndChild(new TiXmlText( app->getVersion()));
root->LinkEndChild(vers);
}
/*
* TODO: setting prefix of the main application is inactivated.
* Check this should be supported in future or not!
*/
/*
if(strcmp (app->getPrefix(), ""))
{
TiXmlElement * prefix= new TiXmlElement( "prefix");
prefix->LinkEndChild(new TiXmlText( app->getPrefix()));
root->LinkEndChild(prefix);
}
*/
if(app->authorCount()>0)
{
TiXmlElement *auths=new TiXmlElement("authors");
for (int i=0; i<app->authorCount(); i++)
{
//app->getAuthorAt(i);
TiXmlElement *auth=new TiXmlElement("author");
auth->SetAttribute("email", app->getAuthorAt(i).getEmail());
auth->LinkEndChild(new TiXmlText(app->getAuthorAt(i).getName()));
auths->LinkEndChild(auth);
}
root->LinkEndChild(auths);
}
// iterate over modules
{
int nModules=app->imoduleCount();
for (int modCt=0; modCt<nModules; ++modCt)
{
TiXmlElement * newMod = new TiXmlElement("module");
root->LinkEndChild(newMod); //add module element
ModuleInterface curMod=app->getImoduleAt(modCt);
TiXmlElement *name = new TiXmlElement("name");
name->LinkEndChild(new TiXmlText(curMod.getName()));
newMod->LinkEndChild(name);
TiXmlElement *parameters=new TiXmlElement("parameters");
parameters->LinkEndChild(new TiXmlText(curMod.getParam()));
newMod->LinkEndChild(parameters);
TiXmlElement *node = new TiXmlElement("node");
node->LinkEndChild(new TiXmlText(curMod.getHost())); //is host the same as node?
newMod->LinkEndChild(node);
TiXmlElement *prefix=new TiXmlElement("prefix");
prefix->LinkEndChild(new TiXmlText(curMod.getPrefix()));
newMod->LinkEndChild(prefix);
if(strcmp(curMod.getStdio(), ""))
{
TiXmlElement *stdio=new TiXmlElement("stdio");
stdio->LinkEndChild(new TiXmlText(curMod.getStdio()));
newMod->LinkEndChild(stdio);
}
if(strcmp(curMod.getWorkDir(), ""))
{
TiXmlElement *workdir=new TiXmlElement("workdir");
workdir->LinkEndChild(new TiXmlText(curMod.getWorkDir()));
newMod->LinkEndChild(workdir);
}
if(strcmp(curMod.getBroker(), ""))
{
TiXmlElement *broker=new TiXmlElement("deployer");
broker->LinkEndChild(new TiXmlText(curMod.getBroker()));
newMod->LinkEndChild(broker);
}
/*
if(curMod.getRank()>0) //TODO check here how is rank handled
{
TiXmlElement *rank=new TiXmlElement("rank");
char str[256];
sprintf(str,"%d", curMod.getRank());
rank->LinkEndChild(new TiXmlText(str));
newMod->LinkEndChild(rank);
}
*/
GraphicModel model = curMod.getModelBase();
OSTRINGSTREAM txt;
if(model.points.size()>0)
{
txt<<"(Pos (x "<<model.points[0].x<<") "<<"(y "<<model.points[0].y<<"))";
TiXmlElement *geometry=new TiXmlElement("geometry");
geometry->LinkEndChild(new TiXmlText(txt.str().c_str()));
newMod->LinkEndChild(geometry);
}
}
}
// iterate over embedded applications
{
int nApps=app->iapplicationCount();
for (int appCt=0; appCt<nApps; ++appCt)
{
TiXmlElement *newApp = new TiXmlElement("application");
root->LinkEndChild(newApp); //add application element
ApplicationInterface curApp=app->getIapplicationAt(appCt);
TiXmlElement *name = new TiXmlElement("name");
name->LinkEndChild(new TiXmlText(curApp.getName()));
newApp->LinkEndChild(name);
TiXmlElement *prefix=new TiXmlElement("prefix");
prefix->LinkEndChild(new TiXmlText(curApp.getPrefix()));
newApp->LinkEndChild(prefix);
GraphicModel model = curApp.getModelBase();
OSTRINGSTREAM txt;
if(model.points.size()>0)
{
txt<<"(Pos (x "<<model.points[0].x<<") "<<"(y "<<model.points[0].y<<"))";
TiXmlElement *geometry=new TiXmlElement("geometry");
geometry->LinkEndChild(new TiXmlText(txt.str().c_str()));
newApp->LinkEndChild(geometry);
}
}
}
// iterate over connections
{
int nConns=app->connectionCount();
for (int connCt=0; connCt<nConns; ++connCt)
{
TiXmlElement *newConn=new TiXmlElement("connection");
Connection curConn=app->getConnectionAt(connCt);
if(strlen(curConn.getId()))
newConn->SetAttribute("id", curConn.getId());
if(curConn.isPersistent())
newConn->SetAttribute("persist", "true");
TiXmlElement *from = new TiXmlElement("from");
if (curConn.isExternalFrom())
from->SetAttribute("external", "true");
from->LinkEndChild(new TiXmlText(curConn.from()));
newConn->LinkEndChild(from);
TiXmlElement *to = new TiXmlElement("to");
if (curConn.isExternalTo())
to->SetAttribute("external", "true");
to->LinkEndChild(new TiXmlText(curConn.to()));
newConn->LinkEndChild(to);
TiXmlElement *protocol = new TiXmlElement("protocol");
protocol->LinkEndChild(new TiXmlText(curConn.carrier()));
newConn->LinkEndChild(protocol);
GraphicModel model = curConn.getModelBase();
OSTRINGSTREAM txt;
if(model.points.size()>0)
{
txt<<"(Pos ";
for(unsigned int i=0; i<model.points.size(); i++)
txt<<"((x "<<model.points[i].x<<") "<<"(y "<<model.points[i].y<<")) ";
txt<<" )";
TiXmlElement *geometry=new TiXmlElement("geometry");
geometry->LinkEndChild(new TiXmlText(txt.str().c_str()));
newConn->LinkEndChild(geometry);
}
root->LinkEndChild(newConn);
}
}
// iterate over arbitrators
for(int i=0; i<app->arbitratorCount(); i++)
{
Arbitrator& arb = app->getArbitratorAt(i);
TiXmlElement *newArb = new TiXmlElement("arbitrator");
TiXmlElement *port = new TiXmlElement("port");
