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Merge branch 'feature-mts-new' into devel
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@adeguet1
adeguet1 committed Apr 8, 2019
2 parents dc9a4e6 + d7f2663 commit b044405
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Showing 14 changed files with 389 additions and 176 deletions.
4 changes: 4 additions & 0 deletions cisstMultiTask/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -21,6 +21,10 @@ else (CMAKE_SIZEOF_VOID_P EQUAL 8)
set (CISST_MTS_64BIT FALSE)
endif (CMAKE_SIZEOF_VOID_P EQUAL 8)

# New features (use with caution)
option (CISST_MTS_NEW "Enable new cisstMultiTask features" OFF)
mark_as_advanced (CISST_MTS_NEW)

# ZeroC ICE
option (CISST_MTS_HAS_ICE "Enable inter-process communication (IPC) feature of cisstMultiTask, requires ICE from ZeroC" OFF)
mark_as_advanced (CISST_MTS_HAS_ICE)
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6 changes: 2 additions & 4 deletions cisstMultiTask/code/cisstMultiTaskBuild.cmake.in
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Original file line number Diff line number Diff line change
@@ -1,13 +1,10 @@
#
# $Id$
#
# CMake configuration file for the installed version of cisstMultiTask
#
# Author(s): Anton Deguet
# Created on: 2010-03-01
#
# (C) Copyright 2010-2012 Johns Hopkins University (JHU), All Rights
# Reserved.
# (C) Copyright 2010-2019 Johns Hopkins University (JHU), All Rights Reserved.
#
# --- begin cisst license - do not edit ---
#
Expand All @@ -21,3 +18,4 @@
# Which flags have been set and include path/libs
set(CISST_MTS_HAS_ICE @CISST_MTS_HAS_ICE@)

