fix save

robotology · Mar 25, 2020 · e9c3c4f · e9c3c4f
1 parent 9668791
commit e9c3c4f
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Showing 14 changed files with 62 additions and 53 deletions.
diff --git a/src/diagnosticdaemon/CMakeLists.txt b/src/diagnosticdaemon/CMakeLists.txt
@@ -15,6 +15,7 @@ set(DiagnosticDaemonSrc     main.cpp
                             ComponentConsole.cpp
                             pugixml.cpp
                             Component.cpp
+                            ComponentDisabled.cpp
                             ConfigurationDepot.cpp
                             Decoder.cpp
                             ${EM_DIR}/embot/eprot/ROPstream.cpp
@@ -30,6 +31,7 @@ set(DiagnosticDaemonHdr     ComponentUdp.h
                             ComponentFile.h
                             ComponentConsole.h
                             Component.h
+                            ComponentDisabled.h
                             ConfigurationDepot.h
                             ElapsedTime.h
                             pugixml.hpp

diff --git a/src/diagnosticdaemon/Component.cpp b/src/diagnosticdaemon/Component.cpp
@@ -9,7 +9,7 @@
 
 #include <iostream>
 
-Component::Component(const std::map<std::string,std::string>& attributes,ConfigurationDepot& depot):depot_(depot),parametersMap_(attributes),parameters_(pugi::xml_node())
+Component::Component(const std::map<std::string,std::string>& attributes,ConfigurationDepot& depot):depot_(depot),parametersMap_(attributes)
 {
     name_=asString(confsintax::name,attributes);
     protocol_=asString(confsintax::protocol,attributes);
@@ -18,15 +18,6 @@ Component::Component(const std::map<std::string,std::string>& attributes,Configu
     destination_=asString(confsintax::destination,attributes);
 }
 
-Component::Component(const pugi::xml_node& node,ConfigurationDepot& depot):depot_(depot),parameters_(node)
-{
-    name_=node.attribute(confsintax::name).value();
-    protocol_=node.attribute(confsintax::protocol).value();
-    mode_=node.attribute(confsintax::mode).value();
-    enable_=node.attribute(confsintax::enable).as_bool();
-    destination_=node.attribute(confsintax::destination).value();
-}
-
 const std::map<std::string,std::string> Component::getParameterMap() const
 {
     return parametersMap_;

diff --git a/src/diagnosticdaemon/Component.h b/src/diagnosticdaemon/Component.h
@@ -28,17 +28,15 @@ class Component
         static constexpr unsigned int maxMsgLenght_{1500};
     public:
         Component(const std::map<std::string,std::string>& attributes,ConfigurationDepot&);
-        Component(const pugi::xml_node& node,ConfigurationDepot& depot);
         virtual ~Component(){};
+
         virtual void acceptMsg(std::array<uint8_t,maxMsgLenght_>& msg,unsigned int size,udp::endpoint senderEndPoint)=0;
         std::string getName() const {return name_;};
-
         const std::map<std::string,std::string> getParameterMap() const;
 
     protected:
 
         ConfigurationDepot& depot_;
-        const pugi::xml_node& parameters_;
         const std::map<std::string,std::string> parametersMap_;
 
         std::string name_;

diff --git a/src/diagnosticdaemon/ComponentConsole.cpp b/src/diagnosticdaemon/ComponentConsole.cpp
@@ -11,12 +11,6 @@
 
 #include "Decoder.h"
 
-ComponentConsole::ComponentConsole(const pugi::xml_node& node,ConfigurationDepot& depot):Component(node,depot)
-{
-    decoder_.init({});
-    thread_=std::make_unique<std::thread>(&ComponentConsole::inputLoop,this);
-}
-
 ComponentConsole::ComponentConsole(const std::map<std::string,std::string>& attributes,ConfigurationDepot& depot):Component(attributes,depot)
 {
     decoder_.init({});

diff --git a/src/diagnosticdaemon/ComponentConsole.h b/src/diagnosticdaemon/ComponentConsole.h
@@ -20,7 +20,6 @@
 class ComponentConsole: public Component
 {
     public:
-        ComponentConsole(const pugi::xml_node& node,ConfigurationDepot&);
         ComponentConsole(const std::map<std::string,std::string>& attributes,ConfigurationDepot& depot);
         virtual ~ComponentConsole(){};
 