port->LinkEndChild(new TiXmlText(arb.getPort()));
newArb->LinkEndChild(port);
std::map<string, string> &rules = arb.getRuleMap();
for(std::map<string, string>::iterator it=rules.begin(); it!=rules.end(); ++it)
{
TiXmlElement *rule = new TiXmlElement("rule");
rule->SetAttribute("connection", it->first.c_str());
rule->LinkEndChild(new TiXmlText(it->second.c_str()));
newArb->LinkEndChild(rule);
}
GraphicModel model = arb.getModelBase();
OSTRINGSTREAM txt;
if(model.points.size()>0)
{
txt<<"(Pos ";
for(unsigned int i=0; i<model.points.size(); i++)
txt<<"((x "<<model.points[i].x<<") "<<"(y "<<model.points[i].y<<")) ";
txt<<" )";
TiXmlElement *geometry=new TiXmlElement("geometry");
geometry->LinkEndChild(new TiXmlText(txt.str().c_str()));
newArb->LinkEndChild(geometry);
}
root->LinkEndChild(newArb);
}
bool ok=doc.SaveFile(app->getXmlFile());
if (!ok)
{
OSTRINGSTREAM err;
err<<"tinyXml error for file " << app->getXmlFile();
if (doc.Error())
err <<" at line " << doc.ErrorRow() << ", column " << doc.ErrorCol() << ": " << doc.ErrorDesc();
logger->addError(err);
err <<"\n";
return false;
}
else return true;
}
YConsoleManager::YConsoleManager(int argc, char* argv[]) : Manager()
{
#if defined(WIN32)
__pManager = (Manager*) this;
#endif
bShouldRun = false;
// Setup resource finder
yarp::os::ResourceFinder rf;
rf.setVerbose(false);
rf.setDefaultContext("yarpmanager");
rf.setDefaultConfigFile(DEF_CONFIG_FILE);
rf.configure(argc, argv);
yarp::os::Property config;
config.fromString(rf.toString());
if(config.check("help"))
{
cout<<HELP_MESSAGE<<endl;
return;
}
if(config.check("version"))
{
cout<<VERSION_MESSAGE<<endl;
return;
}
/**
* preparing default options
*/
std::string inifile=rf.findFile("from").c_str();
std::string inipath="";
size_t lastSlash=inifile.rfind("/");
if (lastSlash!=std::string::npos)
inipath=inifile.substr(0, lastSlash+1);
else
{
lastSlash=inifile.rfind("\\");
if (lastSlash!=std::string::npos)
inipath=inifile.substr(0, lastSlash+1);
}
// if(!config.check("ymanagerini_dir"))
// config.put("ymanagerini_dir", inipath.c_str());
if(!config.check("apppath"))
config.put("apppath", "./");
if(!config.check("modpath"))
config.put("modpath", "./");
if(!config.check("respath"))
config.put("respath", "./");
if(!config.check("load_subfolders"))
config.put("load_subfolders", "no");
if(!config.check("watchdog"))
config.put("watchdog", "no");
if(!config.check("module_failure"))
config.put("module_failure", "prompt");
if(!config.check("connection_failure"))
config.put("connection_failure", "prompt");
if(!config.check("auto_connect"))
config.put("auto_connect", "no");
if(!config.check("auto_dependency"))
config.put("auto_dependency", "no");
if(!config.check("color_theme"))
config.put("color_theme", "light");
/**
* Set configuration
*/
if(config.find("color_theme").asString() == "dark")
setColorTheme(THEME_DARK);
else if(config.find("color_theme").asString() == "light")
setColorTheme(THEME_LIGHT);
else
setColorTheme(THEME_NONE);
if(config.find("watchdog").asString() == "yes")
enableWatchDog();
else
disableWatchod();
if(config.find("auto_dependency").asString() == "yes")
enableAutoDependency();
else
disableAutoDependency();
if(config.find("auto_connect").asString() == "yes")
enableAutoConnect();
else
disableAutoConnect();
if(!config.check("silent"))
{
cout<<endl<<OKGREEN<<LOGO_MESSAGE<<ENDC<<endl;
cout<<endl<<WELCOME_MESSAGE<<endl<<endl;
}
if(config.check("modpath"))
{
string strPath;
stringstream modPaths(config.find("modpath").asString().c_str());
while (getline(modPaths, strPath, ';'))
{
trimString(strPath);
if (!isAbsolute(strPath.c_str()))
strPath=inipath+strPath;
addModules(strPath.c_str());
}
}
if(config.check("respath"))
{
string strPath;
stringstream resPaths(config.find("respath").asString().c_str());
while (getline(resPaths, strPath, ';'))
{
trimString(strPath);
if (!isAbsolute(strPath.c_str()))
strPath=inipath+strPath;
addResources(strPath.c_str());
}
}
ErrorLogger* logger = ErrorLogger::Instance();
if(config.check("apppath"))
{
string strPath;
stringstream appPaths(config.find("apppath").asString().c_str());
while (getline(appPaths, strPath, ';'))
{
trimString(strPath);
if (!isAbsolute(strPath.c_str()))
strPath=inipath+strPath;
if(config.find("load_subfolders").asString() == "yes")
{
if(!loadRecursiveApplications(strPath.c_str()))
logger->addError("Cannot load the applications from " + strPath);
}
else
addApplications(strPath.c_str());
}
}
reportErrors();
#ifdef WITH_READLINE
updateAppNames(&appnames);
#endif
#if defined(WIN32)
ACE_OS::signal(SIGINT, (ACE_SignalHandler) YConsoleManager::onSignal);
ACE_OS::signal(SIGBREAK, (ACE_SignalHandler) YConsoleManager::onSignal);
ACE_OS::signal(SIGTERM, (ACE_SignalHandler) YConsoleManager::onSignal);
#else
struct sigaction new_action, old_action;
/* Set up the structure to specify the new action. */
new_action.sa_handler = YConsoleManager::onSignal;
sigemptyset (&new_action.sa_mask);
new_action.sa_flags = 0;
sigaction (SIGINT, NULL, &old_action);
if (old_action.sa_handler != SIG_IGN)
