Component.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     Kai Welke (welke at kit dot edu)
* @date       2012
* @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
*             GNU General Public License
*/
 
#include "Component.h"
 
#include <set>
#include <string>
#include <vector>
 
#include <ArmarXCore/core/ComponentPlugin.h>
#include <ArmarXCore/core/application/properties/Property.h>
#include <ArmarXCore/core/application/properties/PropertyDefinition.h>
#include <ArmarXCore/core/application/properties/PropertyDefinitionInterface.h>
#include <ArmarXCore/core/application/properties/PropertyUser.h>
#include <ArmarXCore/core/logging/LogSender.h>
#include <ArmarXCore/core/logging/Logging.h>
#include <ArmarXCore/interface/core/ManagedIceObjectDefinitions.h>
#include <ArmarXCore/util/CPPUtility/trace.h>
 
namespace armarx
{
 
    ComponentPropertyDefinitions::ComponentPropertyDefinitions(std::string prefix,
                                                               bool hasObjectNameParameter) :
        PropertyDefinitionContainer(prefix)
    {
        ARMARX_TRACE;
        if (hasObjectNameParameter)
        {
            defineOptionalProperty<std::string>(
                "ObjectName", "", "Name of IceGrid well-known object");
        }
        defineOptionalProperty<MessageTypeT>("MinimumLoggingLevel",
                                             armarx::MessageTypeT::UNDEFINED,
                                             "Local logging level only for this component",
                                             PropertyDefinitionBase::eModifiable);
        defineOptionalProperty<bool>("EnableProfiling",
                                     false,
                                     "enable profiler which is used for logging performance events",
                                     PropertyDefinitionBase::eModifiable);
    }
 
    Component::Component()
    {
        ARMARX_TRACE;
        setIceProperties(Ice::createProperties());
        configName = "";
        configDomain = "ArmarX";
        createdByComponentCreate = false;
    }
 
    std::string
    Component::getConfigDomain()
    {
        ARMARX_TRACE;
        return configDomain;
    }
 
    std::string
    Component::getConfigName()
    {
        ARMARX_TRACE;
        return configName;
    }
 
    std::string
    Component::getConfigIdentifier()
    {
        ARMARX_TRACE;
        return configDomain + "." + configName;
    }
 
    void
    Component::initializeProperties(const std::string& configName,
                                    const Ice::PropertiesPtr& properties,
                                    const std::string& configDomain)
    {
        ARMARX_TRACE;
        ARMARX_DEBUG << "Initializing properties.";
 
        this->configDomain = configDomain;
        this->configName = configName;
 
        // set default object name to configName
        setName(this->configName);
 
        // set properties
        setIceProperties(properties);
        icePropertiesInitialized();
    }
 
    void
    Component::preOnInitComponent()
    {
        ARMARX_TRACE;
        ARMARX_DEBUG << "Preparing for onInitComponent().";
 
        MessageTypeT const currentLoggingLevel = getEffectiveLoggingLevel();
        if (currentLoggingLevel == MessageTypeT::DEBUG or
            currentLoggingLevel == MessageTypeT::VERBOSE)
        {
            ARMARX_WARNING
                << "Logging level of this component is very low (Debug or Verbose). For debugging "
                   "and development purposes, this warning can be ignored and only serves as a "
                   "reminder.  A low logging level can have a performance impact, so reset the "
                   "logging level to at least Info after it is not used anymore, and especially "
                   "for stable or production workspaces.";
        }
 
        // Update all referenced properties.
        updateProperties();
 
        // Subscribe to all configured topics.
        for (const std::string& offered_topic_name : getSubscribedTopicNames())
        {
            ARMARX_DEBUG << "Subscribing to topic `" << offered_topic_name << "`.";
            usingTopic(offered_topic_name);
        }
 
        // Signal dependencies on configured components.
        for (const std::string& proxy_name : getComponentProxyNames())
        {
            ARMARX_DEBUG << "Using component proxy `" << proxy_name << "`.";
            usingProxy(proxy_name);
        }
 
        // Offer all configured topics.
        for (const std::string& proxy_name : getTopicProxyNames())
        {
            ARMARX_DEBUG << "Offering topic `" << proxy_name << "`.";
            offeringTopic(proxy_name);
        }
    }
 
    void
    Component::preOnConnectComponent()
    {
        ARMARX_TRACE;
        ARMARX_DEBUG << "Preparing for onConnectComponent().";
        // Update all referenced proxy properties.
        updateProxies(getIceManager());
    }
 
    void
    Component::addPropertyUser(const PropertyUserPtr& subPropertyUser)
    {
        ARMARX_TRACE;
        additionalPropertyUsers.push_back(subPropertyUser);
    }
 
    std::vector<PropertyUserPtr>
    Component::getAdditionalPropertyUsers() const
    {
        ARMARX_TRACE;
        return additionalPropertyUsers;
    }
 