set(CISST_MTS_NEW @CISST_MTS_NEW@)
148 changes: 146 additions & 2 deletions cisstMultiTask/code/mtsManagerComponentClient.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -469,6 +469,10 @@ bool mtsManagerComponentClient::AddInterfaceComponent(void)
this, mtsManagerComponentBase::CommandNames::ComponentCreate);
provided->AddCommandWrite(&mtsManagerComponentClient::InterfaceComponentCommands_ComponentConfigure,
this, mtsManagerComponentBase::CommandNames::ComponentConfigure);
provided->AddCommandWriteReturn(&mtsManagerComponentClient::InterfaceComponentCommands_ComponentConnectNew,
this, mtsManagerComponentBase::CommandNames::ComponentConnect);
provided->AddCommandWriteReturn(&mtsManagerComponentClient::InterfaceComponentCommands_ComponentDisconnectNew,
this, mtsManagerComponentBase::CommandNames::ComponentDisconnect);
provided->AddCommandWrite(&mtsManagerComponentClient::InterfaceComponentCommands_ComponentConnect,
this, mtsManagerComponentBase::CommandNames::ComponentConnect);
provided->AddCommandWrite(&mtsManagerComponentClient::InterfaceComponentCommands_ComponentDisconnect,
Expand Down Expand Up @@ -537,6 +541,8 @@ bool mtsManagerComponentClient::AddInterfaceComponent(void)
#else
mtsInterfaceProvided *interfaceProvidedToSelf = provided->GetEndUserInterface("Self");
if (interfaceProvidedToSelf) {
GeneralInterface.ComponentConnectNew.Bind(interfaceProvidedToSelf->GetCommandWriteReturn(
mtsManagerComponentBase::CommandNames::ComponentConnect));
GeneralInterface.ComponentConnect.Bind(interfaceProvidedToSelf->GetCommandWrite(
mtsManagerComponentBase::CommandNames::ComponentConnect));
}
Expand All @@ -559,6 +565,10 @@ bool mtsManagerComponentClient::AddInterfaceLCM(void)
InterfaceLCMFunction.ComponentCreate);
required->AddFunction(mtsManagerComponentBase::CommandNames::ComponentConfigure,
InterfaceLCMFunction.ComponentConfigure);
required->AddFunction(mtsManagerComponentBase::CommandNames::ComponentConnect,
InterfaceLCMFunction.ComponentConnectNew);
required->AddFunction(mtsManagerComponentBase::CommandNames::ComponentDisconnect,
InterfaceLCMFunction.ComponentDisconnectNew);
required->AddFunction(mtsManagerComponentBase::CommandNames::ComponentConnect,
InterfaceLCMFunction.ComponentConnect);
required->AddFunction(mtsManagerComponentBase::CommandNames::ComponentDisconnect,
Expand Down Expand Up @@ -621,6 +631,10 @@ bool mtsManagerComponentClient::AddInterfaceLCM(void)
this, mtsManagerComponentBase::CommandNames::ComponentCreate);
provided->AddCommandWrite(&mtsManagerComponentClient::InterfaceLCMCommands_ComponentConfigure,
this, mtsManagerComponentBase::CommandNames::ComponentConfigure);
provided->AddCommandWriteReturn(&mtsManagerComponentClient::InterfaceLCMCommands_ComponentConnectNew,
this, mtsManagerComponentBase::CommandNames::ComponentConnect);
provided->AddCommandWriteReturn(&mtsManagerComponentClient::InterfaceLCMCommands_ComponentDisconnectNew,
this, mtsManagerComponentBase::CommandNames::ComponentDisconnect);
provided->AddCommandWrite(&mtsManagerComponentClient::InterfaceLCMCommands_ComponentConnect,
this, mtsManagerComponentBase::CommandNames::ComponentConnect);
provided->AddCommandWrite(&mtsManagerComponentClient::InterfaceLCMCommands_ComponentDisconnect,
Expand Down Expand Up @@ -733,8 +747,22 @@ bool mtsManagerComponentClient::Connect(const std::string & clientComponentName,
processName, serverComponentName, serverInterfaceProvidedName);
bool result = true;
if (!IsRunning()) {
#if CISST_MTS_NEW
InterfaceComponentCommands_ComponentConnectNew(connectionDescription, result);
#else
InterfaceComponentCommands_ComponentConnect(connectionDescription /*, result*/);
#endif
} else {
#if CISST_MTS_NEW
if (!GeneralInterface.ComponentConnectNew.IsValid()) {
CMN_LOG_CLASS_INIT_WARNING << "Connect: GeneralInterface not yet valid, initializing." << std::endl;
AddInterfaceComponent();
if (!GeneralInterface.ComponentConnectNew.IsValid()) {
CMN_LOG_CLASS_INIT_ERROR << "Connect: Failed to initialize ComponentConnectNew." << std::endl;
return false;
}
}
#else
if (!GeneralInterface.ComponentConnect.IsValid()) {
CMN_LOG_CLASS_INIT_WARNING << "Connect: GeneralInterface not yet valid, initializing." << std::endl;
AddInterfaceComponent();
Expand All @@ -743,11 +771,16 @@ bool mtsManagerComponentClient::Connect(const std::string & clientComponentName,
return false;
}
}
#endif
// note that we have a mutex around a blocking command, ...
GeneralInterface.Mutex.Lock();
CMN_LOG_CLASS_INIT_DEBUG << "Connect: Calling ComponentConnect for " << connectionDescription << std::endl;
//if (!byPassInterface) {
#if CISST_MTS_NEW
GeneralInterface.ComponentConnectNew(connectionDescription, result);
#else
GeneralInterface.ComponentConnect(connectionDescription /*, result*/);
#endif
//} else {
//std::cerr << "------------------------- bypass for " << connectionDescription << std::endl;
//InterfaceComponentCommands_ComponentConnect(connectionDescription, result);
Expand Down Expand Up @@ -812,6 +845,25 @@ void mtsManagerComponentClient::InterfaceComponentCommands_ComponentConnect(cons
}


