mtsManagerComponentServices.h

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/* -*- Mode: C++; tab-width: 4; indent-tabs-mode: nil; c-basic-offset: 4 -*-    */
/* ex: set filetype=cpp softtabstop=4 shiftwidth=4 tabstop=4 cindent expandtab: */
 
/*
  Author(s):  Min Yang Jung, Peter Kazanzides
  Created on: 2010-08-29
 
  (C) Copyright 2010-2026 Johns Hopkins University (JHU), All Rights Reserved.
 
--- begin cisst license - do not edit ---
 
This software is provided "as is" under an open source license, with
no warranty.  The complete license can be found in license.txt and
http://www.cisst.org/cisst/license.txt.
 
--- end cisst license ---
*/
 
#ifndef _mtsManagerComponentServices_h
#define _mtsManagerComponentServices_h
 
#include <cisstMultiTask/mtsManagerComponentBase.h>
#include <cisstMultiTask/mtsInterfaceRequired.h>
#include <cisstMultiTask/mtsParameterTypes.h>
#include <cisstMultiTask/mtsFunctionRead.h>
#include <cisstMultiTask/mtsFunctionQualifiedRead.h>
#include <cisstMultiTask/mtsFunctionWrite.h>
#include <cisstMultiTask/mtsEventReceiver.h>
 
// Always include last
#include <cisstMultiTask/mtsExport.h>
 
// Allows a component pointer to be passed through command pattern.
// There may be a better way to implement this.
class CISST_EXPORT mtsComponentPointer : public mtsGenericObject
{
    CMN_DECLARE_SERVICES(CMN_DYNAMIC_CREATION, CMN_LOG_ALLOW_DEFAULT)
    mtsComponent * component;
 
public:
    mtsComponentPointer() : component(0) {}
    mtsComponentPointer(mtsComponent *cptr) : component(cptr) {}
    ~mtsComponentPointer() {}
    void SetPointer(mtsComponent * cptr) { component = cptr; }
    mtsComponent * GetPointer() const { return component; }
 
    void ToStream(std::ostream & outputStream) const override;
    void SerializeRaw(std::ostream & outputStream) const override;
    void DeSerializeRaw(std::istream & inputStream) override;
};
 
class CISST_EXPORT mtsManagerComponentServices : public cmnGenericObject {
 
    CMN_DECLARE_SERVICES(CMN_NO_DYNAMIC_CREATION, CMN_LOG_ALLOW_DEFAULT)
 
protected:
    mtsInterfaceRequired * InternalInterfaceRequired;

    // Dynamic component management
    struct ManagementStruct {
        mtsFunctionWriteReturn Create;
        mtsFunctionWriteReturn Add;
        mtsFunctionWriteReturn Remove;
        mtsFunctionQualifiedRead Get;
        mtsFunctionWrite Configure;
        mtsFunctionWriteReturn Connect;
        mtsFunctionWriteReturn Disconnect;
        mtsFunctionWrite Start;
        mtsFunctionWrite Stop;
        mtsFunctionWrite Resume;
        mtsFunctionQualifiedRead GetState;     // in: process, component, out: state
        mtsFunctionQualifiedRead LoadLibrary;  // in: process, library name, out: result (bool)
    } ServiceComponentManagement;
 
    // Getters
    struct GetterStruct {
        mtsFunctionRead          GetNamesOfProcesses;
        mtsFunctionQualifiedRead GetNamesOfComponents;         // in: process name, out: components' names
        mtsFunctionQualifiedRead GetDescriptionsOfComponents;  // in: process name, out: components' descriptions
        mtsFunctionQualifiedRead GetNamesOfInterfaces;         // in: component description, out: interfaces' names
        mtsFunctionQualifiedRead GetDescriptionsOfInterfaces;  // in: component description, out: interfaces' descriptions
        mtsFunctionRead          GetListOfConnections;
        mtsFunctionQualifiedRead GetListOfComponentClasses;    // in: process name, out: list of classes
        mtsFunctionQualifiedRead GetInterfaceProvidedDescription;
        mtsFunctionQualifiedRead GetInterfaceRequiredDescription;
    } ServiceGetters;
 
    // Event receivers
    struct EventStruct {
        mtsEventReceiverWrite    AddComponent;
        mtsEventReceiverWrite    AddConnection;
        mtsEventReceiverWrite    RemoveConnection;
        mtsEventReceiverWrite    ChangeState;
    } EventReceivers;
 