sigaction (SIGINT, &new_action, NULL);
sigaction (SIGHUP, NULL, &old_action);
if (old_action.sa_handler != SIG_IGN)
sigaction (SIGHUP, &new_action, NULL);
sigaction (SIGTERM, NULL, &old_action);
if (old_action.sa_handler != SIG_IGN)
sigaction (SIGTERM, &new_action, NULL);
#endif
if(config.check("application"))
{
XmlAppLoader appload(config.find("application").asString().c_str());
if(appload.init())
{
Application* application = appload.getNextApplication();
if(application)
{
// add this application to the manager if does not exist
if(!getKnowledgeBase()->getApplication(application->getName()))
getKnowledgeBase()->addApplication(application);
#ifdef WITH_READLINE
updateAppNames(&appnames);
#endif
if(loadApplication(application->getName()))
{
if(!config.check("silent"))
which();
if(config.check("assign_hosts"))
loadBalance();
if(config.check("run"))
{
if(config.check("connect"))
enableAutoConnect();
bShouldRun = run();
}
else if(config.check("connect"))
connect();
if(config.check("disconnect"))
disconnect();
if(config.check("stop"))
{
ExecutablePContainer modules = getExecutables();
ExecutablePIterator moditr;
unsigned int id = 0;
bShouldRun = false;
for(moditr=modules.begin(); moditr<modules.end(); moditr++)
{
if(running(id))
stop(id);
id++;
}
bShouldRun = !suspended();
}
if(config.check("kill"))
{
bShouldRun = false;
kill();
}
if(config.check("check_con"))
checkConnections();
if(config.check("check_state"))
checkStates();
if(config.check("check_dep"))
if(checkDependency())
cout<<INFO<<"All of resource dependencies are satisfied."<<ENDC<<endl;
}
}
}
if(!config.check("silent"))
reportErrors();
}
if(!config.check("exit"))
YConsoleManager::myMain();
}
bool BinaryExpParser::checkExpression(std::string& strexp)
{
ErrorLogger* logger = ErrorLogger::Instance();
if(std::count(strexp.begin(), strexp.end(), '(') !=
std::count(strexp.begin(), strexp.end(), ')'))
{
logger->addError("Incorrect expression format! (parentheses do not match)");
return false;
}
if(std::count(strexp.begin(), strexp.end(), IMPLY) != 1 )
{
logger->addError("Incorrect expression format! (no implication ':' found)");
return false;
}
// erassing all the sapces
strexp.erase(std::remove_if(strexp.begin(), strexp.end(), ::isspace), strexp.end());
if(!strexp.size())
{
logger->addError("Empty expression!");
return false;
}
// making a copy of strexp and checking more
string dummy = strexp;
// removing all pranteses
dummy.erase(std::remove_if(dummy.begin(), dummy.end(), isParentheses), dummy.end());
leftOpr = dummy.substr(0, dummy.find(IMPLY));
if(!leftOpr.size())
{
logger->addError("Missing operand before ':'");
return false;
}
if(dummy.find(IMPLY) == (dummy.size()-1))
{
logger->addError("Missing operands after ':'");
return false;
}
dummy.erase(0, dummy.find(IMPLY)+1);
if(dummy.find(leftOpr) != string::npos)
{
std::string msg;
msg = "recursive assignment of operand '" + leftOpr + "'";
logger->addError(msg.c_str());
return false;
}
// checking '~'
size_t n = dummy.find(EXPNOT);
while(n != string::npos)
{
OSTRINGSTREAM msg;
bool bError = ((n+1) == dummy.length()); // empty operand after ~
if((n+1) < dummy.length())
{
bError |= (dummy[n+1] == EXPAND); // operator & after ~
bError |= (dummy[n+1] == EXPOR); // operand | after ~
}
if(n != 0)
bError |= (dummy[n-1] != EXPAND) && (dummy[n-1] != EXPOR); // an operand before ~
if(bError)
{
msg<<"Incorrect expression format of '~' at "<<(int)n;
logger->addError(msg.str().c_str());
return false;
}
n = dummy.find(EXPNOT, n+1);
}
// checking '| &'
n = dummy.find_first_of("&|");
while(n != string::npos)
{
OSTRINGSTREAM msg;
bool bError = ((n+1) == dummy.length()); // empty operand after & or |
if((n+1) < dummy.length())
{
bError |= (dummy[n+1] == EXPAND); // operator & after & or |
bError |= (dummy[n+1] == EXPOR); // operand | after & or |
}
bError |= (n == 0); // empty operand before & or |
if(n != 0)
{
bError |= (dummy[n-1] == EXPAND); // operator & before & or |
bError |= (dummy[n-1] == EXPOR); // operand | before & or |
bError |= (dummy[n-1] == EXPOR); // operand ~ before & or |
}
if(bError)
{
msg<<"Incorrect expression format of '&' or '|' at "<<(int)n;
logger->addError(msg.str().c_str());
return false;
}
n = dummy.find_first_of("&|", n+1);
}
// at the end
strexp.erase(0, strexp.find(IMPLY)+1);
return true;
}
bool XmlResLoader::parsXml(const char* szFile)
{
computers.clear();
ErrorLogger* logger = ErrorLogger::Instance();
TiXmlDocument doc(szFile);
if(!doc.LoadFile())
{
OSTRINGSTREAM err;
err<<"Syntax error while loading "<<szFile<<" at line "\
<<doc.ErrorRow()<<": ";
err<<doc.ErrorDesc();
logger->addError(err);
return false;
}
/* retrieving root module */
TiXmlElement *root = doc.RootElement();
if(!root)
{
OSTRINGSTREAM err;
err<<"Syntax error while loading "<<szFile<<" . ";
err<<"No root element.";
logger->addError(err);
return false;
}
if(!compareString(root->Value(), "resources"))
{
/*
OSTRINGSTREAM msg;
msg<<szFile<<" is not a resource descriptor file.";
logger->addWarning(msg);
*/
return false;
}
/* retrieving all computers descriptions */