void mtsManagerComponentClient::InterfaceComponentCommands_ComponentConnectNew(const mtsDescriptionConnection & connectionDescription, bool & result)
{
mtsManagerLocal * LCM = mtsManagerLocal::GetInstance();
const std::string nameOfThisLCM = LCM->GetProcessName();
if (LCM->GetConfiguration() == mtsManagerLocal::LCM_CONFIG_STANDALONE ||
(nameOfThisLCM == connectionDescription.Client.ProcessName &&
nameOfThisLCM == connectionDescription.Server.ProcessName))
{
InterfaceLCMCommands_ComponentConnectNew(connectionDescription, result);
return;
}
mtsExecutionResult executionResult = InterfaceLCMFunction.ComponentConnectNew(connectionDescription, result);
if (!executionResult.IsOK()) {
CMN_LOG_CLASS_RUN_ERROR << "InterfaceComponentCommands_ComponentConnectNew: failed to execute \"Component Component\" command ("
<< executionResult << ")" << std::endl;
}
}


void mtsManagerComponentClient::InterfaceComponentCommands_ComponentDisconnect(const mtsDescriptionConnection & arg)
{
/*
Expand All @@ -834,14 +886,25 @@ void mtsManagerComponentClient::InterfaceComponentCommands_ComponentDisconnect(c
// MJ: Don't use short cut -- every configuration change in the LCM should be reported to the GCM
// and the change should be initiated and controlled by the GCM.
if (!InterfaceLCMFunction.ComponentDisconnect.IsValid()) {
CMN_LOG_CLASS_RUN_ERROR << "InterfaceComponentCommands_ComponentDsconnect: failed to execute \"Component Disconnect\"" << std::endl;
CMN_LOG_CLASS_RUN_ERROR << "InterfaceComponentCommands_ComponentDisconnect: failed to execute \"Component Disconnect\"" << std::endl;
return;
}

//InterfaceLCMFunction.ComponentDisconnect.ExecuteBlocking(arg);
InterfaceLCMFunction.ComponentDisconnect(arg);
}

void mtsManagerComponentClient::InterfaceComponentCommands_ComponentDisconnectNew(const mtsDescriptionConnection & arg, bool & result)
{
if (!InterfaceLCMFunction.ComponentDisconnectNew.IsValid()) {
CMN_LOG_CLASS_RUN_ERROR << "InterfaceComponentCommands_ComponentDisconnectNew: failed to execute \"Component Disconnect\"" << std::endl;
result = false;
return;
}

InterfaceLCMFunction.ComponentDisconnectNew(arg, result);
}

void mtsManagerComponentClient::InterfaceComponentCommands_ComponentStart(const mtsComponentStatusControl & arg)
{
if (IsLocalProcess(arg.ProcessName))
Expand Down Expand Up @@ -1157,7 +1220,7 @@ void mtsManagerComponentClient::InterfaceLCMCommands_ComponentConnect(const mtsD
// local connection
int connectionId = LCM->ConnectSetup(connectionDescription.Client.ComponentName, connectionDescription.Client.InterfaceName,
connectionDescription.Server.ComponentName, connectionDescription.Server.InterfaceName);
if (connectionId < 0) {
if (connectionId == InvalidConnectionID) {
CMN_LOG_CLASS_RUN_ERROR << "InterfaceLCMCommands_ComponentConnect: failed to execute \"Connect Setup\": "
<< connectionDescription << std::endl;
// result = false;
Expand All @@ -1176,6 +1239,60 @@ void mtsManagerComponentClient::InterfaceLCMCommands_ComponentConnect(const mtsD
// result = true;
}

void mtsManagerComponentClient::InterfaceLCMCommands_ComponentConnectNew(const mtsDescriptionConnection & connectionDescription, bool & result)
{
// Try to connect interfaces as requested
mtsManagerLocal * LCM = mtsManagerLocal::GetInstance();