    // private function used by WaitFor methods.
    bool CheckAndWait(const std::vector<std::string> &list, const std::string &key, double &timeoutInSec,
                      mtsEventReceiverWrite &eventReceiver);
public:
    mtsManagerComponentServices(mtsInterfaceRequired * internalInterfaceRequired);
    ~mtsManagerComponentServices() {}
 
    bool InitializeInterfaceInternalRequired(void);
 
    bool IsConnected(void) const
    { return (InternalInterfaceRequired->GetConnectedInterface() != 0); }

    template <class __classType>
    bool AddComponentEventHandler(void (__classType::*method)(const mtsDescriptionComponent &),
                                  __classType * classInstantiation,
                                  mtsEventQueueingPolicy queueingPolicy = MTS_INTERFACE_EVENT_POLICY)
    {
        return (EventReceivers.AddComponent.SetHandler(method, classInstantiation, queueingPolicy) != 0);
    }
 
    template <class __classType>
    bool AddConnectionEventHandler(void (__classType::*method)(const mtsDescriptionConnection &),
                                   __classType * classInstantiation,
                                   mtsEventQueueingPolicy queueingPolicy = MTS_INTERFACE_EVENT_POLICY)
    {
        return (EventReceivers.AddConnection.SetHandler(method, classInstantiation, queueingPolicy) != 0);
    }
 
    template <class __classType>
    bool RemoveConnectionEventHandler(void (__classType::*method)(const mtsDescriptionConnection &),
                                      __classType * classInstantiation,
                                      mtsEventQueueingPolicy queueingPolicy = MTS_INTERFACE_EVENT_POLICY)
    {
        return (EventReceivers.RemoveConnection.SetHandler(method, classInstantiation, queueingPolicy) != 0);
    }
 
    template <class __classType>
    bool ChangeStateEventHandler(void (__classType::*method)(const mtsComponentStateChange &),
                                 __classType * classInstantiation,
                                 mtsEventQueueingPolicy queueingPolicy = MTS_INTERFACE_EVENT_POLICY)
    {
        return (EventReceivers.ChangeState.SetHandler(method, classInstantiation, queueingPolicy) != 0);
    }


    bool ComponentCreate(const std::string & className, const std::string & componentName) const;
    bool ComponentCreate(const std::string & processName, const std::string & className,
                         const std::string & componentName) const;
 
    bool ComponentCreate(const std::string & className, const mtsGenericObject & constructorArg) const;
    bool ComponentCreate(
        const std::string& processName, const std::string & className, const mtsGenericObject & constructorArg) const;
 
    bool ComponentAdd(const mtsComponent *component) const;
    bool ComponentRemove(const mtsComponent *component) const;
    bool ComponentRemove(const std::string &componentName) const;
    mtsComponent *ComponentGet(const std::string &componentName) const;
 
    bool ComponentConfigure(const std::string & componentName, const std::string & configString) const;
    bool ComponentConfigure(
        const std::string& processName, const std::string & componentName, const std::string & configString) const;
 
    bool Connect(const std::string & clientComponentName, const std::string & clientInterfaceName,
                 const std::string & serverComponentName, const std::string & serverInterfaceName) const;
    bool Connect(const std::string & clientProcessName,
                 const std::string & clientComponentName, const std::string & clientInterfaceName,
                 const std::string & serverProcessName,
                 const std::string & serverComponentName, const std::string & serverInterfaceName) const;
    bool Connect(const mtsDescriptionConnection & connection) const;
 
    bool Disconnect(
        const std::string & clientComponentName, const std::string & clientInterfaceName,
        const std::string & serverComponentName, const std::string & serverInterfaceName) const;
    bool Disconnect(
        const std::string & clientProcessName,
        const std::string & clientComponentName, const std::string & clientInterfaceName,
        const std::string & serverProcessName,
        const std::string & serverComponentName, const std::string & serverInterfaceName) const;
    bool Disconnect(const mtsDescriptionConnection & connection) const;
    bool Disconnect(ConnectionIDType connectionID) const;
 
    bool ComponentStart(const std::string & componentName, const double delayInSecond) const;
    bool ComponentStart(const std::string & componentName) const
         { return ComponentStart(componentName, 0.0); }
    bool ComponentStart(const std::string& processName, const std::string & componentName,
                        const double delayInSecond) const;
    bool ComponentStart(const std::string& processName, const std::string & componentName) const
         { return ComponentStart(processName, componentName, 0.0); }
 