for(TiXmlElement* restag = root->FirstChildElement();
restag; restag = restag->NextSiblingElement())
{
/* retrieving a computer resource */
if(compareString(restag->Value(), "computer"))
{
Computer computer;
computer.setXmlFile(szFile);
for(TiXmlElement* comptag = restag->FirstChildElement();
comptag; comptag = comptag->NextSiblingElement())
{
/* retrieving name */
if(compareString(comptag->Value(), "name"))
computer.setName(comptag->GetText());
/* retrieving description */
if(compareString(comptag->Value(), "description"))
computer.setDescription(comptag->GetText());
/* retrieving disablility */
if(compareString(comptag->Value(), "disable"))
{
if(compareString(comptag->GetText(), "yes"))
computer.setDisable(true);
}
// platform
if(compareString(comptag->Value(), "platform"))
{
Platform os;
TiXmlElement* element;
if((element = (TiXmlElement*) comptag->FirstChild("name")))
os.setName(element->GetText());
else
{
OSTRINGSTREAM war;
war<<"Platform from "<<szFile<<" at line "\
<<comptag->Row()<<" has no name.";
logger->addWarning(war);
}
if((element = (TiXmlElement*) comptag->FirstChild("distribution")))
os.setDistribution(element->GetText());
if((element = (TiXmlElement*) comptag->FirstChild("release")))
os.setRelease(element->GetText());
computer.setPlatform(os);
} // end of platform tag
// memory
if(compareString(comptag->Value(), "memory"))
{
Memory mem;
TiXmlElement* element;
if((element = (TiXmlElement*) comptag->FirstChild("total_space")))
mem.setTotalSpace((Capacity)atol(element->GetText()));
computer.setMemory(mem);
} // end of memory tag
// storage
if(compareString(comptag->Value(), "storage"))
{
Storage stg;
TiXmlElement* element;
if((element = (TiXmlElement*) comptag->FirstChild("total_space")))
stg.setTotalSpace((Capacity)atol(element->GetText()));
computer.setStorage(stg);
} // end of storage tag
// processor
if(compareString(comptag->Value(), "processor"))
{
Processor proc;
TiXmlElement* element;
if((element = (TiXmlElement*) comptag->FirstChild("architecture")))
proc.setArchitecture(element->GetText());
if((element = (TiXmlElement*) comptag->FirstChild("model")))
proc.setModel(element->GetText());
if((element = (TiXmlElement*) comptag->FirstChild("cores")))
proc.setCores((size_t)atoi(element->GetText()));
if((element = (TiXmlElement*) comptag->FirstChild("frequency")))
proc.setFrequency(atof(element->GetText()));
computer.setProcessor(proc);
} // end of processor tag
// network
if(compareString(comptag->Value(), "network"))
{
Network net;
TiXmlElement* element;
if((element = (TiXmlElement*) comptag->FirstChild("ip4")))
net.setIP4(element->GetText());
if((element = (TiXmlElement*) comptag->FirstChild("ip6")))
net.setIP6(element->GetText());
if((element = (TiXmlElement*) comptag->FirstChild("mac")))
net.setMAC(element->GetText());
computer.setNetwork(net);
} // end of network tag
// gpu
if(compareString(comptag->Value(), "gpu"))
{
GPU gpu;
TiXmlElement* element;
if((element = (TiXmlElement*) comptag->FirstChild("name")))
gpu.setName(element->GetText());
if((element = (TiXmlElement*) comptag->FirstChild("capability")))
gpu.setCompCompatibility(element->GetText());
if((element = (TiXmlElement*) comptag->FirstChild("cores")))
gpu.setCores((size_t)atoi(element->GetText()));
if((element = (TiXmlElement*) comptag->FirstChild("frequency")))
gpu.setFrequency(atof(element->GetText()));
if((element = (TiXmlElement*) comptag->FirstChild("register_block")))
gpu.setResgisterPerBlock((size_t)atoi(element->GetText()));
if((element = (TiXmlElement*) comptag->FirstChild("thread_block")))
gpu.setThreadPerBlock((size_t)atoi(element->GetText()));
if((element = (TiXmlElement*) comptag->FirstChild("overlap")))
{
if(compareString(element->GetText(), "yes"))
gpu.setOverlap(true);
else
gpu.setOverlap(false);
}
// global memory
if(comptag->FirstChild("global_memory"))
{
TiXmlElement* element;
element = (TiXmlElement*) comptag->FirstChild("global_memory");
if((element = (TiXmlElement*) element->FirstChild("total_space")))
gpu.setGlobalMemory((Capacity)atol(element->GetText()));
} // end of global memory tag
// shared memory
if(comptag->FirstChild("shared_memory"))
{
TiXmlElement* element;
element = (TiXmlElement*) comptag->FirstChild("shared_memory");
if((element = (TiXmlElement*) element->FirstChild("total_space")))
gpu.setSharedMemory((Capacity)atol(element->GetText()));
} // end of shared memory tag
// constant memory
if(comptag->FirstChild("constant_memory"))
{
TiXmlElement* element;
element = (TiXmlElement*) comptag->FirstChild("constant_memory");
if((element = (TiXmlElement*) element->FirstChild("total_space")))
gpu.setConstantMemory((Capacity)atol(element->GetText()));
} // end of shared memory tag
computer.addPeripheral(gpu);
} // end of gpu tag
} // end of computer loop
computers.push_back(computer);
} // end of if computer
} // end of resources
return true;
}
void Ready::startModule(void)
{
ErrorLogger* logger = ErrorLogger::Instance();
// wait for priority ports if auto connecte is enabled
if(executable->autoConnect())
{
