Component.h

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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
*/
 
#pragma once
 
#include <string> // for string
 
#include <Ice/Handle.h> // for Handle
 
#include <ArmarXCore/core/ComponentPlugin.h>
#include <ArmarXCore/core/ManagedIceObject.h> // for ManagedIceObject
#include <ArmarXCore/core/application/properties/PropertyDefinition.h>
#include <ArmarXCore/core/application/properties/PropertyDefinition.hpp>
#include <ArmarXCore/core/application/properties/PropertyDefinitionContainer.h>
#include <ArmarXCore/core/application/properties/PropertyUser.h>
#include <ArmarXCore/core/system/ImportExport.h>
#include <ArmarXCore/util/CPPUtility/GetTypeString.h>
 
// Forward declarations
namespace Ice
{
    Ice::PropertiesPtr createProperties();
}
 
namespace armarx
{
 
    /**
     * @defgroup Component ArmarX Component
     * @ingroup DistributedProcessingGrp
     * @brief Subclass of ManagedIceObjects which contains additional properties.
     */
    class Component;
 
    /// Component smart pointer type.
    using ComponentPtr = IceInternal::Handle<Component>;
 
    class ComponentPlugin;
 
    /**
     * @class ComponentPropertyDefinitions
     * @brief Default component property definition container.
     * @ingroup Component
     * @see properties
     *
     * Inherit from this class to extend your property definitions for components!
     */
    class ComponentPropertyDefinitions : public PropertyDefinitionContainer
    {
    public:
        ComponentPropertyDefinitions(std::string prefix, bool hasObjectNameParameter = true);
    };
 
    /**
     * @class Component
     * @brief Baseclass for all ArmarX ManagedIceObjects requiring properties.
     * @ingroup Component
     *
     * Components are the equivalents to ManagedIceObjects with additional properties.
     * Usually, an ArmarX distributed application consists mainly of Component instances,
     * which are configured on startup through properties specified in a config file
     * (@see ArmarXCore-HowTos-generate-scenarios).
     *
     * It is also possible for components to be reconfigured at runtime.
     * To prepare your component for this feature you need to override the
     * Component::componentPropertiesUpdated() method, which is called every time properties change.
     *
     * The lifecycle of each Component is managed by an instance of ArmarXManager.
     */
    class ARMARXCORE_IMPORT_EXPORT Component :
        virtual public ManagedIceObject,
        virtual public PropertyUser
    {
    public:
        /**
         * Factory method for a component. Sets the specified properties.
         *
         * The properties are identified using a config domain, a config name and a property name.
         * The identifier of properties follows the rule:
         *
         * configDomain.configName.propertyName
         *
         * The configName is used as name of the well-known object in Ice.
         * @see ManagedIceObject::ManagedIceObject(std::string name)
         * This name can be changed by setting the property:
         *
         * configDomain.configName.ObjectName=<desiredname>
         *
         * @param configName name of the properties identifier
         * @param properties properties for the object
         * @param configDomain domain of the properties identifier
         */
        template <class T, class TPtr = IceInternal::Handle<T>>
        static TPtr
        create(Ice::PropertiesPtr properties = Ice::createProperties(),
               const std::string& configName = "",
               const std::string& configDomain = "ArmarX")
        {
            ARMARX_TRACE;
            ARMARX_DEBUG_S << "create component (configName = " << configName
                           << ", configDomain = " << configDomain << " of type "
                           << GetTypeString<T>();
            TPtr ptr = new T();
            ptr->createdByComponentCreate = true;
 
            ComponentPtr compPtr = ptr;
 
            ARMARX_DEBUG_S << "initializing properties";
            if (configName == "")
            {
                ptr->initializeProperties(compPtr->getDefaultName(), properties, configDomain);
            }
            else
            {
                ptr->initializeProperties(configName, properties, configDomain);
            }
            ARMARX_DEBUG_S << "call post ini properties hook";
            compPtr->icePropertiesInitialized();
            ARMARX_DEBUG_S << "returning component";
            return ptr;
        }
 
        /// @see PropertyUser::getProperty()
        using PropertyUser::getProperty;
 
        /**
         * @brief Implement this function if you would like to react to changes in the properties
         * @param changedProperties Set of changed properties. Retrieve the values with getProperty()
         */
        virtual void componentPropertiesUpdated(const std::set<std::string>& changedProperties);
 
        virtual void preOnInitComponent() override;
        virtual void preOnConnectComponent() override;
 
        /**
         * @brief initializes the properties of this component.
         * Must not be called after the component was added to the ArmarXManager.
         * Use with caution!
         * @param configName
         * @param properties
         * @param configDomain
         */
        void initializeProperties(const std::string& configName,
                                  Ice::PropertiesPtr const& properties,
                                  const std::string& configDomain);
 
        ///@see \ref PropertyUser
        void injectPropertyDefinitions(PropertyDefinitionsPtr& props) override;
 
        /**
         * @brief forces the flag to be set to true that the object instance was created by the Component::create function
         * @note Do not call this function except you know that you are doing.
         */
        void forceComponentCreatedByComponentCreateFunc();
 
 
        std::vector<PropertyUserPtr> getAdditionalPropertyUsers() const;
 
 
        // Convenience wrappers for {offering|using|get}{Topic|Proxy}() with name from property.
 
