322 lines
14 KiB
C
322 lines
14 KiB
C
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#ifndef ARSERVERCONFIGHANDLER_H
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#define ARSERVERCONFIGHANDLER_H
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#include "Aria.h"
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#include "ArServerBase.h"
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class ArServerClient;
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/// Class for sending and receiving ArConfig data via ArNetworking.
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/**
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* ArServerHandlerConfig defines the network packet handlers used to transmit
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* ArConfig objects to a client, and to modify them based on information
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* received from the client. Since the packet structure for the ArConfig is
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* rather complex, this class is best used in conjunction with the
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* ArClientHandlerConfig.
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*
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* This class handles the following requests:
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* <ul>
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* <li>getConfigBySections/getConfigBySectionsV2: Replies with multiple
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* packets, one for each ArConfig section plus an empty packet that
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* terminates the reply. Each packet contains the following header
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* information:
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* <ol>
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* <li>Section Indicator: Always set to 'S' (byte)</li>
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* <li>Section Name: (string)</li>
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* <li>Section Comment: (string) </li>
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* <li>Section Category Name: (string) Only for getConfigBySectionsV2 </li>
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* </ol>
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* For each parameter in the section, the packet then contains a
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* a Parameter Indicator (always set to 'P' (byte)) followed by a
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* complete description of the parameter (display hints are included).
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* See ArClientArgUtils for more information.
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* </li>
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* <li>getConfig: This request has been superceded by getConfigBySections. (It
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* replies with a single packet containing all of the ArConfig
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* sections as described above. If the ArConfig is large, then it
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* may not be sent successfully. In addition, it contains no parameter
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* display hints.)
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* </li>
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* <li>setConfig: Parses the received packet and updates the robot's
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* ArConfig (and saves it to the file). For each modified section,
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* the received packet is expected to contain:
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* <ol>
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* <li>Section Indicator: Always set to "Section" (string)</li>
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* <li>Section Name: (string) </li>
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* </ol>
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* Followed by a brief "text" description of each modified parameter.
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* This is the parameter name (string) followed by the parameter value
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* formatted as text (string). See ArClientArgUtils for more information.
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*
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* A reply packet containing a string is sent to the client. If the
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* string is empty, then the config was successfully updated. Otherwise,
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* the string contains the name of the first parameter that caused an
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* error during the update handling.
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* </li>
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* <li>reloadConfig: Reloads the ArConfig from the text file.
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* </li>
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* <li>configUpdated: An empty packet is broadcast to all interested clients
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* after setConfig or reloadConfig has been completed. The clients may
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* then request the modified ArConfig data with getConfigBySections
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* (or getConfig).
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* </li>
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* <li>getConfigDefaults: If a "default" configuration file is available,
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* then this command can be used to send the preferred default values
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* to the client. The received packet should contain a single string,
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* which is the name of the section to be retrieved, or an empty string
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* to indicate all sections.
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*
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* For each requested section, the reply packet contains:
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* <ol>
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* <li>Section Indicator: Always set to "Section" (string)</li>
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* <li>Section Name: (string) </li>
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* </ol>
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* Followed by a brief "text" description of each default parameter value.
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* This is the parameter name (string) followed by the parameter value
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* formatted as text (string). See ArClientArgUtils for more information.
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* </li>
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* </ul>
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*
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* If you are using this class with the default file option you'll
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* want to make it AFTER you're done adding things to the config, ie
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* last, so that the default code can work correctly (it needs to know
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* about all the info).
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**/
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class ArServerHandlerConfig
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{
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public:
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/// Constructor
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/**
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* @param server the ArServerBase * used to send and receive network packets;
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* must be non-NULL
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* @param config the ArConfig * that is maintained by this server handler
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* @param defaultFile the char * name of the file that contains the default
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* values for the ArConfig; if NULL, then getConfigDefaults will not be
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* supported
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* @param defaultFileBaseDirectory the char * name of the directory that
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* contains the default file
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**/
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AREXPORT ArServerHandlerConfig(ArServerBase *server,
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ArConfig *config,
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const char *defaultFile = NULL,
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const char *defaultFileBaseDirectory = NULL,
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bool allowFactory = true,
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const char *robotName = NULL,
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bool preventChanges = false,
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const char *preventChangesString = NULL);
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/// Destructor
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AREXPORT virtual ~ArServerHandlerConfig();
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// ---------------------------------------------------------------------------
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// Network Packet Handlers
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// ---------------------------------------------------------------------------
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/// Handles the "reloadConfig" request.