diff --git a/src/diagnosticdaemon/ComponentDisabled.cpp b/src/diagnosticdaemon/ComponentDisabled.cpp
@@ -0,0 +1,18 @@
+/*
+ * Copyright (C) 2019 iCub Tech - Istituto Italiano di Tecnologia
+ * Author:  Luca Tricerri
+ * email:   luca.tricerri@iit.it
+*/
+
+#include "ComponentDisabled.h"
+#include "ConfigurationDepot.h"
+#include <iomanip>
+
+
+ComponentDisabled::ComponentDisabled(const std::map<std::string,std::string>& attributes,ConfigurationDepot& depot):Component(attributes,depot)
+{
+}
+
+void ComponentDisabled::acceptMsg(std::array<uint8_t,maxMsgLenght_>& msg,unsigned int size,udp::endpoint senderEndPoint)
+{  
+}
diff --git a/src/diagnosticdaemon/ComponentDisabled.h b/src/diagnosticdaemon/ComponentDisabled.h
@@ -0,0 +1,28 @@
+/*
+ * Copyright (C) 2019 iCub Tech - Istituto Italiano di Tecnologia
+ * Author:  Luca Tricerri
+ * email:   luca.tricerri@iit.it
+*/
+
+// - brief
+//   File component class
+//
+
+#pragma once
+
+#include <iostream>
+#include <fstream>
+#include <memory>
+
+#include "Component.h"
+
+class ComponentDisabled: public Component
+{
+    public:
+        ComponentDisabled(const std::map<std::string,std::string>& attributes,ConfigurationDepot& depot);        
+        virtual ~ComponentDisabled(){};
+
+        void acceptMsg(std::array<uint8_t,maxMsgLenght_>& msg,unsigned int size,udp::endpoint senderEndPoint) override;
+};
+
+using ComponentDisabled_sptr=std::shared_ptr<ComponentDisabled>;
diff --git a/src/diagnosticdaemon/ComponentFile.cpp b/src/diagnosticdaemon/ComponentFile.cpp
@@ -8,11 +8,6 @@
 #include "ConfigurationDepot.h"
 #include <iomanip>
 
-ComponentFile::ComponentFile(const pugi::xml_node& node,ConfigurationDepot& depot):Component(node,depot)
-{
-    filename_=node.attribute(confsintax::value).value();
-    fstream_.open(filename_);
-}
 
 ComponentFile::ComponentFile(const std::map<std::string,std::string>& attributes,ConfigurationDepot& depot):Component(attributes,depot)
 {

diff --git a/src/diagnosticdaemon/ComponentFile.h b/src/diagnosticdaemon/ComponentFile.h
@@ -19,7 +19,6 @@
 class ComponentFile: public Component
 {
     public:
-        ComponentFile(const pugi::xml_node& node,ConfigurationDepot&);
         ComponentFile(const std::map<std::string,std::string>& attributes,ConfigurationDepot& depot);        
         virtual ~ComponentFile(){};
 

diff --git a/src/diagnosticdaemon/ComponentUdp.cpp b/src/diagnosticdaemon/ComponentUdp.cpp
@@ -15,28 +15,6 @@
 
 using namespace boost::asio;
 
-ComponentUdp::ComponentUdp(boost::asio::io_service &ios,const pugi::xml_node& node,ConfigurationDepot& depot)
-    : Component(node,depot),
-      port_(node.attribute(confsintax::rxport).as_int()),
-      txport_(node.attribute(confsintax::txport).as_int()),
-      rxSocket_(ios, udp::endpoint(udp::v4(), port_)),
-      txSocket_(ios),
-      receiverEndpoint_(udp::endpoint(ip::address::from_string(node.attribute(confsintax::address).value()), txport_)),
-      ios_(ios)
-{
-  emsAddress_=node.attribute(confsintax::address).value();
-  std::string addressfilter=node.attribute(confsintax::addressfilter).value();
-  analyzeAddress(addressfilter);
-
-  txSocket_.open(boost::asio::ip::udp::v4());
-
-  rxSocket_.async_receive_from(
-      boost::asio::buffer(rxData_, maxMsgLenght_), senderEndpoint_,
-      boost::bind(&ComponentUdp::handleReceiveFrom, this,
-                  boost::asio::placeholders::error,
-                  boost::asio::placeholders::bytes_transferred));
-}
-
 ComponentUdp::ComponentUdp(boost::asio::io_service &ios,const std::map<std::string,std::string>&attributes,ConfigurationDepot&depot)
     : Component(attributes,depot),
       port_(asInt(confsintax::rxport,attributes)),

