示例#1
0
文件: manager.cpp 项目: lessc0de/yarp
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;
}
示例#2
0
文件: manager.cpp 项目: lessc0de/yarp
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);
}