MonitorLua.cpp

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/*
 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#include <yarp/os/Network.h>
#include <yarp/os/Log.h>
#include <yarp/os/LogStream.h>
#include <lua.hpp>
#include "MonitorLua.h"
#include "MonitorLogComponent.h"
 
using namespace yarp::os;
 
 
MonitorLua::MonitorLua() : bHasAcceptCallback(false),
                           bHasUpdateCallback(false),
                           bHasUpdateReplyCallback(false),
                           trigger(nullptr)
{
    L = luaL_newstate();
    luaL_openlibs(L);
 
    registerExtraFunctions();
}
 
MonitorLua::~MonitorLua()
{
    if(L){
        // stop trigger thread if it is running
        if(trigger) {
            trigger->stop();
            delete trigger;
            trigger = nullptr;
        }
        //  call PortMonitor.destroy if exists
        if(getLocalFunction("destroy"))
        {
            if (lua_pcall(L, 0, 0, 0) != 0) {
                yCError(PORTMONITORCARRIER, "%s", lua_tostring(L, -1));
            }
        }
        // closing lua state handler
        lua_close(L);
    }
}
 
bool MonitorLua::load(const Property &options)
{
    yCTrace(PORTMONITORCARRIER);
    if(luaL_loadfile(L, options.find("filename").asString().c_str()))
    {
        yCError(PORTMONITORCARRIER, "Cannot load script file");
        yCError(PORTMONITORCARRIER, "%s", lua_tostring(L, -1));
        lua_pop(L,1);
        lua_close(L);
        L = nullptr;
        return false;
    }
 
    if(lua_pcall(L,0, LUA_MULTRET, 0))
    {
        yCError(PORTMONITORCARRIER, "Cannot run script file");
        yCError(PORTMONITORCARRIER, "%s", lua_tostring(L, -1));
        lua_pop(L,1);
        lua_close(L);
        L = nullptr;
        return false;
    }
 
    lua_pushlightuserdata(L, this);
    lua_setglobal(L, "PortMonitor_Owner");
 
    lua_getglobal(L, "PortMonitor");
    if(lua_istable(L, -1) == 0)
    {
        yCError(PORTMONITORCARRIER, "The script file does not contain any valid \'PortMonitor\' object.");
        lua_pop(L, 1);
        lua_close(L);
        L = nullptr;
        return false;
    }
 
    bool result = true;
    //  call PortMonitor.create if exists
    luaMutex.lock();
    if(getLocalFunction("create"))
    {
        // mapping to swig type
        swig_type_info *propType = SWIG_TypeQuery(L, "yarp::os::Property *");
        if(!propType)
        {
            yCError(PORTMONITORCARRIER, "Swig type of Property is not found");
            lua_pop(L, 1);
            luaMutex.unlock();
            return false;
        }
        // getting the swig-type pointer
        SWIG_NewPointerObj(L, &options, propType, 0);
        if(lua_pcall(L, 1, 1, 0) != 0)
        {
            yCError(PORTMONITORCARRIER, "%s", lua_tostring(L, -1));
            lua_pop(L, 1);
            lua_close(L);
            L = nullptr;
            luaMutex.unlock();
            return false;
        } else {
            result = lua_toboolean(L, -1);
        }
    }
    lua_pop(L,1);
 
    // Check if there is accept callback
    bHasAcceptCallback = getLocalFunction("accept");
    lua_pop(L,1);
 
    // Check if there is update callback
    bHasUpdateCallback = getLocalFunction("update");
    lua_pop(L,1);
 
    // Check if there is update callback
    bHasUpdateReplyCallback = getLocalFunction("update_reply");
    lua_pop(L,1);
    luaMutex.unlock();
    return result;
}
 
bool MonitorLua::acceptData(Things &thing)
{
    luaMutex.lock();
    if(getLocalFunction("accept"))
    {
        // mapping to swig type
        swig_type_info *thingsType = SWIG_TypeQuery(L, "yarp::os::Things *");
        if(!thingsType)
        {
            yCError(PORTMONITORCARRIER, "Swig type of Things is not found");
            lua_pop(L, 1);
            luaMutex.unlock();
            return false;
        }
 
        // getting the swig-type pointer
        SWIG_NewPointerObj(L, &thing, thingsType, 0);
        if(lua_pcall(L, 1, 1, 0) != 0)
        {
            yCError(PORTMONITORCARRIER, "%s", lua_tostring(L, -1));
            lua_pop(L, 1);
            luaMutex.unlock();
            return false;
        }
 
