Application.cpp

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/*
 * This file is part of ArmarX.
 *
 * Copyright (C) 2011-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @package    ArmarXCore::core
 * @author     Nils Adermann (naderman at naderman dot de)
 * @author     Kai Welke (welke at kit dot edu)
 * @author     Jan Issac (jan dot issac at gmail dot com)
 * @author     Mirko Waechter (waechter at kit dot edu)
 * @author     Manfred Kroehnert (manfred dot kroehnert at kit dot edu)
 * @date       2010
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#include "Application.h"
 
#include <stddef.h> // for size_t
#include <stdlib.h> // for NULL, getenv, system, exit, etc
 
#include <filesystem>
#include <fstream>
#include <iostream> // for operator<<, ostream, etc
#include <sstream> // for basic_stringbuf<>::int_type, etc
#include <thread>
#include <thread> // for thread
#include <utility> // for pair, move
 
#include <unistd.h> // for getpid
 
#include <Ice/Communicator.h> // for Communicator, etc
#include <Ice/Initialize.h> // for InitializationData
#include <Ice/LocalException.h> // for FileException, etc
#include <Ice/NativePropertiesAdmin.h>
#include <Ice/ObjectF.h> // for upCast
#include <Ice/Process.h> // for ProcessPtr, Process
#include <Ice/Properties.h> // for Properties, PropertiesPtr
#include <Ice/Properties.h>
#include <Ice/PropertiesAdmin.h> // for PropertyDict
#include <Ice/PropertiesAdmin.h>
#include <IceUtil/Time.h> // for Time
 
#include <SimoxUtility/algorithm/string/string_tools.h>
 
#include "ArmarXCore/core/IceManager.h" // for IceManager
#include "ArmarXCore/core/ManagedIceObject.h"
#include "ArmarXCore/core/application/../ArmarXDummyManager.h"
#include "ArmarXCore/core/application/../ArmarXManager.h"
#include "ArmarXCore/core/application/../system/ArmarXDataPath.h"
#include "ArmarXCore/core/application/../system/cmake/CMakePackageFinder.h"
#include "ArmarXCore/core/application/ApplicationNetworkStats.h"
#include "ArmarXCore/core/application/properties/Property.h"
#include "ArmarXCore/core/application/properties/PropertyDefinition.h"
#include "ArmarXCore/core/application/properties/PropertyDefinition.hpp"
#include "ArmarXCore/core/application/properties/PropertyUser.h"
#include "ArmarXCore/core/logging/LogSender.h" // for LogSender
#include "ArmarXCore/core/logging/Logging.h" // for ARMARX_INFO_S, etc
#include "ArmarXCore/interface/core/Log.h" // for MessageType, etc
#include "ArmarXCore/interface/core/Profiler.h"
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
#include <ArmarXCore/core/services/tasks/ThreadPool.h>
#include <ArmarXCore/core/system/DynamicLibrary.h>
 
#include "../logging/ArmarXLogBuf.h" // for ArmarXLogBuf
#include "ApplicationNetworkStats.h" // for ApplicationNetworkStatsPtr
#include "ApplicationOptions.h" // for Options, showHelp, etc
#include "ApplicationProcessFacet.h" // for ArmarXManagerPtr, etc
#include "properties/IceProperties.h" // for IceProperties
 
#ifndef WIN32
#include <signal.h> // for signal, SIGABRT, SIGSEGV, etc
 
#include <cstdio>
 
#include <ArmarXCore/core/util/OnScopeExit.h> // for ARMARX_ON_SCOPE_EXIT
 
#include <execinfo.h>
#endif
 
#include <stdlib.h>
 
 
using namespace armarx;
 
// static members for the one application instance (maybe not required anymore???)
std::mutex Application::instanceMutex;
ApplicationPtr Application::instance;
Ice::StringSeq Application::ProjectDependendencies;
std::string Application::ProjectName;
const std::string Application::ArmarXUserConfigDirEnvVar = "ARMARX_CONFIG_DIR";
std::string errormsg = "Segmentation fault - Backtrace: \n";
bool crashed = false;
 
void
Application::HandlerFault(int sig)
{
    if (crashed)
    {
        return;
    }
    crashed = true;
 