bAborted = false;
while(!checkPriorityPorts())
{
yarp::os::Time::delay(1.0);
if(bAborted) return;
}
}
// finding maximum resource-waiting timeout
ResourceIterator itr;
double maxTimeout = 0;
for(itr=executable->getResources().begin();
itr!=executable->getResources().end(); itr++)
{
if((*itr).getTimeout() > maxTimeout)
maxTimeout = (*itr).getTimeout();
}
// waiting for resources
double base = yarp::os::Time::now();
while(!checkResources())
{
if(bAborted) return;
if(timeout(base, maxTimeout))
{
OSTRINGSTREAM msg;
msg<<"cannot run "<<executable->getCommand()<<" on "<<executable->getHost();
msg<<" : Timeout while waiting for some resources.";
logger->addError(msg);
castEvent(EventFactory::startModuleEventFailed);
executable->getEvent()->onExecutableDied(executable);
return;
}
}
if(!executable->getBroker()->start())
{
OSTRINGSTREAM msg;
msg<<"cannot run "<<executable->getCommand()<<" on "<<executable->getHost();
if(executable->getBroker()->error())
msg<<" : "<<executable->getBroker()->error();
logger->addError(msg);
castEvent(EventFactory::startModuleEventFailed);
executable->getEvent()->onExecutableDied(executable);
}
else
{
castEvent(EventFactory::startModuleEventOk);
executable->getEvent()->onExecutableStart(executable);
}
}
Application* XmlAppLoader::parsXml(const char* szFile)
{
app.clear();
ErrorLogger* logger = ErrorLogger::Instance();
TiXmlDocument doc(szFile);
if(!doc.LoadFile())
{
OSTRINGSTREAM err;
err<<"Syntax error while loading "<<szFile<<" at line "\
<<doc.ErrorRow()<<": ";
err<<doc.ErrorDesc();
logger->addError(err);
return NULL;
}
/* retrieving root element */
TiXmlElement *root = doc.RootElement();
if(!root)
{
OSTRINGSTREAM err;
err<<"Syntax error while loading "<<szFile<<" . ";
err<<"No root element.";
logger->addError(err);
return NULL;
}
if(!compareString(root->Value(), "application"))
{
//OSTRINGSTREAM err;
//err<<"File "<<szFile<<" has no tag <application>.";
//logger->addError(err);
return NULL;
}
/* retrieving name */
TiXmlElement* name = (TiXmlElement*) root->FirstChild("name");
if(!name || !name->GetText())
{
OSTRINGSTREAM err;
err<<"Module from "<<szFile<<" has no name.";
logger->addError(err);
//return NULL;
}
app.setXmlFile(szFile);
if(name)
{
string strname = name->GetText();
for(unsigned int i=0; i<strname.size(); i++)
if(strname[i] == ' ')
strname[i] = '_';
app.setName(strname.c_str());
}
/* retrieving description */
TiXmlElement* desc;
if((desc = (TiXmlElement*) root->FirstChild("description")))
app.setDescription(desc->GetText());
/* retrieving version */
TiXmlElement* ver;
if((ver = (TiXmlElement*) root->FirstChild("version")))
app.setVersion(ver->GetText());
/*
* TODO: setting prefix of the main application is inactivated.
* Check this should be supported in future or not!
*/
/*
//retrieving application prefix
TiXmlElement* pref;
if((pref = (TiXmlElement*) root->FirstChild("prefix")))
app.setPrefix(pref->GetText());
*/
/* retrieving authors information*/
TiXmlElement* authors;
if((authors = (TiXmlElement*) root->FirstChild("authors")))
for(TiXmlElement* ath = authors->FirstChildElement(); ath;
ath = ath->NextSiblingElement())
{
if(compareString(ath->Value(), "author"))
{
Author author;
if(ath->GetText())
author.setName(ath->GetText());
if(ath->Attribute("email"))
author.setEmail(ath->Attribute("email"));
app.addAuthor(author);
}
else
{
OSTRINGSTREAM war;
war<<"Unrecognized tag from "<<szFile<<" at line "\
<<ath->Row()<<".";
logger->addWarning(war);
}
}
/* retrieving resources information*/
TiXmlElement* resources;
if((resources = (TiXmlElement*) root->FirstChild("dependencies")))
for(TiXmlElement* res = resources->FirstChildElement(); res;
res = res->NextSiblingElement())
{
if(compareString(res->Value(), "port"))
{
if(res->GetText())
{
ResYarpPort resource(res->GetText());
resource.setPort(res->GetText());
app.addResource(resource);
}
}
else
{
OSTRINGSTREAM war;
war<<"Unrecognized tag from "<<szFile<<" at line "\
<<res->Row()<<".";
logger->addWarning(war);
}
}
/* retrieving modules information*/
for(TiXmlElement* mod = root->FirstChildElement(); mod;
mod = mod->NextSiblingElement())
{
if(compareString(mod->Value(), "module"))
{
TiXmlElement* element;
if((element = (TiXmlElement*) mod->FirstChild("name")))
{
ModuleInterface module(element->GetText());
if((element = (TiXmlElement*) mod->FirstChild("node")))
module.setHost(element->GetText());
if((element = (TiXmlElement*) mod->FirstChild("parameters")))
module.setParam(element->GetText());
if((element = (TiXmlElement*) mod->FirstChild("stdio")))
module.setStdio(element->GetText());
if((element = (TiXmlElement*) mod->FirstChild("workdir")))
module.setWorkDir(element->GetText());
if((element = (TiXmlElement*) mod->FirstChild("deployer")))
module.setBroker(element->GetText());
if((element = (TiXmlElement*) mod->FirstChild("prefix")))
module.setPrefix(element->GetText());
if((element = (TiXmlElement*) mod->FirstChild("rank")))
module.setRank(atoi(element->GetText()));
#ifdef WITH_GEOMETRY
element = (TiXmlElement*) mod->FirstChild("geometry");
