source: finroc_plugins_runtime_construction/tAdministrationService.h @ 91:16104eff1b99

17.03
Last change on this file since 91:16104eff1b99 was 91:16104eff1b99, checked in by Max Reichardt <mreichardt@…>, 2 years ago

Changes tAdministrationService::DeleteUriConnector to be more suitable for use with finstruct

File size: 10.2 KB
Line 
1//
2// You received this file as part of Finroc
3// A framework for intelligent robot control
4//
5// Copyright (C) Finroc GbR (finroc.org)
6//
7// This program is free software; you can redistribute it and/or modify
8// it under the terms of the GNU General Public License as published by
9// the Free Software Foundation; either version 2 of the License, or
10// (at your option) any later version.
11//
12// This program is distributed in the hope that it will be useful,
13// but WITHOUT ANY WARRANTY; without even the implied warranty of
14// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
15// GNU General Public License for more details.
16//
17// You should have received a copy of the GNU General Public License along
18// with this program; if not, write to the Free Software Foundation, Inc.,
19// 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
20//
21//----------------------------------------------------------------------
22/*!\file    plugins/runtime_construction/tAdministrationService.h
23 *
24 * \author  Max Reichardt
25 *
26 * \date    2012-12-02
27 *
28 * \brief   Contains tAdministrationService
29 *
30 * \b tAdministrationService
31 *
32 * Service for administration.
33 * It provides functions to create, modify and delete Finroc elements such
34 * as groups, modules, ports and port connections at application runtime.
35 * One port needs to be created to be able to edit application
36 * structure using finstruct (currently done in dynamic_loading.cpp)
37 *
38 */
39//----------------------------------------------------------------------
40#ifndef __plugins__runtime_construction__tAdministrationService_h__
41#define __plugins__runtime_construction__tAdministrationService_h__
42
43//----------------------------------------------------------------------
44// External includes (system with <>, local with "")
45//----------------------------------------------------------------------
46#include "plugins/rpc_ports/tServerPort.h"
47
48//----------------------------------------------------------------------
49// Internal includes with ""
50//----------------------------------------------------------------------
51
52//----------------------------------------------------------------------
53// Namespace declaration
54//----------------------------------------------------------------------
55namespace finroc
56{
57namespace runtime_construction
58{
59
60//----------------------------------------------------------------------
61// Forward declarations / typedefs / enums
62//----------------------------------------------------------------------
63
64//----------------------------------------------------------------------
65// Class declaration
66//----------------------------------------------------------------------
67//! Service for administration
68/*!
69 * Service for administration.
70 * It provides functions to create, modify and delete Finroc elements such
71 * as groups, modules, ports and port connections at application runtime.
72 * One port needs to be created to be able to edit application
73 * structure using finstruct (currently done in dynamic_loading.cpp)
74 */
75class tAdministrationService : public rpc_ports::tRPCInterface
76{
77
78//----------------------------------------------------------------------
79// Public methods and typedefs
80//----------------------------------------------------------------------
81public:
82
83  /*!
84   * Return values for IsExecuting
85   */
86  enum class tExecutionStatus
87  {
88    NONE,
89    PAUSED,
90    RUNNING,
91    BOTH
92  };
93
94
95  tAdministrationService();
96
97  ~tAdministrationService();
98
99
100  /*!
101   * Connect source port to destination port
102   *
103   * \param source_port_handle Handle of source port
104   * \param destination_port_handle Handle of destination port
105   */
106  void Connect(int source_port_handle, int destination_port_handle);
107
108  /*!
109   * Connect source port to destination port with connect options
110   * (new connect method)
111   *
112   * \param source_port_handle Handle of source port
113   * \param destination_port_handle Handle of destination port
114   * \param connect_options Connect options
115   * \return Returns error message if connecting failed. On success an empty string is returned.
116   */
117  std::string ConnectPorts(int source_port_handle, int destination_port_handle, const core::tConnectOptions& connect_options);
118
119  /*!
120   * Instantiates port for administration
121   */
122  static void CreateAdministrationPort();
123
124  /*!
125   * Created module
126   *
127   * \param create_action_index Index of create action
128   * \param module_name Name to give new module
129   * \param parent_handle Handle of parent element
130   * \param serialized_creation_parameters Serialized constructor parameters in case the module requires such - otherwise empty
131   * \return Empty string if it worked - otherwise error message
132   */
133  std::string CreateModule(uint32_t create_action_index, const std::string& module_name, int parent_handle, const rrlib::serialization::tMemoryBuffer& serialized_creation_parameters);
134
135  /*!
136   * Create URI connector connecting local port using one of the supported URI schemes (provided e.g. by network transports).
137   *
138   * \param local_port_handle Handle of local owner port
139   * \param uri URI of partner port
140   * \param connect_options Connect options