        // converting the results
        bool result = lua_toboolean(L, -1);
        lua_pop(L, 1);
        luaMutex.unlock();
        return result;
    }
 
    lua_pop(L, 1);
    luaMutex.unlock();
    return true;
}
 
 
yarp::os::Things& MonitorLua::updateData(yarp::os::Things& thing)
{
    luaMutex.lock();
    if(getLocalFunction("update"))
    {
        // mapping to swig type
        swig_type_info *thingsType = SWIG_TypeQuery(L, "yarp::os::Things *");
        if(!thingsType)
        {
            yCError(PORTMONITORCARRIER, "Swig type of Things is not found");
            lua_pop(L, 1);
            luaMutex.unlock();
            return thing;
        }
 
        // getting the swig-type pointer
        SWIG_NewPointerObj(L, &thing, thingsType, 0);
        if(lua_pcall(L, 1, 1, 0) != 0)
        {
            yCError(PORTMONITORCARRIER, "%s", lua_tostring(L, -1));
            lua_pop(L, 1);
            luaMutex.unlock();
            return thing;
        }
 
        // converting the results
        yarp::os::Things* result;
        if(SWIG_Lua_ConvertPtr(L, -1, (void**)(&result), thingsType, 0) != SWIG_OK )
        {
            yCError(PORTMONITORCARRIER, "Cannot get a valid return value from PortMonitor.update");
            lua_pop(L, 1);
            luaMutex.unlock();
            return thing;
        }
        else
        {
            lua_pop(L, 1);
            luaMutex.unlock();
            return *result;
        }
    }
 
    lua_pop(L,1);
    luaMutex.unlock();
    return thing;
}
 
yarp::os::Things& MonitorLua::updateReply(yarp::os::Things& thing)
{
    luaMutex.lock();
    if(getLocalFunction("update_reply"))
    {
        // mapping to swig type
        swig_type_info *thingsType = SWIG_TypeQuery(L, "yarp::os::Things *");
        if(!thingsType)
        {
            yCError(PORTMONITORCARRIER, "Swig type of Things is not found");
            lua_pop(L, 1);
            luaMutex.unlock();
            return thing;
        }
 
        // getting the swig-type pointer
        SWIG_NewPointerObj(L, &thing, thingsType, 0);
        if(lua_pcall(L, 1, 1, 0) != 0)
        {
            yCError(PORTMONITORCARRIER, "%s", lua_tostring(L, -1));
            lua_pop(L, 1);
            luaMutex.unlock();
            return thing;
        }
 
        // converting the results
        yarp::os::Things* result;
        if(SWIG_Lua_ConvertPtr(L, -1, (void**)(&result), thingsType, 0) != SWIG_OK )
        {
            yCError(PORTMONITORCARRIER, "Cannot get a valid return value from PortMonitor.update_reply");
            lua_pop(L, 1);
            luaMutex.unlock();
            return thing;
        }
        else
        {
            lua_pop(L, 1);
            luaMutex.unlock();
            return *result;
        }
    }
 
    lua_pop(L,1);
    luaMutex.unlock();
    return thing;
}
 
bool MonitorLua::setParams(const yarp::os::Property& params)
{
    luaMutex.lock();
    if(getLocalFunction("setparam"))
    {
        // mapping to swig type
        swig_type_info *propType = SWIG_TypeQuery(L, "yarp::os::Property *");
        if(!propType)
        {
            yCError(PORTMONITORCARRIER, "Swig type of Property is not found");
            lua_pop(L, 1);
            luaMutex.unlock();
            return false;
        }
 
        // getting the swig-type pointer
        SWIG_NewPointerObj(L, &params, propType, 0);
        if(lua_pcall(L, 1, 0, 0) != 0)
        {
            yCError(PORTMONITORCARRIER, "%s", lua_tostring(L, -1));
            lua_pop(L, 1);
            luaMutex.unlock();
            return false;
        }
        luaMutex.unlock();
        return true;
    }
 
    lua_pop(L,1);
    luaMutex.unlock();
    return true;
}
 
bool MonitorLua::getParams(yarp::os::Property& params)
{
    luaMutex.lock();
    if(getLocalFunction("getparam"))
    {
        // mapping to swig type
        swig_type_info *propType = SWIG_TypeQuery(L, "yarp::os::Property *");
        if(!propType)
        {
            yCError(PORTMONITORCARRIER, "Swig type of Property is not found");
            lua_pop(L, 1);
            luaMutex.unlock();
            return false;
        }
 
        // calling PortMonitor.getparam from lua
        if(lua_pcall(L, 0, 1, 0) != 0)
        {
            yCError(PORTMONITORCARRIER, "%s", lua_tostring(L, -1));
            lua_pop(L, 1);
            luaMutex.unlock();
            return false;
        }
 
