adding <ensure> tag to ensure some post-condition for running the mod…

…ule. e.g., wait for few seconds after launching a module

src/libYARP_manager/include/yarp/manager/application.h

@@ -156,6 +156,7 @@ class ModuleInterface{
     ModuleInterface( const char* szName) {
         if(szName) strName = szName;
         iRank = -1;
+        wait = 0.0;
     }
 
     ModuleInterface(Module* module);
@@ -188,6 +189,9 @@ class ModuleInterface{
     void addResource(ResYarpPort &res) { resources.push_back(res); }
     ResourceContainer& getResources(void) { return resources; }
 
+    void setPostExecWait(double t) { wait = t; }
+    double getPostExecWait() { return wait; }
+
     int portmapCount(void) { return portmaps.size(); }
     Portmap& getPortmapAt(int index){ return portmaps[index]; }
     bool addPortmap(Portmap &portmap);
@@ -200,6 +204,7 @@ class ModuleInterface{
     void setModelBase(GraphicModel& mdl) { modelBase = mdl; };
 
 
+
 protected:
 
 private:
@@ -212,6 +217,7 @@ class ModuleInterface{
     string strPrefix;
     int iRank;
     ResourceContainer resources;
+    double wait;
     PortmapContainer portmaps;
     PortmapIterator findPortmap(Portmap& portmap);
     string strTag;

src/libYARP_manager/include/yarp/manager/executable.h

@@ -103,6 +103,9 @@ class Executable : public BrokerEventSink
     const char* getEnv(void) { return strEnv.c_str(); }
     int getID(void) { return theID; }
 
+    void setPostExecWait(double t) { wait = t; }
+    double getPostExecWait() { return wait; }
+
     void enableAutoConnect(void) { bAutoConnect = true; }
     void disableAutoConnect(void) { bAutoConnect = false; }
     bool autoConnect(void) { return bAutoConnect; }
@@ -119,6 +122,7 @@ class Executable : public BrokerEventSink
     string strWorkdir;
     string strEnv;
     int theID;
+    double wait;
 
     bool bWatchDog;
     Broker* broker;

src/libYARP_manager/include/yarp/manager/manager.h

@@ -142,7 +142,7 @@ class Manager : public MEvent{
     bool oneRunning(void);
     bool allStopped(void);
     bool prepare(bool silent=true);
-    bool timeout(double base, double timeout);
+    bool timeout(double base, double t);
     bool updateResource(GenericResource* resource);
     Broker* createBroker(Module* module);
 };

src/libYARP_manager/include/yarp/manager/module.h

@@ -169,6 +169,9 @@ class Module : public Node{
     bool addResource(GenericResource& res);
     bool removeResource(GenericResource& res);
 
+    void setPostExecWait(double t) { wait = t; }
+    double getPostExecWait() { return wait; }
+
     void clearInputs(void) { inputs.clear(); }
     void clearOutputs(void) { outputs.clear(); }
     void clearResources(void) { resources.clear(); }
@@ -210,7 +213,7 @@ class Module : public Node{
     bool bNeedDeployer;
     string strPrefix;
     string strBasePrefix;
-
+    double wait;
     GraphicModel modelBase;
 
     ArgumentIterator findArgument(Argument& argument);

src/libYARP_manager/src/application.cpp

@@ -28,6 +28,7 @@ ModuleInterface::ModuleInterface(Module* module)
     strPrefix = module->strPrefix;
     iRank = module->iRank;
     strTag = module->getLabel();
+    wait = module->getPostExecWait();
     if(module->getModel())
         modelBase = *module->getModel();
     else

src/libYARP_manager/src/execstate.cpp

@@ -215,6 +215,7 @@ void Ready::startModule(void)
     }
     else
     {
+        yarp::os::Time::delay(executable->getPostExecWait());
         castEvent(EventFactory::startModuleEventOk);
         executable->getEvent()->onExecutableStart(executable);
     }

src/libYARP_manager/src/executable.cpp

@@ -18,6 +18,7 @@ Executable::Executable(Broker* _broker, MEvent* _event,
     broker = _broker;
     event = _event;
     bWatchDog = _bWatchDog;
+    wait = 0.0;
     logger  = ErrorLogger::Instance();
     broker->setEventSink(dynamic_cast<BrokerEventSink*>(this));
     execMachine = new ExecMachine(this);

src/libYARP_manager/src/kbase.cpp

@@ -1109,7 +1109,7 @@ bool KnowledgeBase::updateModule(Module* module, ModuleInterface* imod )
         module->setStdio(imod->getStdio());
     if(strlen(imod->getWorkDir()))
         module->setWorkDir(imod->getWorkDir());
-
+    module->setPostExecWait(imod->getPostExecWait());
     module->setModelBase(imod->getModelBase());
 