// this is a remote connection
if (connectionDescription.Client.ProcessName != connectionDescription.Server.ProcessName) {
#if CISST_MTS_HAS_ICE
// PK TODO: Need to fix this to be thread-safe
if (!LCM->Connect(connectionDescription.Client.ProcessName,
connectionDescription.Client.ComponentName,
connectionDescription.Client.InterfaceName,
connectionDescription.Server.ProcessName,
connectionDescription.Server.ComponentName,
connectionDescription.Server.InterfaceName)) {
CMN_LOG_CLASS_RUN_ERROR << "InterfaceLCMCommands_ComponentConnectNew: failed to execute \"Component Connect\": "
<< connectionDescription << std::endl;
result = false;
} else {
CMN_LOG_CLASS_RUN_VERBOSE << "InterfaceLCMCommands_ComponentConnectNew: successfully connected: " << connectionDescription << std::endl;
result = true;
}
#else
CMN_LOG_CLASS_RUN_ERROR << "InterfaceLCMCommands_ComponentConnectNew: Cannot connect to external process without CISST_MTS_HAS_ICE, connection = "
<< connectionDescription << std::endl;
result = false;
#endif
return;
}

// local connection
int connectionId = LCM->ConnectSetup(connectionDescription.Client.ComponentName, connectionDescription.Client.InterfaceName,
connectionDescription.Server.ComponentName, connectionDescription.Server.InterfaceName);
if (connectionId == InvalidConnectionID) {
CMN_LOG_CLASS_RUN_ERROR << "InterfaceLCMCommands_ComponentConnectNew: failed to execute \"Connect Setup\": "
<< connectionDescription << std::endl;
result = false;
return;
}

if (!ConnectLocally(connectionDescription.Client.ComponentName, connectionDescription.Client.InterfaceName,
connectionDescription.Server.ComponentName, connectionDescription.Server.InterfaceName,
connectionDescription.Client.ProcessName)) {
result = false;
return;
}

LCM->ConnectNotify(connectionId,
connectionDescription.Client.ComponentName, connectionDescription.Client.InterfaceName,
connectionDescription.Server.ComponentName, connectionDescription.Server.InterfaceName);

CMN_LOG_CLASS_RUN_VERBOSE << "InterfaceLCMCommands_ComponentConnectNew: successfully connected: " << connectionDescription << std::endl;
result = true;
}

void mtsManagerComponentClient::InterfaceLCMCommands_ComponentDisconnect(const mtsDescriptionConnection & arg)
{
Expand Down Expand Up @@ -1225,6 +1342,33 @@ void mtsManagerComponentClient::InterfaceLCMCommands_ComponentDisconnect(const m
}
}

void mtsManagerComponentClient::InterfaceLCMCommands_ComponentDisconnectNew(const mtsDescriptionConnection & arg, bool & result)
{
result = true;
mtsManagerLocal * LCM = mtsManagerLocal::GetInstance();
if (!LCM->FindComponent(arg.Client.ComponentName)) {
result = false;
CMN_LOG_CLASS_RUN_WARNING << "InterfaceLCMCommands_ComponentDisconnectNew: did not find client component: "
<< arg.Client.ComponentName << std::endl;
}
if (!LCM->FindComponent(arg.Server.ComponentName)) {
result = false;
CMN_LOG_CLASS_RUN_WARNING << "InterfaceLCMCommands_ComponentDisconnectNew: did not find server component: "
<< arg.Server.ComponentName << std::endl;
}
if (result) {
if (DisconnectLocally(arg.Client.ComponentName, arg.Client.InterfaceName,
arg.Server.ComponentName, arg.Server.InterfaceName))
{
CMN_LOG_CLASS_RUN_VERBOSE << "InterfaceLCMCommands_ComponentDisconnectNew: successfully disconnected: " << arg << std::endl;
}
else {
result = false;
CMN_LOG_CLASS_RUN_WARNING << "InterfaceLCMCommands_ComponentDisconnectNew: failed to disconnect: " << arg << std::endl;
}
}
}

void mtsManagerComponentClient::InterfaceLCMCommands_ComponentStart(const mtsComponentStatusControl & arg)
{
// Check if command is for this component (MCC)
Expand Down
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