RFPlugin.cpp

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/*
 * Copyright (C) 2006-2020 Istituto Italiano di Tecnologia (IIT)
 * All rights reserved.
 *
 * This software may be modified and distributed under the terms of the
 * BSD-3-Clause license. See the accompanying LICENSE file for details.
 */
 
#include <yarp/os/RFPlugin.h>
 
#include <yarp/os/RFModule.h>
#include <yarp/os/YarpPlugin.h>
#include <yarp/os/YarpPluginSelector.h>
#include <yarp/os/impl/RFModuleFactory.h>
 
using namespace std;
using namespace yarp::os;
 
class RFModuleSelector :
        public YarpPluginSelector
{
    bool select(Searchable& options) override
    {
        return options.check("type", Value("none")).asString() == "RFModule";
    }
};
 
struct SharedRFPlugin
{
    YarpPlugin<RFModule> yarpPlugin;
    SharedLibraryClass<RFModule> sharedLibClass;
    RFModuleSelector selector;
};
 
 
struct RFPlugin::Private
{
    Private() = default;
 
    string alias;
    string name;
    string command;
    int threadID{0};
    SharedRFPlugin* shared{nullptr};
 
    RFModule* module{nullptr};
    ~Private()
    {
        delete shared;
    }
};
 
RFPlugin::RFPlugin() :
        mPriv(new Private)
{
}
 
RFPlugin::~RFPlugin()
{
    delete mPriv;
}
 
string RFPlugin::getCmd()
{
    return mPriv->command;
}
 
int RFPlugin::getThreadKey()
{
    return mPriv->module->getThreadKey();
}
 
void RFPlugin::close()
{
    mPriv->module->stopModule();
}
 
bool RFPlugin::isRunning()
{
    return !mPriv->module->isStopping();
}
 
 
std::pair<int, char**> str2ArgcArgv(char* str)
{
    enum
    {
        kMaxArgs = 64
    };
    int argc = 0;
    char* argv[kMaxArgs];
 
    char* p2 = strtok(str, " ");
    while ((p2 != nullptr) && argc < kMaxArgs - 1) {
        argv[argc++] = p2;
        p2 = strtok(nullptr, " ");
    }
    argv[argc] = nullptr;
    return make_pair(argc, argv);
}
 
bool RFPlugin::open(const string& inCommand)
{
    ResourceFinder rf;
    string name = inCommand.substr(0, inCommand.find(' '));
 
    char* str = new char[inCommand.size() + 1];
    memcpy(str, inCommand.c_str(), inCommand.size());
    str[inCommand.size()] = '\0';
 
    mPriv->command = inCommand;
    auto argcv = str2ArgcArgv(str);
    rf.configure(argcv.first, argcv.second);
    delete[] str;
 
    RFModule* staticmodule{nullptr};
    staticmodule = RFModuleFactory::GetInstance().GetModule(name);
    if (staticmodule != nullptr) {
        try {
            if (!staticmodule->configure(rf)) {
                return false;
            }
            staticmodule->runModuleThreaded();
            mPriv->module = staticmodule;
            return true;
        } catch (...) {
            return false;
        }
    }
 
    YarpPluginSettings settings;
    mPriv->shared = new SharedRFPlugin;
    mPriv->name = name;
    mPriv->shared->selector.scan();
 
    settings.setPluginName(mPriv->name);
 
    if (!settings.setSelector(mPriv->shared->selector)) {
        return false;
    }
    if (!mPriv->shared->yarpPlugin.open(settings)) {
        return false;
    }
 
    mPriv->shared->sharedLibClass.open(*mPriv->shared->yarpPlugin.getFactory());
 
    if (!mPriv->shared->sharedLibClass.isValid()) {
        return false;
    }
 
    settings.setLibraryMethodName(mPriv->shared->yarpPlugin.getFactory()->getName(), settings.getMethodName());
    settings.setClassInfo(mPriv->shared->yarpPlugin.getFactory()->getClassName(), mPriv->shared->yarpPlugin.getFactory()->getBaseClassName());
 
    bool ret{false};
    try {
        ret = mPriv->shared->sharedLibClass.getContent().configure(rf);
    } catch (...) {
        return false;
    }
 
    if (ret) {
        mPriv->shared->sharedLibClass->runModuleThreaded();
    }
    mPriv->module = &(mPriv->shared->sharedLibClass.getContent());
    return ret;
}