/* save new ve_private & ve_root in config */
int VEObj::updateConfig(const char *param, const char *data)
{
int err, rc = 0;
struct vzctl_config *cfg;
cfg = vzctl2_conf_open(confPath().c_str(), VZCTL_CONF_SKIP_GLOBAL, &err);
if (err)
return putErr(MIG_ERR_VZCTL, "vzctl2_conf_open(%s) error: %s",
confPath().c_str(), vzctl2_get_last_error());
if (vzctl2_conf_set_param(cfg, param, data)){
rc = putErr(MIG_ERR_VZCTL, "vzctl2_conf_set_param(%s) error: %s",
param, vzctl2_get_last_error());
goto cleanup;
}
if (vzctl2_conf_save(cfg, confPath().c_str())) {
rc = putErr(MIG_ERR_VZCTL, "vzctl2_conf_save() error: %s",
vzctl2_get_last_error());
goto cleanup;
}
cleanup:
vzctl2_conf_close(cfg);
return rc;
}
RobotOnPlane::RobotOnPlane(ConfigurationManager& params)
: Robot(params)
, m_color(ConfigurationHelper::getString(configurationManager(), confPath() + "color"))
{
if (!m_color.isValid()) {
ConfigurationHelper::throwUserConfigError(confPath() + "color", configurationManager().getValue(confPath() + "color"), "The value of the \"color\" parameter is not a valid color");
}
}
/* For new layout only
After rsync we have 2 config on destination node:
valid, in /etc/ and invalid (rsynced), in private area.
Rewrote config in private by valid config content, remove
config from etc and 'register' VE.
*/
int VEObj::veRegister()
{
int rc;
char tmpfile[PATH_MAX + 1];
struct stat st;
tmpfile[0] = 0;
if (stat(confRealPath().c_str(), &st) == 0) {
/* to save origin config (https://jira.sw.ru/browse/PSBM-10260) */
snprintf(tmpfile, sizeof(tmpfile), "%s.XXXXXX", confRealPath().c_str());
mktemp(tmpfile);
if (rename(confRealPath().c_str(), tmpfile))
return putErr(MIG_ERR_SYSTEM, "rename(%s, %s) : %m", confRealPath().c_str(), tmpfile);
}
/* rewrite private config */
if ((rc = move_file(confRealPath().c_str(), confPath().c_str()))) {
if (tmpfile[0])
rename(tmpfile, confRealPath().c_str());
return rc;
}
if (tmpfile[0])
unlink(tmpfile);
/* vzctl register for new layout VE */
return registration();
}
KheperaMotor::KheperaMotor(ConfigurationManager& params)
: AbstractControllerOutput(params)
, m_kheperaResource(ConfigurationHelper::getString(configurationManager(), confPath() + "khepera"))
{
// Declaring the resources that are needed here
addNotifiedResource(m_kheperaResource);
}
void VEObj::clean()
{
int i;
string path;
for (i = 0; actionScripts[i]; i++) {
path = scriptPath(actionScripts[i]);
unlink(path.c_str());
}
// clean config
::unlink(confPath().c_str());
}
Component::Component(ConfigurationManager& params)
: ResourceAccessor(params, params.getConfigurationNodeForCurrentComponent())
, m_type(params.getTypeForCurrentComponent())
, m_configurationNode(params.getConfigurationNodeForCurrentComponent())
, m_prefix(params.getPrefixForCurrentComponent())
{
// Telling the ConfigurationManager that the object for the group in prefix is about
// to be created
m_confManager->setComponentFromGroupStatusToCreating(m_prefix, this);
// Declaring self as a resource of ours
declareResource(ConfigurationNode::separateLastElement(confPath()).element, this);
}
Khepera::Khepera(World* world, SharedDataWrapper<Shared> shared, ConfigurationManager& params)
: RobotOnPlane(params)
, PhyKhepera(world, shared)
{
setName(m_initialName);
setMatrix(m_initialTm);
doKinematicSimulation(ConfigurationHelper::getBool(configurationManager(), confPath() + "kinematicRobot"));
const bool enableWheels = ConfigurationHelper::getBool(configurationManager(), confPath() + "enableWheels");
const bool enableProximityIR = ConfigurationHelper::getBool(configurationManager(), confPath() + "enableProximityIR");
const bool drawProximityIR = ConfigurationHelper::getBool(configurationManager(), confPath() + "drawProximityIR");
const bool drawIRRays = ConfigurationHelper::getBool(configurationManager(), confPath() + "drawIRRays");
const bool drawIRRaysRange = ConfigurationHelper::getBool(configurationManager(), confPath() + "drawIRRaysRange");
wheelsController()->setEnabled(enableWheels);
proximityIRSensorController()->setEnabled(enableProximityIR);
setProximityIRSensorsGraphicalProperties(drawProximityIR, drawIRRays, drawIRRaysRange);
setDrawFrontMarker(true);
// Setting the color of the robot
setColor(configuredRobotColor());
}
Robot::Robot(ConfigurationManager& params)
: Component(params)
, m_initialName(extractRobotName(configurationManager(), confPath()))
, m_initialTm(extractRobotTranformation(configurationManager(), confPath()))
{
}
void KheperaWheelVelocityMotor::resourceChanged(QString name, Component*, ResourceChangeType changeType)
{
if (name != m_kheperaResource) {
Logger::info("Unknown resource " + name + " for KheperaWheelVelocityMotor in configuration path \"" + confPath() + "\"");
return;
}
if ((changeType == ResourceDeleted) && (changeType == ResourceDeclaredAsNull)) {
m_robot = nullptr;
} else {
m_robot = getResource<PhyKhepera>();
}
}