if(element && element->GetText())
{
yarp::os::Property prop(element->GetText());
GraphicModel model;
GyPoint pt;
if(prop.check("Pos"))
{
pt.x = prop.findGroup("Pos").find("x").asDouble();
pt.y = prop.findGroup("Pos").find("y").asDouble();
model.points.push_back(pt);
module.setModelBase(model);
}
}
#endif
/* retrieving resources information*/
TiXmlElement* resources;
if((resources = (TiXmlElement*) mod->FirstChild("dependencies")))
{
for(TiXmlElement* res = resources->FirstChildElement(); res;
res = res->NextSiblingElement())
{
if(compareString(res->Value(), "port"))
{
if(res->GetText())
{
ResYarpPort resource(res->GetText());
resource.setPort(res->GetText());
if(res->Attribute("timeout"))
resource.setTimeout(atof(res->Attribute("timeout")));
if(res->Attribute("request"))
resource.setRequest(res->Attribute("request"));
if(res->Attribute("reply"))
resource.setReply(res->Attribute("reply"));
module.addResource(resource);
}
}
else
{
OSTRINGSTREAM war;
war<<"Unrecognized tag from "<<szFile<<" at line "\
<<res->Row()<<".";
logger->addWarning(war);
}
}
}
/* retrieving portmaps */
for(TiXmlElement* map = mod->FirstChildElement(); map;
map = map->NextSiblingElement())
if(compareString(map->Value(), "portmap"))
{
TiXmlElement* first;
TiXmlElement* second;
if((first=(TiXmlElement*) map->FirstChild("old")) &&
(second=(TiXmlElement*) map->FirstChild("new")) )
{
Portmap portmap(first->GetText(), second->GetText());
module.addPortmap(portmap);
}
}
app.addImodule(module);
}
else
{
OSTRINGSTREAM war;
war<<"Module from "<<szFile<<" at line "\
<<mod->Row()<<" has not name tag.";
logger->addWarning(war);
}
}
}
/* retrieving embedded application information*/
for(TiXmlElement* embApp = root->FirstChildElement(); embApp;
embApp = embApp->NextSiblingElement())
{
if(compareString(embApp->Value(), "application"))
{
TiXmlElement* name;
TiXmlElement* prefix;
if((name=(TiXmlElement*) embApp->FirstChild("name")))
{
ApplicationInterface IApp(name->GetText());
if((prefix=(TiXmlElement*) embApp->FirstChild("prefix")))
IApp.setPrefix(prefix->GetText());
#ifdef WITH_GEOMETRY
TiXmlElement* element = (TiXmlElement*) embApp->FirstChild("geometry");
if(element && element->GetText())
{
yarp::os::Property prop(element->GetText());
GraphicModel model;
GyPoint pt;
if(prop.check("Pos"))
{
pt.x = prop.findGroup("Pos").find("x").asDouble();
pt.y = prop.findGroup("Pos").find("y").asDouble();
model.points.push_back(pt);
IApp.setModelBase(model);
}
}
#endif
app.addIapplication(IApp);
}
else
{
OSTRINGSTREAM war;
war<<"Incomplete application tag from "<<szFile<<" at line "\
<<embApp->Row()<<". (no name)";
logger->addWarning(war);
}
}
}
/* retrieving arbitrator information*/
for(TiXmlElement* arb = root->FirstChildElement(); arb;
arb = arb->NextSiblingElement())
{
if(compareString(arb->Value(), "arbitrator"))
{
TiXmlElement* port = (TiXmlElement*) arb->FirstChild("port");
if(port && port->GetText())
{
Arbitrator arbitrator(port->GetText());
// retrieving rules
for(TiXmlElement* rule = arb->FirstChildElement(); rule;
rule = rule->NextSiblingElement())
{
if(compareString(rule->Value(), "rule"))
{
if(rule->Attribute("connection"))
arbitrator.addRule(rule->Attribute("connection"), rule->GetText());
}
}
#ifdef WITH_GEOMETRY
TiXmlElement* geometry = (TiXmlElement*) arb->FirstChild("geometry");
if(geometry && geometry->GetText())
{
yarp::os::Property prop(geometry->GetText());
GraphicModel model;
if(prop.check("Pos"))
{
yarp::os::Bottle pos = prop.findGroup("Pos");
for(int i=1; i<pos.size(); i++)
{
GyPoint pt;
pt.x = pos.get(i).find("x").asDouble();
pt.y = pos.get(i).find("y").asDouble();
model.points.push_back(pt);
}
arbitrator.setModelBase(model);
}
}
#endif
app.addArbitrator(arbitrator);
}
else
{
OSTRINGSTREAM war;
war<<"Incomplete arbitrator tag from "<<szFile<<" at line "\
<<arb->Row()<<".";
logger->addWarning(war);
}
}
}
/* retrieving connections information*/
for(TiXmlElement* cnn = root->FirstChildElement(); cnn;
cnn = cnn->NextSiblingElement())
{
if(compareString(cnn->Value(), "connection"))
{
TiXmlElement* from = (TiXmlElement*) cnn->FirstChild("from");
TiXmlElement* to = (TiXmlElement*) cnn->FirstChild("to");
if(!from)
from = (TiXmlElement*) cnn->FirstChild("output");
if(!to)
to = (TiXmlElement*) cnn->FirstChild("input");
TiXmlElement* protocol;
if(from && to)
{
string strCarrier;
if((protocol=(TiXmlElement*) cnn->FirstChild("protocol")) &&
protocol->GetText())
strCarrier = protocol->GetText();
Connection connection(from->GetText(),
to->GetText(),
strCarrier.c_str());
if(from->Attribute("external") &&
compareString(from->Attribute("external"), "true"))
{
connection.setFromExternal(true);
if(from->GetText())
{
ResYarpPort resource(from->GetText());
resource.setPort(from->GetText());
app.addResource(resource);
}
}
if(to->Attribute("external") &&
compareString(to->Attribute("external"), "true"))
{
if(to->GetText())
{
connection.setToExternal(true);
ResYarpPort resource(to->GetText());
resource.setPort(to->GetText());
app.addResource(resource);
}
}
//Connections which have the same port name in Port Resources