    // dont allocate memory in segfault
    if (sig == SIGSEGV)
    {
        std::array<void*, 20> array;
        size_t size;
        size = backtrace(array.data(), 20);
 
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wunused-result"
        write(STDERR_FILENO, errormsg.data(), errormsg.size());
#pragma GCC diagnostic pop
        backtrace_symbols_fd(array.data(), size, STDERR_FILENO);
        exit(EXIT_FAILURE);
    }
    // print out all the frames to stderr
    try
    {
        std::stringstream str;
 
        if (sig == SIGABRT)
        {
            str << "Error: Abort\nBacktrace:\n";
        }
        else
        {
            str << "Error: signal " << sig;
        }
 
        ARMARX_FATAL_S << str.str() << "\nBacktrace:\n" << LogSender::CreateBackTrace();
        if ((sig == SIGSEGV || sig == SIGABRT) && Application::getInstance() &&
            Application::getInstance()->getProperty<bool>("StartDebuggerOnCrash").getValue())
        {
            std::stringstream s;
            int res;
            //        res = system("which qtcreator");
            //        res = WEXITSTATUS(res);
            //        if (res == EXIT_SUCCESS)
            {
                s << "qtcreator -debug " << getpid();
                ARMARX_IMPORTANT << s.str();
                res = system(s.str().c_str());
                res++; // suppress warning
            }
            //        else
            //        {
            //            ARMARX_INFO_S << "Could not find qtcreator";
            //        }
        }
    }
    catch (...)
    {
        // do nothing
    }
    exit(EXIT_FAILURE);
}
 
void
Application::loadLibrariesFromProperties()
{
    auto loadLibString = getProperty<std::string>("LoadLibraries").getValue();
    if (!loadLibString.empty())
    {
        if (!libLoadingEnabled)
        {
            throw LocalException("Loading of dynamic libraries is not enabled in this application. "
                                 "The Application needs to call enableLibLoading()");
        }
        auto entries = armarx::Split(loadLibString, ";", true, true);
        for (auto& entry : entries)
        {
            try
            {
                std::filesystem::path path;
                if (armarx::Contains(entry, "/"))
                {
                    path = entry;
                }
                else
                {
                    auto elements = Split(entry, ":");
                    ARMARX_CHECK_EQUAL(elements.size(), 2);
 
                    CMakePackageFinder p(elements.at(0));
 
                    // case entry ^= `package_name`::`package_name`_`lib_name`
                    {
                        std::string libFileName = "lib" + elements.at(1) + "." +
                                                  DynamicLibrary::GetSharedLibraryFileExtension();
                        for (auto& libDir : armarx::Split(p.getLibraryPaths(), ";"))
                        {
                            std::filesystem::path testPath(libDir);
                            testPath /= libFileName;
                            if (std::filesystem::exists(testPath))
                            {
                                path = testPath;
                                break;
                            }
                        }
                    }
                    // case entry ^= `package_name`::`lib_name`
                    {
                        // the filename is known to be "lib`package_name`_`lib_name`.so"
                        std::string libFileName = "lib" + elements.at(0) + "_" + elements.at(1) +
                                                  "." +
                                                  DynamicLibrary::GetSharedLibraryFileExtension();
                        for (auto& libDir : armarx::Split(p.getLibraryPaths(), ";"))
                        {
                            std::filesystem::path testPath(libDir);
                            testPath /= libFileName;
                            if (std::filesystem::exists(testPath))
                            {
                                path = testPath;
                                break;
                            }
                        }
                    }
 
                    if (path.empty())
                    {
                        ARMARX_ERROR << "Could find library '" << entry
                                     << "' in any of the following paths: " << p.getLibraryPaths();
                        continue;
                    }
                }
                ARMARX_CHECK_EXPRESSION(!path.empty());
                DynamicLibrary lib;
                lib.setUnloadOnDestruct(false);
                ARMARX_VERBOSE << "Loading library " << path.string();
                lib.load(path);
            }
            catch (...)
            {
                handleExceptions();
            }
        }
    }
}
 