        /**
         * @brief Offer a topic whose name is specified by the given property.
         * @param name Name of the property specifying the topic name.
         * @see ManagedIceObject::offeringTopic()
         * @see PropertyUser::getProperty()
         */
        void offeringTopicFromProperty(const std::string& propertyName);
 
        /**
         * @brief Use a topic whose name is specified by the given property.
         * @param name Name of the property specifying the topic name.
         * @param orderedPublishing See ManagedIceObject::usingProxy().
         * @see ManagedIceObject::usingTopic()
         * @see PropertyUser::getProperty()
         */
        void usingTopicFromProperty(const std::string& propertyName,
                                    bool orderedPublishing = false);
 
        /**
         * @brief Use a proxy whose name is specified by the given property.
         * @param name Name of the property specifying the proxy name.
         * @param endpoints See ManagedIceObject::usingProxy().
         * @return See ManagedIceObject::usingProxy().
         * @see ManagedIceObject::usingProxy()
         * @see PropertyUser::getProperty()
         */
        bool usingProxyFromProperty(const std::string& propertyName,
                                    const std::string& endpoints = "");
 
        /**
         * @brief Get a topic proxy whose name is specified by the given property.
         * @param name Name of the property specifying the proxy name.
         * @return The topic proxy. (See ManagedIceObject::getProxy().)
         * @see ManagedIceObject::getTopic()
         * @see PropertyUser::getProperty()
         */
        template <class TopicProxyType>
        TopicProxyType
        getTopicFromProperty(const std::string& propertyName)
        {
            return getTopic<TopicProxyType>(getProperty<std::string>(propertyName));
        }
 
        template <class TopicProxyType>
        void
        getTopicFromProperty(TopicProxyType& top, const std::string& propertyName)
        {
            top = getTopic<TopicProxyType>(getProperty<std::string>(propertyName));
        }
 
        /**
         * @brief Get a proxy whose name is specified by the given property.
         * @param name Name of the property specifying the proxy name.
         * @return The proxy. (See ManagedIceObject::getProxy().)
         * @see ManagedIceObject::getProxy()
         * @see PropertyUser::getProperty()
         */
        template <class ProxyType>
        ProxyType
        getProxyFromProperty(const std::string& propertyName,
                             bool addToDependencies = false,
                             const std::string& endpoints = "",
                             bool throwOnProxyError = true)
        {
            return getProxy<ProxyType>(getProperty<std::string>(propertyName),
                                       addToDependencies,
                                       endpoints,
                                       throwOnProxyError);
        }
 
        template <class ProxyType>
        void
        getProxyFromProperty(ProxyType& proxy,
                             const std::string& propertyName,
                             bool addToDependencies = false,
                             const std::string& endpoints = "",
                             bool throwOnProxyError = true)
        {
            proxy = getProxy<ProxyType>(getProperty<std::string>(propertyName),
                                        addToDependencies,
                                        endpoints,
                                        throwOnProxyError);
        }
 
 
    protected:
        /// Protected default constructor. Used for virtual inheritance. Use createManagedIceObject() instead.
        Component();
 
 
        /// @see PropertyUser::createPropertyDefinitions()
        PropertyDefinitionsPtr createPropertyDefinitions() override;
 
        /**
         * Retrieve config domain for this component as set in constructor. The configdomain
         * defines which properties are used from the properties read from commandline or config file.
         * The name of the used properties follows the rule:
         *
         * configDomain.configName.propertyName
         */
        std::string getConfigDomain();
 
        /**
         * Retrieve config name for this component as set in constructor. The configname
         * defines which properties are used from the properties read from commandline or config file.
         * The name of the properties follows the rule:
         *
         * configDomain.configName.propertyName
         */
        std::string getConfigName();
 
        /**
         * Retrieve config identifier for this component as set in constructor. The config identifier
         * defines which properties are used from the properties read from commandline or config file.
         * The name of the properties follows the rule:
         *
         * configDomain.configName.propertyName
         *
         * where the configIdentifier corresponds to
         *
         * configDomain.configName
         */
        std::string getConfigIdentifier();
 
        virtual void
        icePropertiesInitialized()
        {
        }
 
        /**
         * @brief Add additional property users here that should show up in the application help text.
         * This function needs to be called in the icePropertiesInitialized from the component user.
         * @param subPropertyUser
         */
        void addPropertyUser(const PropertyUserPtr& subPropertyUser);
 
 
    private:
        friend class ArmarXManager;
 
        /**
         * This method is called when new properties are set with Component::setIceProperties().
         * It calls Component::componentPropertiesUpdated(), which can be overriden by subclasses
         * to perform actions when properties change.
         */
        void icePropertiesUpdated(const std::set<std::string>& changedProperties) override final;
 
 
        // idenfitication of properties
        std::string configDomain;
        std::string configName;
 
        std::vector<PropertyUserPtr> additionalPropertyUsers;
 
 
        /**
         * @brief this flag is used by ArmarXManager::addObject to check whether a component was
         * created using Component::create.
         */
        bool createdByComponentCreate;
    };
 
} // namespace armarx