 

src/libYARP_manager/src/manager.cpp

@@ -285,7 +285,8 @@ bool Manager::prepare(bool silent)
         exe->setParam((*itr)->getParam());
         exe->setHost((*itr)->getHost());
         exe->setStdio((*itr)->getStdio());
-        exe->setWorkDir((*itr)->getWorkDir());
+        exe->setWorkDir((*itr)->getWorkDir());        
+        exe->setPostExecWait((*itr)->getPostExecWait());
         string env = string("YARP_PORT_PREFIX=") +
                         string((*itr)->getPrefix());
         exe->setEnv(env.c_str());
@@ -612,14 +613,15 @@ bool Manager::run(unsigned int id, bool async)
 
     // waiting for running
     double base = yarp::os::Time::now();
-    while(!timeout(base, RUN_TIMEOUT))
+    double wait = runnables[id]->getPostExecWait() + RUN_TIMEOUT;
+    while(!timeout(base, wait))
         if(running(id)) return true;
 
     OSTRINGSTREAM msg;
     msg<<"Failed to run "<<runnables[id]->getCommand();
     msg<<" on "<<runnables[id]->getHost();
     msg<<". (State: "<<runnables[id]->state();
-    msg<<", paramete: "<<runnables[id]->getParam()<<")";
+    msg<<", parameter: "<<runnables[id]->getParam()<<")";
     logger->addError(msg);
     return false;
 }
@@ -644,21 +646,22 @@ bool Manager::run(void)
     }
 
     ExecutablePIterator itr;
+    double wait = 0.0;
     for(itr=runnables.begin(); itr!=runnables.end(); itr++)
     {
         if(bAutoConnect)
             (*itr)->enableAutoConnect();
         else
             (*itr)->disableAutoConnect();
-        (*itr)->start();
+        (*itr)->start();       
         yarp::os::Time::delay(0.2);
+        wait = (wait > (*itr)->getPostExecWait()) ? wait : (*itr)->getPostExecWait();
     }
 
     // waiting for running
     double base = yarp::os::Time::now();
-    while(!timeout(base, RUN_TIMEOUT))
+    while(!timeout(base, wait + RUN_TIMEOUT))
         if(allRunning()) break;
-
     if(!allRunning())
     {
         ExecutablePIterator itr;
@@ -669,7 +672,7 @@ bool Manager::run(void)
                 msg<<"Failed to run "<<(*itr)->getCommand();
                 msg<<" on "<<(*itr)->getHost();
                 msg<<". (State: "<<(*itr)->state();
-                msg<<", paramete: "<<(*itr)->getParam()<<")";
+                msg<<", parameter: "<<(*itr)->getParam()<<")";
                 logger->addError(msg);
             }
 
@@ -1117,10 +1120,10 @@ bool Manager::detachStdout(unsigned int id)
     return true;
 }
 
-bool Manager::timeout(double base, double timeout)
+bool Manager::timeout(double base, double t)
 {
     yarp::os::Time::delay(1.0);
-    if((yarp::os::Time::now()-base) > timeout)
+    if((yarp::os::Time::now()-base) > t)
         return true;
     return false;
 }

src/libYARP_manager/src/module.cpp

@@ -63,6 +63,7 @@ void Module::swap(const Module &mod)
     strPrefix = mod.strPrefix;
     strBasePrefix = mod.strBasePrefix;
     modOwner = mod.modOwner;
+    wait = mod.wait;
     // deep copy
     for(int i=0; i<mod.resourceCount(); i++)
         addResource(mod.getResourceAt(i));
@@ -234,6 +235,7 @@ void Module::clear(void)
         *itr = NULL;
     }
     resources.clear();
+    wait = 0.0;
 }
 
 bool Module::setParam(const char* szParam)

src/libYARP_manager/src/xmlapploader.cpp

@@ -365,6 +365,28 @@ Application* XmlAppLoader::parsXml(const char* szFile)
                         }
                     }
                 }
+
+                /* retrieving resources information*/
+                TiXmlElement* ensure;
+                if((ensure = (TiXmlElement*) mod->FirstChild("ensure")))
+                {
+                    for(TiXmlElement* res = ensure->FirstChildElement(); res;
+                            res = res->NextSiblingElement())
+                    {
+                        if(compareString(res->Value(), "wait"))
+                        {
+                            if(res->GetText())
+                                module.setPostExecWait(atof(res->GetText()));
+                        }
+                        else
+                        {
+                            OSTRINGSTREAM war;
+                            war<<"Unrecognized tag from "<<szFile<<" at line "\
+                               <<res->Row()<<".";
+                            logger->addWarning(war);
+                        }
+                    }
+                }
                 /* retrieving portmaps */
                 for(TiXmlElement* map = mod->FirstChildElement(); map;
                             map = map->NextSiblingElement())