141   * \return Returns error message if connecting failed. On success an empty string is returned.
142   */
143  std::string CreateUriConnector(int local_port_handle, const rrlib::uri::tURI& uri, const core::tUriConnectOptions& connect_options);
144
145  /*!
146   * Deletes specified framework element
147   *
148   * \param element_handle Handle of framework element
149   */
150  void DeleteElement(int element_handle);
151
152  /*!
153   * Delete URI connector
154   *
155   * \param local_port_handle Handle of local owner port
156   * \param index Index of URI connector in owner port's list
157   * \return Whether any connector was deleted
158   */
159  bool DeleteUriConnector(int local_port_handle, uint index);
160
161  /*!
162   * Disconnect the two ports
163   *
164   * \param source_port_handle Handle of source port
165   * \param destination_port_handle Handle of destination port
166   */
167  void Disconnect(int source_port_handle, int destination_port_handle);
168
169  /*!
170   * Disconnect all ports from port with specified handle
171   *
172   * \param port_handle Port handle
173   */
174  void DisconnectAll(int port_handle);
175
176  /*!
177   * Retrieve annotation from specified framework element
178   *
179   * \param element_handle Handle of framework element
180   * \param annotation_type_name Name of annotation type
181   * \return Serialized annotation
182   */
183  rrlib::serialization::tMemoryBuffer GetAnnotation(int element_handle, const std::string& annotation_type_name);
184
185  /*!
186   * \return All actions for creating framework element currently registered in this runtime environment - serialized
187   */
188  rrlib::serialization::tMemoryBuffer GetCreateModuleActions();
189
190  /*!
191   * \return Available module libraries (.so files) that have not been loaded yet - serialized
192   */
193  rrlib::serialization::tMemoryBuffer GetModuleLibraries();
194
195  /*!
196   * \param root_element_handle Handle of root element to get parameter info below of
197   * \return Serialized parameter info
198   */
199  rrlib::serialization::tMemoryBuffer GetParameterInfo(int root_element_handle);
200
201  /*!
202   * \param element_handle Handle of framework element
203   * \return Is specified framework element currently executing?
204   */
205  tExecutionStatus IsExecuting(int element_handle);
206
207  /*!
208   * Dynamically loads specified module library (.so file)
209   *
210   * \param library_name File name of library to load
211   * \return Available module libraries (.so files) that have not been loaded yet - serialized (Updated version)
212   */
213  rrlib::serialization::tMemoryBuffer LoadModuleLibrary(const std::string& library_name);
214
215  /*!
216   * Connect local port to port in remote runtime environment using one of the
217   * available network transport plugins.
218   *
219   * \param local_port_handle Handle of local port
220   * \param preferred_transport ID of preferred network transport to be used (e.g. "tcp"). If specified, it will be attempted to create the connection using this transport first.
221   * \param remote_runtime_uuid UUID of remote runtime
222   * \param remote_port_handle Handle of remote port
223   * \param remote_port_link Link of port in remote runtime environment
224   * \param disconnect If 'false' the ports are connected - if 'true' the ports are disconnected
225   * \return Returns error message if connecting failed. On success an empty string is returned.
226   */
227  std::string NetworkConnect(int local_port_handle, const std::string& preferred_transport, const std::string& remote_runtime_uuid,
228                             int remote_port_handle, const std::string& remote_port_link, bool disconnect);
229
230  /*!
231   * Pauses execution of tasks in specified framework element
232   * (possibly its parent thread container - if there is no such, then all children)
233   *
234   * \param element_handle Handle of framework element
235   */
236  void PauseExecution(int element_handle);
237
238  /*!
239   * Saves all finstructable files in this runtime environment
240   */
241  void SaveAllFinstructableFiles();
242
243  /*!
244   * Save contents finstructable group to xml file
245   *
246   * \param group_handle Handle of group to save
247   */
248  void SaveFinstructableGroup(int group_handle);
249
250  /*!
251   * Set/change annotation of specified framework element
252   *
253   * \param element_handle Handle of framework element
254   * \param serialized_annotation Serialized annotation (including type of annotation)
255   */
256  void SetAnnotation(int element_handle, const rrlib::serialization::tMemoryBuffer& serialized_annotation);
257
258  /*!
259   * Set value of port
260   *
261   * \param port_handle Port handle
262   * \param serialized_new_value New value - serialized
263   * \return Empty string if it worked - otherwise error message
264   */
265  std::string SetPortValue(int port_handle, const rrlib::serialization::tMemoryBuffer& serialized_new_value);
266
267  /*!
268   * Starts executing tasks in specified framework element
269   * (possibly its parent thread container - if there is no such, then all children)
270   *
271   * \param element_handle Handle of framework element
272   */
273  void StartExecution(int element_handle);
274
275//----------------------------------------------------------------------
276// Private fields and methods
277//----------------------------------------------------------------------
278private:
279
280};
281
282//----------------------------------------------------------------------
283// End of namespace declaration
284//----------------------------------------------------------------------
285}
286}
287
288
289#endif
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