bool Manager::updateResources(void)
{
YarpBroker broker;
broker.init();
// finding all available yarp ports
vector<string> ports;
broker.getAllPorts(ports);
ResourcePContainer allresources = knowledge.getResources();
for(unsigned int i=0; i<allresources.size(); i++)
{
Computer* comp = dynamic_cast<Computer*>(allresources[i]);
if(updateResource(comp))
{
//set all as unavailable
for(int i=0; i<comp->peripheralCount(); i++)
{
ResYarpPort* res =
dynamic_cast<ResYarpPort*>(&comp->getPeripheralAt(i));
if(res)
res->setAvailability(false);
}
// adding all available yarp ports as peripherals
for(unsigned int i=0; i<ports.size(); i++)
{
ResYarpPort resport;
resport.setName(ports[i].c_str());
resport.setPort(ports[i].c_str());
bool bfound = false;
for(int i=0; i<comp->peripheralCount(); i++)
{
ResYarpPort* res =
dynamic_cast<ResYarpPort*>(&comp->getPeripheralAt(i));
if(res && (string(res->getName()) == string(resport.getName())))
{
res->setAvailability(true);
bfound = true;
break;
}
}
if(!bfound)
comp->addPeripheral(resport);
}
}
} // end of for
return true;
}
bool Manager::loadApplication(const char* szAppName)
{
__CHECK_NULLPTR(szAppName);
if(!allStopped())
{
logger->addError("Please stop current running application first.");
return false;
}
strAppName = szAppName;
// set all resources as unavailable
ResourcePContainer allresources = knowledge.getResources();
for(unsigned int i=0; i<allresources.size(); i++)
{
Computer* comp = dynamic_cast<Computer*>(allresources[i]);
if(comp)
comp->setAvailability(false);
}
return prepare(true);
}