bool
Application::getForbidThreadCreation() const
{
    return forbidThreadCreation;
}
 
void
Application::setForbidThreadCreation(bool value)
{
    forbidThreadCreation = value;
    if (forbidThreadCreation)
    {
        ARMARX_INFO << "Thread creation with RunningTask and PeriodicTask is now forbidden in this "
                       "process.";
    }
    else
    {
        ARMARX_INFO << "Thread creation with RunningTask and PeriodicTask is now allowed again in "
                       "this process.";
    }
}
 
void
Application::enableLibLoading(bool enable)
{
    this->libLoadingEnabled = enable;
}
 
void
Application::storeCommandLineArguments(int argc, char* argv[])
{
    ARMARX_CHECK_EXPRESSION(commandLineArguments.empty())
        << "Command line arguments were already set: " << VAROUT(commandLineArguments);
    commandLineArguments.reserve(argc);
    for (int i = 0; i < argc; ++i)
    {
        commandLineArguments.emplace_back(argv[i]);
    }
}
 
const std::vector<std::string>&
Application::getCommandLineArguments() const
{
    return commandLineArguments;
}
 
void
Application::HandlerInterrupt(int sig)
{
    if (Application::getInstance())
    {
        Application::getInstance()->interruptCallback(sig);
    }
}
 
// main entry point of Ice::Application
Application::Application() : Ice::Application(Ice::NoSignalHandling)
{
}
 
ApplicationPtr
Application::getInstance()
{
    std::unique_lock lock(instanceMutex);
 
    return instance;
}
 
void
Application::setInstance(const ApplicationPtr& inst)
{
    std::unique_lock lock(instanceMutex);
 
    instance = inst;
}
 
void
Application::setIceProperties(Ice::PropertiesPtr properties)
{
    // call base class method
    PropertyUser::setIceProperties(properties);
    // set the properties of all components
    if (armarXManager)
    {
        armarXManager->setComponentIceProperties(properties);
    }
}
 
void
Application::updateIceProperties(const Ice::PropertyDict& properties)
{
    // call base class method
    PropertyUser::updateIceProperties(properties);
    // update the properties of all components
    if (armarXManager)
    {
        armarXManager->updateComponentIceProperties(properties);
    }
}
 
void
Application::icePropertiesUpdated(const std::set<std::string>& changedProperties)
{
    if (armarXManager)
    {
        if (changedProperties.count("DisableLogging") &&
            getProperty<bool>("DisableLogging").isSet())
        {
            //            ARMARX_INFO << "Logging disabled: " << getProperty<bool>("DisableLogging").getValue();
            armarXManager->enableLogging(!getProperty<bool>("DisableLogging").getValue());
        }
 
        if (changedProperties.count("EnableProfiling"))
        {
            armarXManager->enableProfiling(getProperty<bool>("EnableProfiling").getValue());
        }
        if (changedProperties.count("Verbosity"))
        {
            armarXManager->setGlobalMinimumLoggingLevel(
                getProperty<MessageTypeT>("Verbosity").getValue());
        }
    }
}
 
const ThreadPoolPtr&
Application::getThreadPool() const
{
    return threadPool;
}
 
int
Application::run(int argc, char* argv[])
{
#ifndef WIN32
    // register signal handler
    signal(SIGILL, Application::HandlerFault);
    signal(SIGSEGV, Application::HandlerFault);
    signal(SIGABRT, Application::HandlerFault);
 
    signal(SIGHUP, Application::HandlerInterrupt);
    signal(SIGINT, Application::HandlerInterrupt);
    signal(SIGTERM, Application::HandlerInterrupt);
#endif
 
    ARMARX_TRACE;
 
    // parse options and merge these with properties passed via Ice.Config
    Ice::PropertiesPtr properties = parseOptionsMergeProperties(argc, argv);
 