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AREXPORT void reloadConfig(ArServerClient *client, ArNetPacket *packet);
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/// Handles the "getConfigBySections" request.
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AREXPORT void getConfigBySections(ArServerClient *client, ArNetPacket *packet);
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/// Handles the "getConfigBySectionsV2" request.
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AREXPORT void getConfigBySectionsV2(ArServerClient *client, ArNetPacket *packet);
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/// Handles the "getConfigBySectionsV3" request.
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AREXPORT void getConfigBySectionsV3(ArServerClient *client, ArNetPacket *packet);
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/// Handles the (deprecated) "getConfig" request.
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AREXPORT void getConfig(ArServerClient *client, ArNetPacket *packet);
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/// Handles the "setConfig" request.
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AREXPORT void setConfig(ArServerClient *client, ArNetPacket *packet);
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AREXPORT void setConfigBySections(ArServerClient *client, ArNetPacket *packet);
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AREXPORT void setConfigBySectionsV2(ArServerClient *client, ArNetPacket *packet);
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/// Handles the "getConfigDefaults" request.
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AREXPORT void getConfigDefaults(ArServerClient *client, ArNetPacket *packet);
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/// Handles the "getConfigSectionFlags" request.
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AREXPORT void getConfigSectionFlags(ArServerClient *client,
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ArNetPacket *packet);
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/// Handles the "getLastEditablePriority" request.
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AREXPORT void getLastEditablePriority(ArServerClient *client,
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ArNetPacket *packet);
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// ---------------------------------------------------------------------------
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// Callback Methods
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// ---------------------------------------------------------------------------
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/// Adds a callback to be called before writing to disk
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AREXPORT void addPreWriteCallback(ArFunctor *functor,
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ArListPos::Pos position = ArListPos::LAST);
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/// Removes a callback to be called before writing to disk
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AREXPORT void remPreWriteCallback(ArFunctor *functor);
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/// Adds a callback to be called after writing to disk
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AREXPORT void addPostWriteCallback(ArFunctor *functor,
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ArListPos::Pos position = ArListPos::LAST);
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/// Removes a callback to be called after writing to disk
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AREXPORT void remPostWriteCallback(ArFunctor *functor);
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/// Adds a callback to be called when the config is updated
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AREXPORT void addConfigUpdatedCallback(ArFunctor *functor,
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ArListPos::Pos position = ArListPos::LAST);
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/// Removes a callback to be called when the config is updated
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AREXPORT void remConfigUpdatedCallback(ArFunctor *functor);
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/// Restarts the IO manually (mostly for because of a config change)
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void restartIO(const char *reason);
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/// Restarts the software manually (mostly for because of a config change)
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void restartSoftware(const char *reason);
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/// Restarts the hardware manually (mostly for because of a config change)
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void restartHardware(const char *reason);
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/// Adds a callback for when the IO is changed
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void addRestartIOCB(ArFunctor *functor, int position = 50)
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{ myRestartIOCBList.addCallback(functor, position); }
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/// Adds a callback for when the IO is changed
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void remRestartIOCB(ArFunctor *functor)
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{ myRestartIOCBList.remCallback(functor); }
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/// Sets a callback for when a RESTART_SERVER config param is changed
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AREXPORT void setRestartSoftwareCB(ArFunctor *restartServerCB);
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/// Gets the callback for when a RESTART_SERVER config param is changed
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AREXPORT ArFunctor *getRestartSoftwareCB(void);
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/// Sets a callback for when a RESTART_ROBOT config param is changed
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AREXPORT void setRestartHardwareCB(ArFunctor *restartRobotCB);
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/// Gets the callback for when a RESTART_ROBOT config param is changed
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AREXPORT ArFunctor *getRestartHardwareCB(void);
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/// Locks the config so we don't do anything with it
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AREXPORT int lockConfig(void) { return myConfigMutex.lock(); }
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/// Tries to lock the config so we don't do anything with it
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AREXPORT int tryLockConfig(void) { return myConfigMutex.tryLock(); }
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/// Unlocks the config so we can use it again
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AREXPORT int unlockConfig(void) { return myConfigMutex.unlock(); }
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/// Writes the config out
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AREXPORT bool writeConfig(void);
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/// Notifies the clients that the config was updated
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AREXPORT bool configUpdated(ArServerClient *client = NULL);
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/// Changes the variables that prevent changes
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void setPreventChanges(bool preventChanges = false,
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const char *preventChangesString = NULL);
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/// loads the whole of a default file (for internal use)
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AREXPORT bool loadDefaultsFromFile(void);
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/// Parses a line of the default config (for internal use)
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AREXPORT bool loadDefaultsFromPacket(ArNetPacket *packet);
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/// Creates an empty default config...
