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getConfig: This request has been superceded by getConfigBySections.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