    // parse help options
    ARMARX_TRACE;
 
    ApplicationOptions::Options options =
        ApplicationOptions::parseHelpOptions(properties, argc, argv);
 
    if (options.error)
    {
        // error in options
        return EXIT_FAILURE;
    }
    else if (options.showHelp) // display help
    {
        showHelp(options);
        return EXIT_SUCCESS;
    }
    else if (options.showVersion)
    {
        std::cout << "Version: " << GetVersion() << std::endl;
        return EXIT_SUCCESS;
    }
 
    ARMARX_TRACE;
 
    setIceProperties(properties);
 
    // Override environment variables if set.
    {
        ARMARX_TRACE;
 
        const Ice::PropertyDict& env_props =
            getPropertyDefinitions()->getProperties()->getPropertiesForPrefix("env");
 
        for (const auto& [name, value] : env_props)
        {
            const std::string short_name = name.substr(4); // Cut "env.".
            ARMARX_INFO << "Setting environment variable '" << short_name << "' to value '" << value
                        << "'.";
            setenv(short_name.c_str(), value.c_str(), 1);
        }
    }
 
    if (getProperty<std::uint64_t>("SecondsStartupDelay").isSet())
    {
        const auto delay = getProperty<std::uint64_t>("SecondsStartupDelay").getValue();
        ARMARX_INFO << "startup delay: " << delay << " seconds";
        std::this_thread::sleep_for(std::chrono::seconds{delay});
    }
    else
    {
        ARMARX_DEBUG << "startup delay is not set";
    }
 
    // extract application name
    if (getProperty<std::string>("ApplicationName").isSet())
    {
        applicationName = getProperty<std::string>("ApplicationName").getValue();
    }
    LogSender::SetLoggingGroup(getProperty<std::string>("LoggingGroup").getValue());
 
    // Redirect std::cout and std::cerr
    const bool redirectStdout = getProperty<bool>("RedirectStdout").getValue();
    ArmarXLogBuf buf("std::cout", MessageTypeT::INFO, false);
    ArmarXLogBuf errbuf("std::cerr", MessageTypeT::WARN, true);
    std::streambuf* cout_sbuf = nullptr;
    std::streambuf* cerr_sbuf = nullptr;
    if (redirectStdout)
    {
        cout_sbuf = std::cout.rdbuf();
        cerr_sbuf = std::cerr.rdbuf();
        std::cout.rdbuf(&buf);
        std::cerr.rdbuf(&errbuf);
    }
    ARMARX_ON_SCOPE_EXIT
    {
        //reset std::cout and std::cerr to original stream
        if (redirectStdout)
        {
            std::cout.rdbuf(cout_sbuf);
            std::cerr.rdbuf(cerr_sbuf);
        }
    };
 
    int result = EXIT_SUCCESS;
 
    threadPool.reset(new ThreadPool(getProperty<unsigned int>("ThreadPoolSize").getValue()));
    // create the ArmarXManager and set its properties
    try
    {
        armarXManager = new ArmarXManager(applicationName, communicator());
    }
    catch (Ice::ConnectFailedException&)
    {
        return EXIT_FAILURE;
    }
 
    armarXManager->setDataPaths(getProperty<std::string>("DataPath").getValue());
 
    // set the properties again, since the armarx manager is now available
    setIceProperties(properties);
 
    loadDependentProjectDatapaths();
 
#ifdef WIN32
    // register interrupt handler
    callbackOnInterrupt();
#endif
 
 
    if (applicationNetworkStats)
    {
        ProfilerListenerPrx profilerTopic =
            armarXManager->getIceManager()->getTopic<ProfilerListenerPrx>(
                armarx::Profiler::PROFILER_TOPIC_NAME);
        applicationNetworkStats->start(profilerTopic, applicationName);
    }
 
    loadLibrariesFromProperties();
 
    try
    {
        // calls virtual setup in order to allow subclass to add components to the application
        setup(armarXManager, properties);
    }
    catch (...)
    {
        handleExceptions();
        armarXManager->shutdown();
    }
 