// should also be set as external
for(int i=0; i<app.resourcesCount(); i++)
{
ResYarpPort res = app.getResourceAt(i);
if(compareString(res.getPort(), connection.from()))
connection.setFromExternal(true);
if(compareString(res.getPort(), connection.to()))
connection.setToExternal(true);
}
if(cnn->Attribute("id"))
connection.setId(cnn->Attribute("id"));
if(cnn->Attribute("persist") &&
compareString(cnn->Attribute("persist"), "true"))
connection.setPersistent(true);
#ifdef WITH_GEOMETRY
TiXmlElement* geometry = (TiXmlElement*) cnn->FirstChild("geometry");
if(geometry && geometry->GetText())
{
yarp::os::Property prop(geometry->GetText());
GraphicModel model;
if(prop.check("Pos"))
{
yarp::os::Bottle pos = prop.findGroup("Pos");
for(int i=1; i<pos.size(); i++)
{
GyPoint pt;
pt.x = pos.get(i).find("x").asDouble();
pt.y = pos.get(i).find("y").asDouble();
model.points.push_back(pt);
}
connection.setModelBase(model);
}
}
#endif
app.addConnection(connection);
}
else
{
OSTRINGSTREAM war;
war<<"Incomplete connection tag from "<<szFile<<" at line "\
<<cnn->Row()<<".";
logger->addWarning(war);
}
}
}
return &app;
}
bool TemplateSimplifier::simplifyTemplateInstantiations(
TokenList& tokenlist,
ErrorLogger& errorlogger,
const Settings *_settings,
const Token *tok,
std::list<Token *> &templateInstantiations,
std::set<std::string> &expandedtemplates)
{
// this variable is not used at the moment. The intention was to
// allow continuous instantiations until all templates has been expanded
//bool done = false;
// Contains tokens such as "T"
std::vector<const Token *> typeParametersInDeclaration;
for (tok = tok->tokAt(2); tok && tok->str() != ">"; tok = tok->next()) {
if (Token::Match(tok, "%var% ,|>"))
typeParametersInDeclaration.push_back(tok);
}
// bail out if the end of the file was reached
if (!tok)
return false;
// get the position of the template name
int namepos = TemplateSimplifier::getTemplateNamePosition(tok);
if (namepos == -1) {
// debug message that we bail out..
if (_settings->debugwarnings) {
std::list<const Token *> callstack(1, tok);
errorlogger.reportErr(ErrorLogger::ErrorMessage(callstack, &tokenlist, Severity::debug, "debug", "simplifyTemplates: bailing out", false));
}
return false;
}
// name of template function/class..
const std::string name(tok->strAt(namepos));
const bool isfunc(tok->strAt(namepos + 1) == "(");
// locate template usage..
std::string::size_type amountOftemplateInstantiations = templateInstantiations.size();
unsigned int recursiveCount = 0;
bool instantiated = false;
for (std::list<Token *>::const_iterator iter2 = templateInstantiations.begin(); iter2 != templateInstantiations.end(); ++iter2) {
if (amountOftemplateInstantiations != templateInstantiations.size()) {
amountOftemplateInstantiations = templateInstantiations.size();
simplifyCalculations(tokenlist.front());
++recursiveCount;
if (recursiveCount > 100) {
// bail out..
break;
}
}
Token * const tok2 = *iter2;
if (tok2->str() != name)
continue;
if (Token::Match(tok2->previous(), "[;{}=]") &&
!TemplateSimplifier::instantiateMatch(*iter2, name, typeParametersInDeclaration.size(), isfunc ? "(" : "*| %var%"))
continue;
// New type..
std::vector<const Token *> typesUsedInTemplateInstantiation;
std::string typeForNewNameStr;
std::string templateMatchPattern(name + " < ");
unsigned int indentlevel = 0;
for (const Token *tok3 = tok2->tokAt(2); tok3 && (indentlevel > 0 || tok3->str() != ">"); tok3 = tok3->next()) {
// #2648 - unhandled parentheses => bail out
// #2721 - unhandled [ => bail out
if (tok3->str() == "(" || tok3->str() == "[") {
typeForNewNameStr.clear();
break;
}
if (!tok3->next()) {
typeForNewNameStr.clear();
break;
}
if (Token::Match(tok3->tokAt(-2), "[<,] %var% <") && templateParameters(tok3) > 0)
++indentlevel;
else if (indentlevel > 0 && Token::Match(tok3, "> [,>]"))
--indentlevel;
else if (indentlevel > 0 && tok3->str() == ">>") {
if (indentlevel == 1) {
templateMatchPattern += '>';
typeForNewNameStr += '>';
break;
}
indentlevel -= 2;
}
templateMatchPattern += (tok3->str() == ">>") ? std::string("> >") : tok3->str();
templateMatchPattern += ' ';
if (indentlevel == 0 && Token::Match(tok3->previous(), "[<,]"))
typesUsedInTemplateInstantiation.push_back(tok3);
// add additional type information
if (tok3->str() != "class") {
if (tok3->isUnsigned())
typeForNewNameStr += "unsigned";
else if (tok3->isSigned())
typeForNewNameStr += "signed";
if (tok3->isLong())
typeForNewNameStr += "long";
typeForNewNameStr += tok3->str();
}
}
templateMatchPattern += ">";
const std::string typeForNewName(typeForNewNameStr);
if (typeForNewName.empty() || typeParametersInDeclaration.size() != typesUsedInTemplateInstantiation.size()) {
if (_settings->debugwarnings) {
std::list<const Token *> callstack(1, tok);
errorlogger.reportErr(ErrorLogger::ErrorMessage(callstack, &tokenlist, Severity::debug, "debug",
"Failed to instantiate template. The checking continues anyway.", false));
}
if (typeForNewName.empty())
continue;
break;
}
// New classname/funcname..