    void
    Component::offeringTopicFromProperty(const std::string& propertyName)
    {
        offeringTopic(getProperty<std::string>(propertyName));
    }
 
    void
    Component::usingTopicFromProperty(const std::string& propertyName, bool orderedPublishing)
    {
        ARMARX_TRACE;
        usingTopic(getProperty<std::string>(propertyName), orderedPublishing);
    }
 
    bool
    Component::usingProxyFromProperty(const std::string& propertyName, const std::string& endpoints)
    {
        ARMARX_TRACE;
        return usingProxy(getProperty<std::string>(propertyName), endpoints);
    }
 
    void
    Component::forceComponentCreatedByComponentCreateFunc()
    {
        ARMARX_TRACE;
        this->createdByComponentCreate = true;
    }
 
    void
    Component::injectPropertyDefinitions(PropertyDefinitionsPtr& props)
    {
        ARMARX_DEBUG << "call postCreatePropertyDefinitions for all plugins...";
        foreach_plugin(
            [&](const auto& typeidx, const auto& name, const auto& plugin)
            {
                if (auto ptr = dynamic_cast<ComponentPlugin*>(plugin))
                {
                    ARMARX_DEBUG << "plugin '" << name << "' (" << GetTypeString(typeidx)
                                 << ") postCreatePropertyDefinitions...";
                    ptr->postCreatePropertyDefinitions(props);
                    ARMARX_DEBUG << "plugin '" << name << "' (" << GetTypeString(typeidx)
                                 << ") postCreatePropertyDefinitions...done!";
                }
                else
                {
                    ARMARX_DEBUG
                        << "plugin '" << name << "' (" << GetTypeString(typeidx)
                        << ") is no ComponentPlugin (not calling postCreatePropertyDefinitions)";
                }
            },
            __LINE__,
            __FILE__,
            __PRETTY_FUNCTION__);
        ARMARX_DEBUG << "call postCreatePropertyDefinitions for all plugins...done!";
    }
 
    PropertyDefinitionsPtr
    Component::createPropertyDefinitions()
    {
        ARMARX_TRACE;
        return new ComponentPropertyDefinitions(getConfigDomain() + "." + getConfigName());
    }
 
    void
    Component::icePropertiesUpdated(const std::set<std::string>& changedProperties)
    {
        ARMARX_TRACE;
        // check if properties have been initialized
        if (getConfigDomain().empty() || getConfigName().empty())
        {
            return;
        }
 
        // set the logging behavior for this component
        if (changedProperties.count("MinimumLoggingLevel") &&
            getProperty<MessageTypeT>("MinimumLoggingLevel").isSet())
        {
            setLocalMinimumLoggingLevel(
                getProperty<MessageTypeT>("MinimumLoggingLevel").getValue());
        }
 
        // get well-known name of this component instance
        // (default is the ManagedIceObject name itself)
        if (changedProperties.count("ObjectName") && getProperty<std::string>("ObjectName").isSet())
        {
            setName(getProperty<std::string>("ObjectName").getValue());
        }
 
        // set logging tag, may be overwritten by implementer
        setTag(getName());
 
        // enable Profiling
        // enable via global ArmarX.Profiling property and disable with specific one?
        if (changedProperties.count("EnableProfiling"))
        {
            enableProfiler(getProperty<bool>("EnableProfiling").getValue());
        }
 
        //only update user properties after the object was initialized
        if (getState() > eManagedIceObjectInitialized)
        {
            componentPropertiesUpdated(changedProperties);
            ARMARX_DEBUG << "call componentPropertiesUpdated for all plugins...";
            foreach_plugin(
                [&](const auto& typeidx, const auto& name, const auto& plugin)
                {
                    if (auto ptr = dynamic_cast<ComponentPlugin*>(plugin))
                    {
                        ARMARX_DEBUG << "plugin '" << name << "' (" << GetTypeString(typeidx)
                                     << ") componentPropertiesUpdated...";
                        ptr->componentPropertiesUpdated(changedProperties);
                        ARMARX_DEBUG << "plugin '" << name << "' (" << GetTypeString(typeidx)
                                     << ") componentPropertiesUpdated...done!";
                    }
                    else
                    {
                        ARMARX_DEBUG
                            << "plugin '" << name << "' (" << GetTypeString(typeidx.name())
                            << ") is no ComponentPlugin (not calling componentPropertiesUpdated)";
                    }
                },
                __LINE__,
                __FILE__,
                __PRETTY_FUNCTION__);
            ARMARX_DEBUG << "call componentPropertiesUpdated for all plugins...done!";
        }
    }
 
    void
    Component::componentPropertiesUpdated(const std::set<std::string>& changedProperties)
    {
        ARMARX_TRACE;
        (void)changedProperties;
    }
 
} // namespace armarx