    // calls exec implementation
    result = exec(armarXManager);
    LogSender::SetSendLoggingActivated(false);
 
    if (shutdownThread)
    {
        ARMARX_VERBOSE << "joining shutdown thread!";
        shutdownThread->join();
    }
    ARMARX_VERBOSE << "Application run finished";
    return result;
}
 
/*
 * the default exec implementation. Exec is always blocking and waits for
 * shutdown
 */
int
Application::exec(const ArmarXManagerPtr& armarXManager)
{
    armarXManager->waitForShutdown();
 
    return 0;
}
 
Ice::PropertiesPtr
Application::parseOptionsMergeProperties(int argc, char* argv[])
{
    // parse options and merge these with properties passed via Ice.Config
    // Here, use armarx::IceProperties instead of Ice::Properties
    // to support property inheritance.
    Ice::PropertiesPtr properties = IceProperties::create(
        ApplicationOptions::mergeProperties(communicator()->getProperties()->clone(), argc, argv));
 
    // Load config files passed via ArmarX.Config
    std::string configFiles = communicator()->getProperties()->getProperty("ArmarX.Config");
 
    PropertyDefinition<std::string>::removeQuotes(configFiles, configFiles);
 
    // if not set, size is zero
    // if set with out value (== "1" as TRUE), size is one
    if (!configFiles.empty() && configFiles.compare("1") != 0)
    {
        std::vector<std::string> configFileList = simox::alg::split(configFiles, ",");
 
        for (std::string configFile : configFileList)
        {
            if (!configFile.empty())
            {
                properties->load(configFile);
            }
        }
    }
    return properties;
}
 
void
Application::showHelp(ApplicationOptions::Options& options)
{
    // perform dummy setup to register ManagedIceObjects
    ArmarXDummyManagerPtr dummyManager = new ArmarXDummyManager();
 
    LogSender::SetLoggingActivated(false, false);
 
    setup(dummyManager, getIceProperties());
 
    if (options.outfile.empty())
    {
        ApplicationOptions::showHelp(this, dummyManager, options, nullptr);
    }
    else
    {
        std::ofstream out(options.outfile);
        if (out.is_open())
        {
            ApplicationOptions::showHelp(this, dummyManager, options, nullptr, out);
        }
        else
        {
            options.format = ApplicationOptions::OptionsFormat::eHelpBrief;
            ApplicationOptions::showHelp(this, dummyManager, options, nullptr);
 
            std::cout << "Could not write to file " << options.outfile << std::endl;
        }
    }
}
 
std::string
Application::getDomainName()
{
    return "ArmarX";
}
 
void
Application::setName(const std::string& name)
{
    this->applicationName = name;
}
 
std::string
Application::getName() const
{
    return applicationName;
}
 
void
Application::interruptCallback(int signal)
{
    ARMARX_INFO_S << "Interrupt received: " << signal;
    if (applicationNetworkStats)
    {
        applicationNetworkStats->stopTask();
    }
    if (!shutdownThread)
        shutdownThread.reset(new std::thread{[this]
                                             {
                                                 if (armarXManager)
                                                     this->armarXManager->shutdown();
                                             }});
}
 
void
Application::registerDataPathsFromDependencies(std::string dependencies)
{
    IceUtil::Time start = IceUtil::Time::now();
    ARMARX_INFO_S << "Deps: " << dependencies;
    dependencies = simox::alg::replace_all(dependencies, "\"", "");
    Ice::StringSeq resultList = simox::alg::split(dependencies, "/");
 
    for (size_t i = 0; i < resultList.size(); i++)
    {
        CMakePackageFinder pack(resultList[i]);
 
        if (pack.packageFound())
        {
            ArmarXDataPath::addDataPaths(pack.getIncludePaths());
        }
    }
 