const std::string newName(name + "<" + typeForNewName + ">");
if (expandedtemplates.find(newName) == expandedtemplates.end()) {
expandedtemplates.insert(newName);
TemplateSimplifier::expandTemplate(tokenlist, tok,name,typeParametersInDeclaration,newName,typesUsedInTemplateInstantiation,templateInstantiations);
instantiated = true;
}
// Replace all these template usages..
std::list< std::pair<Token *, Token *> > removeTokens;
for (Token *tok4 = tok2; tok4; tok4 = tok4->next()) {
if (Token::simpleMatch(tok4, templateMatchPattern.c_str())) {
Token * tok5 = tok4->tokAt(2);
unsigned int typeCountInInstantiation = 1U; // There is always at least one type
const Token *typetok = (!typesUsedInTemplateInstantiation.empty()) ? typesUsedInTemplateInstantiation[0] : 0;
unsigned int indentlevel5 = 0; // indentlevel for tok5
while (tok5 && (indentlevel5 > 0 || tok5->str() != ">")) {
if (tok5->str() == "<" && templateParameters(tok5) > 0)
++indentlevel5;
else if (indentlevel5 > 0 && Token::Match(tok5, "> [,>]"))
--indentlevel5;
else if (indentlevel5 == 0) {
if (tok5->str() != ",") {
if (!typetok ||
tok5->isUnsigned() != typetok->isUnsigned() ||
tok5->isSigned() != typetok->isSigned() ||
tok5->isLong() != typetok->isLong()) {
break;
}
typetok = typetok ? typetok->next() : 0;
} else {
typetok = (typeCountInInstantiation < typesUsedInTemplateInstantiation.size()) ? typesUsedInTemplateInstantiation[typeCountInInstantiation] : 0;
++typeCountInInstantiation;
}
}
tok5 = tok5->next();
}
// matching template usage => replace tokens..
// Foo < int > => Foo<int>
if (tok5 && tok5->str() == ">" && typeCountInInstantiation == typesUsedInTemplateInstantiation.size()) {
tok4->str(newName);
for (Token *tok6 = tok4->next(); tok6 != tok5; tok6 = tok6->next()) {
if (tok6->isName())
templateInstantiations.remove(tok6);
}
removeTokens.push_back(std::pair<Token*,Token*>(tok4, tok5->next()));
}
tok4 = tok5;
if (!tok4)
break;
}
}
while (!removeTokens.empty()) {
Token::eraseTokens(removeTokens.back().first, removeTokens.back().second);
removeTokens.pop_back();
}
}
// Template has been instantiated .. then remove the template declaration
return instantiated;
}
bool Arbitrator::validate(void)
{
ErrorLogger* logger = ErrorLogger::Instance();
if(!trainWeights())
return false;
#ifdef WITH_YARPMATH
//#if (GSL_MAJOR_VERSION >= 1 && GSL_MINOR_VERSION >= 14)
int n = alphas.size();
if(n == 0)
return true;
yarp::sig::Matrix A(n, n);
std::map<std::string, std::map<std::string, double> >::iterator itr; // iterating over rows
std::map<std::string, std::map<std::string, double> >::iterator jtr; // iterating over cols
int row = 0;
for(itr=alphas.begin(); itr!=alphas.end(); itr++)
{
std::map<std::string, double>& w = itr->second;
int col = 0;
for(jtr=alphas.begin(); jtr!=alphas.end(); jtr++)
{
std::string opnd = jtr->first;
if(w.find(opnd) != w.end())
A(row,col) = w[opnd];
else
A(row,col) = 0.0;
col++;
}
row++;
}
//printf("%s\n\n", A.toString(1).c_str());
yarp::sig::Vector real;
yarp::sig::Vector img;
yarp::math::eingenValues(A, real, img);
bool bStable = true;
for(size_t i=0; i<real.size(); i++)
{
if((float)fabs(real[i]) >= 1.0)
{
bStable = false;
logger->addError("Inconsistency in logical expressions. This will result an unstable arbitration system!");
break;
}
}
return bStable;
/*
gsl_vector_complex *eval = gsl_vector_complex_alloc(n);
gsl_matrix_complex *evec = gsl_matrix_complex_alloc(n, n);
gsl_eigen_nonsymmv_workspace * w = gsl_eigen_nonsymmv_alloc(n);
gsl_eigen_nonsymmv ((gsl_matrix *)A.getGslMatrix(), eval, evec, w);
bool bStable = true;
for(int i=0; i<n; i++)
{
gsl_complex eval_i = gsl_vector_complex_get (eval, i);
if((float)fabs(GSL_REAL(eval_i)) >= 1.0)
{
bStable = false;
logger->addError("Inconsistency in logical expressions. This will result an unstable arbitration system!");
break;
}
//printf ("eigenvalue = %.2f + %.2fi\n", GSL_REAL(eval_i), GSL_IMAG(eval_i));
}
gsl_eigen_nonsymmv_free(w);
gsl_vector_complex_free(eval);
gsl_matrix_complex_free(evec);
return bStable;
*/
//#else //GSL_VERSION
// logger->addWarning("The version of GNU Scientific Library (GSL) used in libYarpMath is insufficient (GSL_VERSION < 1.14). Your compact logical expression might result an unstable arbitration system!");
// return true;
//#endif //GSL_VERSION
#else //WITH_YARPMATH
logger->addWarning("Yarpmanager is compiled without libYarpMath. Your compact logical expression might result an unstable arbitration system!");
return true;
#endif //WITH_YARPMATH
}
