mtsManagerLocal.h

Go to the documentation of this file.

/* -*- 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
  Created on: 2009-12-07
 
  (C) Copyright 2009-2026 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 _mtsManagerLocal_h
#define _mtsManagerLocal_h
 
#include <string>
#include <set>
#include <stack>
 
#include <cisstCommon/cmnUnits.h>
#include <cisstCommon/cmnPath.h>
#include <cisstOSAbstraction/osaThread.h>
#include <cisstMultiTask/mtsForwardDeclarations.h>
#include <cisstMultiTask/mtsComponentState.h>
#include <cisstMultiTask/mtsComponent.h>
 
#include <cisstMultiTask/mtsExport.h>
 
// Forward declaration
class ManagerLocalComponent;
 
class CISST_EXPORT mtsManagerLocal: public cmnGenericObject
{
    CMN_DECLARE_SERVICES(CMN_NO_DYNAMIC_CREATION, CMN_LOG_ALLOW_DEFAULT);
 
private:
    std::set<std::string> ValidComponentTags;
    std::set<std::string> ValidInterfaceTags;

    static mtsManagerLocal * Instance;

    osaThreadId MainThreadId;

    std::string ProcessName;

    std::string Name;

    mtsManagerComponent *ManagerComponent;

    osaThread       LogThread;
    osaThreadSignal LogThreadFinished;
    bool            LogThreadFinishWaiting;
    void*           LogDispatchThread(void * arg);
 
protected:
    mtsManagerLocal(void);

    virtual ~mtsManagerLocal();

    void Initialize(void);

    bool CreateManagerComponent(void);

    void DestroyManagerComponent(void);
 
    /* Local component */
    ManagerLocalComponent * LocalComponent;

    void GetInterfaceProvidedDescription(
         const std::string & componentName,
         const std::string & interfaceName,
         mtsInterfaceProvidedDescription & interfaceProvidedDescription);

    void GetInterfaceRequiredDescription(
         const std::string & componentName,
         const std::string & interfaceName,
         mtsInterfaceRequiredDescription & interfaceRequiredDescription);

    void SetupSystemLogger(void);
 
public:

    static mtsManagerLocal * GetInstance(void);

    void Cleanup(void);

    static void DeleteInstance(void);

    inline const std::string CISST_DEPRECATED GetName(void) const {
        return Name;
    }
 
    //------------------------------------------------------------------------------
    // Access to underlying services.
    //
    // In most cases, it easier to instead call a method of this class, e.g.,
    //    LCM->AddComponent(component)
    // rather than
    //    LCM->GetManagerServices()->ComponentAdd(component)
    //
    //------------------------------------------------------------------------------

    const mtsManagerComponentServices * GetManagerComponentServices() const;

    const ManagerLocalComponent * GetLoggerServices() const;
 
    //-------------------------------------------------------------------------
    //  Component Management
    //-------------------------------------------------------------------------
    mtsComponent * CreateComponentDynamically(const std::string & className, const std::string & componentName,
                                              const std::string & constructorArgSerialized);

    mtsComponent * CreateComponentDynamically(const std::string & className,
                                              const mtsGenericObject & constructorArg);
 
#if CISST_HAS_JSON
    bool ConfigureJSON(const std::string & filename);
    bool ConfigureJSON(const std::list<std::string> & filenames);

    bool ConfigureJSON(const Json::Value & configuration, const cmnPath & configPath);

    bool ConfigureComponentJSON(const Json::Value & componentConfiguration, const cmnPath & configPath);

    bool ConfigureConnectionJSON(const Json::Value & connectionConfiguration);

    mtsComponent * CreateComponentDynamicallyJSON(const std::string & sharedLibrary,
                                                  const std::string & className,
                                                  const std::string & constructorArgSerialized);
#endif

    bool AddComponent(mtsComponent * component);
    bool CISST_DEPRECATED AddTask(mtsTask * component); // For backward compatibility
    bool CISST_DEPRECATED AddDevice(mtsComponent * component); // For backward compatibility

    bool RemoveComponent(mtsComponent * component);
    bool RemoveComponent(const std::string & componentName);

    size_t RemoveAllUserComponents(void);

    mtsComponent * GetComponent(const std::string & componentName) const;
    mtsTask * GetComponentAsTask(const std::string & componentName) const;
 
    mtsComponent CISST_DEPRECATED * GetDevice(const std::string & deviceName); // For backward compatibility
    mtsTask CISST_DEPRECATED * GetTask(const std::string & taskName); // For backward compatibility

    bool FindComponent(const std::string & componentName) const;

    bool WaitForStateAll(mtsComponentState desiredState, double timeout = 3.0 * cmn_minute) const;

    void CreateAll(void);

    bool CreateAllAndWait(double timeoutInSeconds);

    void StartAll(void);

    bool StartAllAndWait(double timeoutInSeconds);

    void KillAll(void);

    bool KillAllAndWait(double timeoutInSeconds);
 