    ARMARX_INFO_S << "loading took " << (IceUtil::Time::now() - start).toMilliSeconds();
}
 
bool
Application::isPackageAutoDiscoveryEnabled()
{
    const std::string autodiscoverPropertyName = "AutodiscoverPackages";
 
    if (hasProperty(autodiscoverPropertyName))
    {
        ARMARX_VERBOSE << "`" << autodiscoverPropertyName << "` property available.";
        return getProperty<bool>(autodiscoverPropertyName).getValue();
    }
 
    return true; // Property not available. Default: use autodiscovery
}
 
std::vector<std::string>
Application::getArmarXPackageNames()
{
    if (isPackageAutoDiscoveryEnabled())
    {
        ARMARX_VERBOSE << "ArmarX package autodiscovery activated.";
        return CMakePackageFinder::FindAllArmarXSourcePackages();
    }
 
    ARMARX_VERBOSE << "ArmarX package autodiscovery not activated.";
 
    // legacy: use only those packages listed in the config file (e.g. default.cfg)
    Ice::StringSeq result = getProperty<Ice::StringSeq>("DefaultPackages").getValue();
    Ice::StringSeq additional = getProperty<Ice::StringSeq>("AdditionalPackages").getValue();
    result.insert(result.end(), additional.begin(), additional.end());
 
    return result;
}
 
std::string
Application::GetArmarXConfigDefaultPath(bool envVarExpanded)
{
    char* env_armarx_workspace = getenv("ARMARX_WORKSPACE");
    char* env_armarx_default_config_dir_name = getenv("ARMARX_CONFIG_DIR_NAME");
 
    std::filesystem::path armarx_workspace;
    std::filesystem::path armarx_config_dir;
 
    if (env_armarx_workspace)
    {
        armarx_workspace = std::filesystem::path(env_armarx_workspace);
    }
    else
    {
        char* home = getenv("HOME");
 
        if (home)
        {
            armarx_workspace = std::filesystem::path(home);
        }
        else
        {
            armarx_workspace = "~/";
        }
    }
 
    if (env_armarx_default_config_dir_name)
    {
        armarx_config_dir = std::filesystem::path(env_armarx_default_config_dir_name);
    }
    else
    {
        if (env_armarx_workspace)
        {
            armarx_config_dir = "armarx_config";
        }
        // Legacy mode.
        else
        {
            armarx_config_dir = ".armarx";
        }
    }
 
    if (envVarExpanded)
    {
        return (armarx_workspace / armarx_config_dir).string();
    }
    else
    {
        if (env_armarx_workspace)
        {
            return "${ARMARX_WORKSPACE}/" + armarx_config_dir.string();
        }
        // Legacy mode.
        else
        {
            return "${HOME}/" + armarx_config_dir.string();
        }
    }
}
 
ArmarXManagerPtr
Application::getArmarXManager()
{
    return armarXManager;
}
 
int
Application::doMain(int argc, char* argv[], const Ice::InitializationData& initData, Ice::Int i)
{
    // create copy of initData so the stats object can be added
    // using const_cast leads to unexpected errors
    Ice::InitializationData id(initData);
    loadDefaultConfig(argc, argv, id);
 
    // enable the PropertyAdmin ObjectAdapter
    // https://doc.zeroc.com/display/Ice35/The+Administrative+Object+Adapter
    if (id.properties->getProperty("Ice.Admin.InstanceName").empty())
    {
        id.properties->setProperty("Ice.Admin.InstanceName", this->getName());
    }
    if (id.properties->getProperty("Ice.Admin.Endpoints").empty())
    {
        id.properties->setProperty("Ice.Admin.Endpoints", "tcp -h 127.0.0.1");
    }
 
    if (initData.properties->getProperty("ArmarX.NetworkStats") == "1")
    {
        applicationNetworkStats = new ApplicationNetworkStats();
        id.observer = applicationNetworkStats;
 
        const auto oldFacets = initData.properties->getPropertyAsList("Ice.Admin.Facets");
        if (oldFacets.empty())
        {
            initData.properties->setProperty("Ice.Admin.Facets", "Metrics");
        }
        else if (std::find(oldFacets.begin(), oldFacets.end(), "Metrics") == oldFacets.end())
        {
            std::stringstream str;
            str << "Metrics";
            for (const auto& facet : oldFacets)
            {
                str << "," << facet;
            }
            initData.properties->setProperty("Ice.Admin.Facets", str.str());
        }
        initData.properties->setProperty("IceMX.Metrics.NetworkStats.GroupBy", "none");
    }
 