        // converting the results
        yarp::os::Property* result;
        if(SWIG_Lua_ConvertPtr(L, -1, (void**)(&result), propType, 0) != SWIG_OK )
        {
            yCError(PORTMONITORCARRIER, "Cannot get a valid return value from PortMonitor.getparam");
            lua_pop(L, 1);
            luaMutex.unlock();
            return false;
        }
        else
        {
            params = *result;
            lua_pop(L, 1);
            luaMutex.unlock();
            return true;
        }
    }
 
    lua_pop(L,1);
    luaMutex.unlock();
    return true;
}
 
bool MonitorLua::peerTrigged()
{
    luaMutex.lock();
    if(getLocalFunction("trig"))
    {
        if(lua_pcall(L, 0, 0, 0) != 0)
        {
            yCError(PORTMONITORCARRIER, "%s", lua_tostring(L, -1));
            lua_pop(L, 1);
            luaMutex.unlock();
            return false;
        }
        luaMutex.unlock();
        return true;
    }
 
    lua_pop(L, 1);
    luaMutex.unlock();
    return true;
}
 
 
bool MonitorLua::getLocalFunction(const char *name)
{
  lua_pushstring(L, name);
  lua_gettable(L, -2);
  return (lua_isfunction(L, -1) == 1);
}
 
 
bool MonitorLua::registerExtraFunctions()
{
#if LUA_VERSION_NUM > 501
    lua_newtable(L);
    luaL_setfuncs (L, MonitorLua::portMonitorLib, 0);
    lua_pushvalue(L, -1);
    lua_setglobal(L, "PortMonitor");
#else
    // deprecated
    //luaL_openlib(L, "PortMonitor", MonitorLua::portMonitorLib, 0);
    luaL_register(L, "PortMonitor", MonitorLua::portMonitorLib);
#endif
    return true;
}
 
 
bool MonitorLua::canAccept()
{
    if (constraint == "") {
        return true;
    }
 
    MonitorEventRecord& record = MonitorEventRecord::getInstance();
 
    std::string strConstraint = constraint;
    std::string strDummy = strConstraint;
    searchReplace(strDummy, "(", " ");
    searchReplace(strDummy, ")", " ");
    // wrap it with some  guard space
    strDummy = " " + strDummy + " ";
    std::string delimiter = " ";
    size_t pos = 0;
    std::string token;
    while ((pos = strDummy.find(delimiter)) != std::string::npos)
    {
        token = strDummy.substr(0, pos);
        if(token.size() && !isKeyword(token.c_str()))
        {
            record.lock();
            std::string value = (record.hasEvent(token.c_str())) ? "true" : "false";
            record.unlock();
            searchReplace(strConstraint, token, value);
        }
        strDummy.erase(0, pos + delimiter.length());
    }
    yCTrace(PORTMONITORCARRIER, "constraint = \'%s\'", strConstraint.c_str());
 
    /*
     *  Using lua to evaluate the boolean expression
     *  Note: this can be replaced by a homebrew boolean
     *  expression validator (e.g., BinNodeType from libyarpmanager)
     */
    strConstraint = "return " + strConstraint;
 
    if(luaL_dostring(L, strConstraint.c_str()) != 0)
    {
        yCError(PORTMONITORCARRIER, "%s", lua_tostring(L, -1));
        return false;
    }
 
    if(!lua_isboolean(L, -1))
    {
        yCError(PORTMONITORCARRIER, "%s", lua_tostring(L, -1));
        return false;
    }
 
    bool accepted = (lua_toboolean(L,-1) == 1);
    lua_pop(L, 1);
    return accepted;
}
 
 
inline void MonitorLua::searchReplace(std::string& str, const std::string& oldStr, const std::string& newStr)
{
  size_t pos = 0;
  while((pos = str.find(oldStr, pos)) != std::string::npos)
  {
     str.replace(pos, oldStr.length(), newStr);
     pos += newStr.length();
  }
}
 
inline void MonitorLua::trimString(std::string& str)
{
  std::string::size_type pos = str.find_last_not_of(' ');
  if(pos != std::string::npos) {
    str.erase(pos + 1);
    pos = str.find_first_not_of(' ');
    if (pos != std::string::npos) {
        str.erase(0, pos);
    }
  } else {
      str.erase(str.begin(), str.end());
  }
}
 
inline bool MonitorLua::isKeyword(const char* str)
{
    if (!str) {
        return false;
    }
 
    std::string token = str;
    if ((token == "true") || (token == "false") || (token == "and") || (token == "or") || (token == "not")) {
        return true;
    }
    return false;
}
 