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AREXPORT void createEmptyConfigDefaults(void);
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/// Changes if factory is allowed... this is internal, only for when
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/// that decision is deferred
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void setAllowFactory(bool allowFactory)
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{ myPermissionAllowFactory = allowFactory; }
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/// Changes if factory is allowed... this is internal, only for when
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/// that decision is deferred
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bool getAllowFactory(void)
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{ return myPermissionAllowFactory; }
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protected:
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AREXPORT void doGetConfigBySections(ArServerClient *client,
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ArNetPacket *packet,
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int version);
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/// Helper method for the get config callbacks (e.g. getConfigBySections, getConfig, ...).
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AREXPORT void handleGetConfig(ArServerClient *client,
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ArNetPacket *packet,
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bool isMultiplePackets,
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ArPriority::Priority lastPriority,
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bool isSendIneditablePriorities,
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int version);
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/// Helper method for the get config callbacks (e.g. getConfigBySections, getConfig, ...).
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AREXPORT bool handleGetConfigSection(ArNetPacket &sending,
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ArServerClient *client,
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ArNetPacket *packet,
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bool isMultiplePackets,
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ArPriority::Priority lastPriority,
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bool isSendIneditablePriorities,
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int version,
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ArConfigSection *section,
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int startIndex,
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int paramCount,
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int sectionIndex,
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std::set<std::string> &sentParams);
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/// Internal method that handles a setConfig packet for myConfig or
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/// myDefaults
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bool internalSetConfig(ArServerClient *client,
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ArNetPacket *packet,
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int version,
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bool isMultiplePackets = false);
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/// just creates the default config... (internal, don't use)
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void createDefaultConfig(const char *defaultFileBaseDir);
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/// Adds the default config callbacks;
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void addDefaultServerCommands(void);
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/// Determines the last editable priority based on the input flags
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ArPriority::Priority findLastEditablePriority();
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ArPriority::Priority convertToPriority(int priorityVal,
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ArPriority::Priority defaultPriority);
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protected:
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std::string myRobotName;
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std::string myLogPrefix;
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ArServerBase *myServer;
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ArConfig *myConfig;
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ArConfig *myDefault;
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std::string myDefaultFile;
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std::string myDefaultFileBaseDir;
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ArMutex myDefaultConfigMutex;
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bool myAddedDefaultServerCommands;
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bool myPermissionAllowFactory;
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bool myPreventChanges;
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std::string myPreventChangesString;
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ArMutex myConfigMutex;
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std::list<ArFunctor *> myPreWriteCallbacks;
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std::list<ArFunctor *> myPostWriteCallbacks;
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std::list<ArFunctor *> myConfigUpdatedCallbacks;
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ArCallbackList myRestartIOCBList;
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ArFunctor *myRestartSoftwareCB;
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bool myRestartSoftwareCBSet;
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ArFunctor *myRestartHardwareCB;
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bool myRestartHardwareCBSet;
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ArFunctor2C<ArServerHandlerConfig, ArServerClient*, ArNetPacket *> myGetConfigBySectionsCB;
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ArFunctor2C<ArServerHandlerConfig, ArServerClient*, ArNetPacket *> myGetConfigBySectionsV2CB;
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ArFunctor2C<ArServerHandlerConfig, ArServerClient*, ArNetPacket *> myGetConfigBySectionsV3CB;
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ArFunctor2C<ArServerHandlerConfig, ArServerClient*, ArNetPacket *> myGetConfigCB;
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ArFunctor2C<ArServerHandlerConfig, ArServerClient*, ArNetPacket *> mySetConfigCB;
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ArFunctor2C<ArServerHandlerConfig, ArServerClient*, ArNetPacket *> mySetConfigBySectionsCB;
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ArFunctor2C<ArServerHandlerConfig, ArServerClient*, ArNetPacket *> mySetConfigBySectionsV2CB;
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ArFunctor2C<ArServerHandlerConfig, ArServerClient*, ArNetPacket *> myReloadConfigCB;
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ArFunctor2C<ArServerHandlerConfig, ArServerClient*, ArNetPacket *> myGetConfigDefaultsCB;
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ArFunctor2C<ArServerHandlerConfig, ArServerClient*, ArNetPacket *> myGetConfigSectionFlagsCB;
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ArFunctor2C<ArServerHandlerConfig, ArServerClient*, ArNetPacket *> myGetLastEditablePriorityCB;
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};
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#endif
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