    return Ice::Application::doMain(argc, argv, id, i);
}
 
Ice::StringSeq
Application::GetDefaultsPaths()
{
    const std::string configFileName = "default.cfg";
    const std::string generatedConfigFileName = "default.generated.cfg";
    Ice::StringSeq defaultsPaths;
    char* defaultsPathVar = getenv(ArmarXUserConfigDirEnvVar.c_str());
    std::filesystem::path absBasePath;
    if (defaultsPathVar)
    {
        absBasePath = defaultsPathVar;
    }
    else
    {
        absBasePath = std::filesystem::path(GetArmarXConfigDefaultPath());
    }
    defaultsPaths.push_back((absBasePath / configFileName).string());
    defaultsPaths.push_back((absBasePath / generatedConfigFileName).string());
    return defaultsPaths;
}
 
void
Application::loadDefaultConfig(int argc, char* argv[], const Ice::InitializationData& initData)
{
    LoadDefaultConfig(initData.properties);
}
 
void
Application::LoadDefaultConfig(Ice::PropertiesPtr properties)
{
    const Ice::StringSeq defaultsPath = GetDefaultsPaths();
    Ice::PropertiesPtr p = IceProperties::create();
 
    for (std::string path : defaultsPath)
    {
        try
        {
            p->load(path);
 
            Ice::PropertyDict defaultCfg = p->getPropertiesForPrefix("");
 
            // copy default config into current config (if values are not already there)
            for (auto e : defaultCfg)
            {
                if (properties->getProperty(e.first).empty())
                {
                    properties->setProperty(e.first, e.second);
                }
            }
        }
        catch (Ice::FileException& e)
        {
            ARMARX_WARNING_S << "Loading default config failed: " << e.what();
        }
    }
}
 
const std::string&
Application::GetProjectName()
{
    return ProjectName;
}
 
const Ice::StringSeq&
Application::GetProjectDependencies()
{
    return ProjectDependendencies;
}
 
PropertyDefinitionsPtr
Application::createPropertyDefinitions()
{
    return PropertyDefinitionsPtr(new ApplicationPropertyDefinitions(getDomainName()));
}
 
void
Application::loadDependentProjectDatapaths()
{
    std::string dependenciesConfig = getIceProperties()->getProperty("ArmarX.DependenciesConfig");
 
    if (!dependenciesConfig.empty())
    {
        if (std::filesystem::exists(dependenciesConfig))
        {
            Ice::PropertiesPtr prop = IceProperties::create();
            prop->load(dependenciesConfig);
            ArmarXDataPath::addDataPaths(prop->getProperty("ArmarX.ProjectDatapath"));
            ProjectName = prop->getProperty("ArmarX.ProjectName");
            std::string dependencies = prop->getProperty("ArmarX.ProjectDependencies");
            ProjectDependendencies = simox::alg::split(dependencies, ";");
        }
        else
        {
            /*
            ARMARX_WARNING_S << "The given project datapath config file '" << datapathConfig << "', that this app depends on, could not be found. \
                                Relative paths to subprojects are not available. Set the property ArmarX.ProjectDatapath to empty, if you do not need the paths.";
            */
        }
    }
}
 