    //-------------------------------------------------------------------------
    //  Connection Management
    //-------------------------------------------------------------------------
    bool Connect(const std::string & clientComponentName, const std::string & clientInterfaceRequiredName,
                 const std::string & serverComponentName, const std::string & serverInterfaceProvidedName);

    bool Connect(const std::string & clientProcessName, const std::string & clientComponentName,
                 const std::string & clientInterfaceRequiredName,
                 const std::string & serverProcessName, const std::string & serverComponentName,
                 const std::string & serverInterfaceProvidedName);

    bool Disconnect(const ConnectionIDType connectionID);
 
    bool Disconnect(const std::string & clientComponentName, const std::string & clientInterfaceRequiredName,
                    const std::string & serverComponentName, const std::string & serverInterfaceProvidedName);
 
    bool Disconnect(const std::string & clientProcessName, const std::string & clientComponentName,
                    const std::string & clientInterfaceRequiredName,
                    const std::string & serverProcessName, const std::string & serverComponentName,
                    const std::string & serverInterfaceProvidedName);
 
    //-------------------------------------------------------------------------
    //  Getters and Utilities
    //-------------------------------------------------------------------------

    inline const std::string GetProcessName(void) const {
        return ProcessName;
    }

    void GetNamesOfProcesses(std::vector<std::string>& namesOfProcesses) const;

    std::vector<std::string> GetNamesOfComponents(void) const;
    void GetNamesOfComponents(std::vector<std::string>& namesOfComponents) const;
    void GetNamesOfComponents(const std::string & processName,
                              std::vector<std::string>& namesOfComponents) const;
 
    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 GetNamesOfInterfaces(const std::string & componentName,
                              std::vector<std::string> & namesOfInterfacesRequired,
                              std::vector<std::string> & namesOfInterfacesProvided) const
    { return GetNamesOfInterfaces("", componentName, namesOfInterfacesRequired, namesOfInterfacesProvided); }
 
    bool GetDescriptionsOfInterfaces(const std::string & processName,
                                     const std::string & componentName,
                                     std::vector<mtsDescriptionInterfaceFullName> & descriptionsRequired,
                                     std::vector<mtsDescriptionInterfaceFullName> & descriptionsProvided) const;
 
    bool GetDescriptionsOfInterfaces(const std::string & componentName,
                                     std::vector<mtsDescriptionInterfaceFullName> & descriptionsRequired,
                                     std::vector<mtsDescriptionInterfaceFullName> & descriptionsProvided) const
    { return GetDescriptionsOfInterfaces("", componentName, descriptionsRequired, descriptionsProvided); }
 
    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); }
 
    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); }

    const osaTimeServer & GetTimeServer(void) const;
 
    //---------------------------------------------------------------------------------------------
    // Methods to track the "main" thread, which actually is the thread in which the Instance
    // of this class was created. In most cases, that will be the main thread of the process.

    void SetMainThreadId(void) { MainThreadId = osaGetCurrentThreadId(); }

    void SetMainThreadId(const osaThreadId &threadId) { MainThreadId = threadId; }

    osaThreadId GetMainThreadId(void) const { return MainThreadId; }
 
    //---------------------------------------------------------------------------------------------

    void GetNamesOfCommands(std::vector<std::string>& namesOfCommands,
                            const std::string & componentName,
                            const std::string & providedInterfaceName);

    void GetNamesOfEventGenerators(std::vector<std::string>& namesOfEventGenerators,
                                   const std::string & componentName,
                                   const std::string & providedInterfaceName);

    void GetNamesOfFunctions(std::vector<std::string>& namesOfFunctions,
                             const std::string & componentName,
                             const std::string & requiredInterfaceName);

    void GetNamesOfEventHandlers(std::vector<std::string>& namesOfEventHandlers,
                                 const std::string & componentName,
                                 const std::string & requiredInterfaceName);

    void GetDescriptionOfCommand(std::string & description,
                                 const std::string & componentName,
                                 const std::string & providedInterfaceName,
                                 const std::string & commandName);

    void GetDescriptionOfEventGenerator(std::string & description,
                                        const std::string & componentName,
                                        const std::string & providedInterfaceName,
                                        const std::string & eventGeneratorName);

    void GetDescriptionOfFunction(std::string & description,
                                  const std::string & componentName,
                                  const std::string & requiredInterfaceName,
                                  const std::string & functionName);

    void GetDescriptionOfEventHandler(std::string & description,
                                      const std::string & componentName,
                                      const std::string & requiredInterfaceName,
                                      const std::string & eventHandlerName);

    inline std::string CISST_DEPRECATED GetIPAddress(void) const { return ""; }

    static std::vector<std::string> GetIPAddressList(void);
    static void GetIPAddressList(std::vector<std::string> & ipAddresses);

    static bool CISST_DEPRECATED IsLogAllowed(void);

    static bool IsLogForwardingEnabled(void);

    static void SetLogForwarding(bool activate);

    static void GetLogForwardingState(bool & state);
    static bool GetLogForwardingState(void);

    static void LogDispatcher(const char * str, int len);
 
    // TODO: should the following be moved somewhere else?
    bool IsValidComponentTag(const std::string & tag) const;
    bool IsValidInterfaceTag(const std::string & tag) const;
    void AddValidComponentTag(const std::string & tag);
    void AddValidInterfaceTag(const std::string & tag);
    const std::set<std::string> & GetValidComponentTags(void) const;
    const std::set<std::string> & GetValidInterfaceTags(void) const;
};
 
CMN_DECLARE_SERVICES_INSTANTIATION(mtsManagerLocal)
 
#endif // _mtsManagerLocal_h