 
int MonitorLua::setConstraint(lua_State* L)
{
    const char *cst = luaL_checkstring(L, 1);
    if(cst)
    {
        lua_getglobal(L, "PortMonitor_Owner");
        if(!lua_islightuserdata(L, -1))
        {
            yCError(PORTMONITORCARRIER, "Cannot get PortMonitor_Owner");
            return 0;
        }
 
        auto* owner = static_cast<MonitorLua*>(lua_touserdata(L, -1));
        yCAssert(PORTMONITORCARRIER, owner);
        owner->setAcceptConstraint(cst);
    }
    return 0;
}
 
int MonitorLua::getConstraint(lua_State* L)
{
    lua_getglobal(L, "PortMonitor_Owner");
    if(!lua_islightuserdata(L, -1))
    {
        yCError(PORTMONITORCARRIER, "Cannot get PortMonitor_Owner");
        return 0;
    }
 
    auto* owner = static_cast<MonitorLua*>(lua_touserdata(L, -1));
    yCAssert(PORTMONITORCARRIER, owner);
    lua_pushstring(L, owner->getAcceptConstraint());
    return 0;
}
 
 
int MonitorLua::setEvent(lua_State* L)
{
    double lifetime = -1.0;
    int n_args =  lua_gettop(L);
    const char *event_name = luaL_checkstring(L, 1);
    if(event_name)
    {
        // check if the event's lifetime is given as argument
        if(n_args > 1)
        {
            if (lua_isnumber(L, 2)) {
                lifetime = (double) luaL_checknumber(L,2);
            } else {
                yCError(PORTMONITORCARRIER, "The second arguemnt of setEvent() must be number");
                return 0;
            }
        }
 
        lua_getglobal(L, "PortMonitor_Owner");
        if(!lua_islightuserdata(L, -1))
        {
            yCError(PORTMONITORCARRIER, "Cannot get PortMonitor_Owner");
            return 0;
        }
        auto* owner = static_cast<MonitorLua*>(lua_touserdata(L, -1));
        yCAssert(PORTMONITORCARRIER, owner);
        if (owner->isKeyword(event_name)) {
            return 0;
        }
        MonitorEventRecord& record = MonitorEventRecord::getInstance();
        record.lock();
        record.setEvent(event_name, owner, lifetime);
        record.unlock();
    }
    return 0;
}
 
int MonitorLua::unsetEvent(lua_State* L)
{
    const char *event_name = luaL_checkstring(L, 1);
    if(event_name)
    {
        lua_getglobal(L, "PortMonitor_Owner");
        if(!lua_islightuserdata(L, -1))
        {
            yCError(PORTMONITORCARRIER, "Cannot get PortMonitor_Owner");
            return 0;
        }
        auto* owner = static_cast<MonitorLua*>(lua_touserdata(L, -1));
        yCAssert(PORTMONITORCARRIER, owner);
        if (owner->isKeyword(event_name)) {
            return 0;
        }
        MonitorEventRecord& record = MonitorEventRecord::getInstance();
        record.lock();
        record.unsetEvent(event_name, owner);
        record.unlock();
    }
    return 0;
}
 
int MonitorLua::setTrigInterval(lua_State* L)
{
    double period = 0.0;
    int n_args =  lua_gettop(L);
    if(n_args > 0) {
        if (lua_isnumber(L, 1)) {
            period = (double) luaL_checknumber(L,1);
        } else {
            yCError(PORTMONITORCARRIER, "The arguemnt of setTrigInterval() must be number");
            return 0;
        }
    } else {
        yCError(PORTMONITORCARRIER, "The setTrigInterval() require the interval number as the parameter");
        return 0;
    }
 
 
    lua_getglobal(L, "PortMonitor_Owner");
    if(!lua_islightuserdata(L, -1))
    {
        yCError(PORTMONITORCARRIER, "Cannot get PortMonitor_Owner");
        return 0;
    }
 
    auto* owner = static_cast<MonitorLua*>(lua_touserdata(L, -1));
    yCAssert(PORTMONITORCARRIER, owner);
 
    // start the trigger thread (MonitorTrigger) if it is not running
    if(owner->trigger == nullptr) {
        owner->trigger = new MonitorTrigger(owner, (int)(period*1000));
        owner->trigger->start();
    }
    return 0;
}
 
 
#if LUA_VERSION_NUM > 501
const struct luaL_Reg MonitorLua::portMonitorLib [] = {
#else
const struct luaL_reg MonitorLua::portMonitorLib [] = {
#endif
    {"setConstraint", MonitorLua::setConstraint},
    {"getConstraint", MonitorLua::getConstraint},
    {"setEvent", MonitorLua::setEvent},
    {"unsetEvent", MonitorLua::unsetEvent},
    {"setTrigInterval", MonitorLua::setTrigInterval},
    {nullptr, nullptr}
};