ApplicationPropertyDefinitions::ApplicationPropertyDefinitions(std::string prefix) :
    PropertyDefinitionContainer(prefix)
{
    defineOptionalProperty<std::string>(
        "Config", "", "Comma-separated list of configuration files ");
    defineOptionalProperty<std::string>(
        "DependenciesConfig",
        "./config/dependencies.cfg",
        "Path to the (usually generated) config file containing all data paths of all dependent "
        "projects. This property usually does not need to be edited.");
    defineOptionalProperty<Ice::StringSeq>(
        "DefaultPackages",
        {"ArmarXCore",
         "ArmarXGui",
         "MemoryX",
         "RobotAPI",
         "RobotComponents",
         "RobotSkillTemplates",
         "ArmarXSimulation",
         "VisionX",
         "SpeechX",
         "Armar3",
         "Spoac"},
        "List of ArmarX packages which are accessible by default. Comma separated List. If you "
        "want to add your own packages and use all default ArmarX packages, use the property "
        "'AdditionalPackages'.");
    defineOptionalProperty<Ice::StringSeq>(
        "AdditionalPackages",
        {},
        "List of additional ArmarX packages which should be in the list of default packages. If "
        "you have custom packages, which should be found by the gui or other apps, specify them "
        "here. Comma separated List.");
 
    defineOptionalProperty<bool>(
        "AutodiscoverPackages",
        true,
        "If enabled, will discover all ArmarX packages based on the environment variables. "
        "Otherwise, the `DefaultPackages` and `AdditionalPackages` properties are used.");
 
    defineOptionalProperty<std::string>("ApplicationName", "", "Application name");
 
    defineOptionalProperty<bool>("DisableLogging",
                                 false,
                                 "Turn logging off in whole application",
                                 PropertyDefinitionBase::eModifiable);
 
    defineOptionalProperty<MessageTypeT>("Verbosity",
                                         MessageTypeT::INFO,
                                         "Global logging level for whole application",
                                         PropertyDefinitionBase::eModifiable);
 
    defineOptionalProperty<std::string>(
        "LoggingGroup",
        "",
        "The logging group is transmitted with every ArmarX log message over Ice in order to group "
        "the message in the GUI.");
 
 
    defineOptionalProperty<std::string>(
        "DataPath", "", "Semicolon-separated search list for data files");
 
    defineOptionalProperty<std::string>(
        "CachePath",
        "mongo/.cache",
        std::string("Path for cache files. If relative path AND env. variable ") +
            Application::ArmarXUserConfigDirEnvVar +
            " is set, the cache path will be made relative to " +
            Application::ArmarXUserConfigDirEnvVar +
            ". Otherwise if relative it will be relative to the default ArmarX config dir (" +
            Application::GetArmarXConfigDefaultPath(false) + ")");
 
    defineOptionalProperty<bool>("EnableProfiling",
                                 false,
                                 "Enable profiling of CPU load produced by this application",
                                 PropertyDefinitionBase::eModifiable);
 
    defineOptionalProperty<bool>(
        "RedirectStdout", true, "Redirect std::cout and std::cerr to ArmarXLog");
 
    defineOptionalProperty<std::string>(
        "TopicSuffix",
        "",
        "Suffix appended to all topic names for outgoing topics. This is mainly used to direct all "
        "topics to another name for TopicReplaying purposes.");
 
    defineOptionalProperty<bool>(
        "UseTimeServer", false, "Enable using a global Timeserver (e.g. from ArmarXSimulator)");
 
    defineOptionalProperty<unsigned int>(
        "RemoteHandlesDeletionTimeout",
        3000,
        "The timeout (in ms) before a remote handle deletes the managed object after the use count "
        "reached 0. This time can be used by a client to increment the count again (may be "
        "required when transmitting remote handles)");
    defineOptionalProperty<bool>("StartDebuggerOnCrash",
                                 false,
                                 "If this application crashes (segmentation fault) qtcreator will "
                                 "attach to this process and start the debugger.");
    defineOptionalProperty<unsigned int>(
        "ThreadPoolSize", 1, "Size of the ArmarX ThreadPool that is always running.");
    defineOptionalProperty<std::string>(
        "LoadLibraries",
        "",
        "Libraries to load at start up of the application. Must be enabled by the Application with "
        "enableLibLoading(). Format: PackageName:LibraryName;... or /absolute/path/to/library;...");
    defineOptionalProperty<std::uint64_t>(
        "SecondsStartupDelay",
        0,
        "The startup will be delayed by this number of seconds (useful for debugging)");
}