 
    bool ComponentStop(const std::string & componentName, const double delayInSecond) const;
    bool ComponentStop(const std::string & componentName) const
         { return ComponentStop(componentName, 0.0); }
    bool ComponentStop(const std::string& processName, const std::string & componentName,
                       const double delayInSecond) const;
    bool ComponentStop(const std::string& processName, const std::string & componentName) const
         { return ComponentStop(processName, componentName, 0.0); }
 
    bool ComponentResume(const std::string & componentName, const double delayInSecond = 0.0) const;
    bool ComponentResume(const std::string& processName, const std::string & componentName,
                         const double delayInSecond = 0.0) const;
 
    mtsComponentState ComponentGetState(const mtsDescriptionComponent &component) const;
    std::string ComponentGetState(const std::string componentName) const;
    std::string ComponentGetState(const std::string & processName, const std::string componentName) const;
 
    std::vector<std::string> GetNamesOfProcesses(void) const;
    std::vector<std::string> GetNamesOfComponents(const std::string & processName) const;
    std::vector<std::string> GetNamesOfComponents(void) const
         { return GetNamesOfComponents(""); }
    std::vector<mtsDescriptionComponent> GetDescriptionsOfComponents(const std::string & processName) const;
    bool GetNamesOfInterfaces(const std::string & processName,
                              const std::string & componentName,
                              std::vector<std::string> & namesOfInterfacesRequired,
                              std::vector<std::string> & namesOfInterfacesProvided) const;
 
    bool GetDescriptionsOfInterfaces(const std::string & processName,
                                     const std::string & componentName,
                                     std::vector<mtsDescriptionInterfaceFullName> & descriptionsRequired,
                                     std::vector<mtsDescriptionInterfaceFullName> & descriptionsProvided) const;
 
    std::vector<mtsDescriptionConnection> GetListOfConnections(void) const;
 
    std::vector<mtsDescriptionComponentClass> GetListOfComponentClasses(const std::string & processName = "") const;
 
    mtsInterfaceProvidedDescription
        GetInterfaceProvidedDescription(const std::string & processName,
                                        const std::string & componentName, const std::string & interfaceName) const;
 
    mtsInterfaceProvidedDescription
        GetInterfaceProvidedDescription(const std::string & componentName, const std::string & interfaceName) const {
        return GetInterfaceProvidedDescription("", componentName, interfaceName);
    }
 
    inline mtsInterfaceProvidedDescription
        GetInterfaceProvidedDescription(const mtsDescriptionInterfaceFullName & interfaceDescription) const {
        return GetInterfaceProvidedDescription(interfaceDescription.ProcessName,
                                               interfaceDescription.ComponentName,
                                               interfaceDescription.InterfaceName);
    }
 
    mtsInterfaceRequiredDescription
        GetInterfaceRequiredDescription(const std::string & processName,
                                        const std::string & componentName, const std::string & interfaceName) const;
    mtsInterfaceRequiredDescription
        GetInterfaceRequiredDescription(const std::string & componentName, const std::string & interfaceName) const {
        return GetInterfaceRequiredDescription("", componentName, interfaceName);
    }
 
    inline mtsInterfaceRequiredDescription
        GetInterfaceRequiredDescription(const mtsDescriptionInterfaceFullName & interfaceDescription) const {
        return GetInterfaceRequiredDescription(interfaceDescription.ProcessName,
                                               interfaceDescription.ComponentName,
                                               interfaceDescription.InterfaceName);
    }
 
    // Dynamically load the file (fileName) into the current process
    bool Load(const std::string & fileName) const;
    // Dynamically load the file (fileName) into the process processName
    bool Load(const std::string & processName, const std::string & fileName) const;
 
    // Wait for component state change. This can be used to wait for a process to be created, or for a component
    // to be created (in those cases, any state is acceptable). A negative timeout is used to wait indefinitely.
    // Returns false if timeout occurred.
    bool WaitFor(const std::string & processName, double timeoutInSec = -1.0);
    bool WaitFor(const std::string & processName, const std::string & componentName, double timeoutInSec = -1.0);
    bool WaitFor(const std::string & processName, const std::string & componentName, const std::string & state,
                 double timeoutInSec = -1.0);
 
};
 
CMN_DECLARE_SERVICES_INSTANTIATION(mtsComponentPointer)
CMN_DECLARE_SERVICES_INSTANTIATION(mtsManagerComponentServices)
 
#endif // _mtsManagerComponentServices_h