diff --git a/src/diagnosticdaemon/ComponentUdp.h b/src/diagnosticdaemon/ComponentUdp.h
@@ -19,7 +19,6 @@ class ComponentUdp: public Component
 {
 public:
     ComponentUdp(boost::asio::io_service &ios,const std::map<std::string,std::string>&attributes,ConfigurationDepot&depot);
-    ComponentUdp(boost::asio::io_service &ios,const pugi::xml_node& node,ConfigurationDepot&);
     virtual ~ComponentUdp(){};
 
     void acceptMsg(std::array<uint8_t,maxMsgLenght_>& msg,unsigned int size,udp::endpoint senderEndPoint) override;

diff --git a/src/diagnosticdaemon/ConfigurationConst.h b/src/diagnosticdaemon/ConfigurationConst.h
@@ -30,6 +30,7 @@ namespace confsintax
     static constexpr char udp[]{"udp"};
     static constexpr char file[]{"file"};
     static constexpr char console[]{"console"};
+    static constexpr char disabled[]{"disabled"};
 };
 
 enum class ComponentType: uint8_t
@@ -38,11 +39,13 @@ enum class ComponentType: uint8_t
     udp,
     file,
     console,
+    disabled
 };
 
 inline std::map<std::string,uint8_t> componentTypeLookup{
                                                         {confsintax::udpbroadcast,(uint8_t)ComponentType::udpbroadcast},
                                                         {confsintax::udp,(uint8_t)ComponentType::udp},
                                                         {confsintax::file,(uint8_t)ComponentType::file},
-                                                        {confsintax::console,(uint8_t)ComponentType::console}
+                                                        {confsintax::console,(uint8_t)ComponentType::console},
+                                                        {confsintax::disabled,(uint8_t)ComponentType::disabled}
                                                         };
diff --git a/src/diagnosticdaemon/ConfigurationDepot.cpp b/src/diagnosticdaemon/ConfigurationDepot.cpp
@@ -8,6 +8,7 @@
 #include "ComponentUdp.h"
 #include "ComponentFile.h"
 #include "ComponentConsole.h"
+#include "ComponentDisabled.h"
 
 ConfigurationDepot::ConfigurationDepot(boost::asio::io_service &io_service): ios_(io_service)
 {}
@@ -52,7 +53,7 @@ InOut_sptr ConfigurationDepot::createComponent(const std::map<std::string,std::s
     bool enable =asBool(confsintax::enable,attributes);
 
     if(!enable)
-        return InOut_sptr();
+        protocol=confsintax::disabled;
 
     switch(componentTypeLookup[protocol])
     {
@@ -71,7 +72,12 @@ InOut_sptr ConfigurationDepot::createComponent(const std::map<std::string,std::s
         {
             components=std::make_shared<ComponentConsole>(attributes,*this);
             return components;
-        }            
+        }    
+        case (uint8_t)ComponentType::disabled:                
+        {
+            components=std::make_shared<ComponentDisabled>(attributes,*this);
+            return components;
+        }                  
         default:
         {
             //TODO error

diff --git a/src/diagnosticdaemon/ConfigurationDepot.h b/src/diagnosticdaemon/ConfigurationDepot.h
@@ -36,7 +36,6 @@ class ConfigurationDepot
         pugi::xml_document doc_;
         boost::asio::io_service &ios_;
         std::list<InOut_sptr> depot_;       
-        InOut_sptr createComponent(const pugi::xml_node& node);
         InOut_sptr createComponent(const std::map<std::string,std::string>& attributes);
 };