embObjGeneralDevPrivData.cpp

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/*
 * Copyright (C) 2006-2018 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 <string>
#include <yarp/os/Network.h>
#include <yarp/os/NetType.h>
#include "embObjGeneralDevPrivData.h"
#include <yarp/conf/environment.h>
 
using namespace yarp::dev;
 
yarp::dev::embObjDevPrivData::embObjDevPrivData(std::string name):deviceNameType(name)
{
    ethManager = nullptr;
    res = nullptr;
    behFlags.opened = false;
 
    std::string tmp = yarp::conf::environment::get_string("ETH_VERBOSEWHENOK");
    if (tmp != "")
    {
        behFlags.verbosewhenok = (bool)(yarp::conf::numeric::from_string(tmp, 0U));
    }
    else
    {
        behFlags.verbosewhenok = false;
    }
}
 
yarp::dev::embObjDevPrivData::~embObjDevPrivData()
{;}
 
std::string yarp::dev::embObjDevPrivData::getBoardInfo(void) const
{
    if(nullptr == res)
    {
        return deviceNameType + ": BOARD name_unknown (IP unknown) ";
    }
    else
    {
        return (deviceNameType + ": BOARD " + res->getProperties().boardnameString +  " (IP "  + res->getProperties().ipv4addrString + ") ");
    }
}
 
 
bool yarp::dev::embObjDevPrivData::prerareEthService(Searchable& config, eth::IethResource *interface)
{
    // - first thing to do is verify if the eth manager is available. then i parse info about the eth board.
 
    ethManager = eth::TheEthManager::instance();
    if(NULL == ethManager)
    {
        yFatal() <<  deviceNameType << " fails to instantiate ethManager";
        return false;
    }
 
    string boardIPstring;
    string boardName;
    eOipv4addr_t ipv4addr;
 
 
    if(false == ethManager->verifyEthBoardInfo(config, ipv4addr, boardIPstring, boardName))
    {
        yError() << deviceNameType <<  " object TheEthManager fails in parsing ETH propertiex from xml file";
        return false;
    }
 
    res = ethManager->requestResource2(interface, config);
    if(NULL == res)
    {
        yError() << deviceNameType <<  ":requestResource fails because could not instantiate the ethResource for BOARD " << getBoardInfo() << " ... unable to continue";
        return false;
    }
 
    return true;
}
 
void yarp::dev::embObjDevPrivData::cleanup(eth::IethResource *interface)
{
 
    if(!isOpen()) return; //already closed
 
    if(ethManager == NULL) return;
 
    int ret = ethManager->releaseResource2(res, interface);
    res = NULL;
    if(ret == -1)
        ethManager->killYourself();
    setOpen(false);
}
 
bool yarp::dev::embObjDevPrivData::serviceSetRegulars(eOmn_serv_category_t category, vector<eOprotID32_t> &id32vector, double timeout)
{
 
    if(false == res->serviceSetRegulars(category, id32vector, timeout))
    {
        yError() << getBoardInfo() << "initRegulars() fails to add its variables to regulars: cannot proceed any further";
        return false;
    }
    else
    {
        if(isVerbose())
        {
            yDebug() << getBoardInfo() << "initRegulars() added" << id32vector.size() << "regular rops ";
            char nvinfo[128];
            for (size_t r = 0; r<id32vector.size(); r++)
            {
                uint32_t item = id32vector.at(r);
                eoprot_ID2information(item, nvinfo, sizeof(nvinfo));
                yDebug() << "\t it added regular rop for" << nvinfo;
            }
        }
    }
    return true;
}