C++ Searchable::getMonitor方法代码示例

bool DeviceGroup::open(const char *key, PolyDriver& poly,
                       yarp::os::Searchable& config, const char *comment) {

    Value *name;
    if (config.check(key,name,comment)) {
        if (name->isString()) {
            // maybe user isn't doing nested configuration
            yarp::os::Property p;
            p.setMonitor(config.getMonitor(),
                         name->toString().c_str()); // pass on any monitoring
            p.fromString(config.toString());
            p.put("device",name->toString());
            p.unput("subdevice");
            p.unput("wrapped");
            poly.open(p);
        } else {
            Bottle subdevice = config.findGroup(key).tail();
            poly.open(subdevice);
        }
        if (!poly.isValid()) {
            printf("cannot make <%s>\n", name->toString().c_str());
            return false;
        }
    } else {
        printf("\"--%s <name>\" not set\n", key);
        return false;
    }
    return true;
}

bool PolyDriver::open(yarp::os::Searchable& config) {
    if (isValid()) {
        // already open - should close first
        return false;
    }
    if (system_resource==NULL) {
        system_resource = new YarpDevMonitor;
    }
    yAssert(system_resource!=NULL);
    bool removeMonitorAfterwards = false;
    if (config.getMonitor()==NULL) {
        config.setMonitor(&HELPER(system_resource));
        removeMonitorAfterwards = true;
    }

    //dd = Drivers::factory().open(config);
    coreOpen(config);
    HELPER(system_resource).info.fromString(config.toString());
    if (removeMonitorAfterwards) {
        config.setMonitor(NULL);
    }
    return isValid();
}

bool ServerFrameGrabber::open(yarp::os::Searchable& config) {
    if (active) {
        printf("Did you just try to open the same ServerFrameGrabber twice?\n");
        return false;
    }

    // for AV, control whether output goes on a single port or multiple
    bool separatePorts = false;

    p.setReader(*this);

    yarp::os::Value *name;

    if (config.check("subdevice",name,"name (or nested configuration) of device to wrap")) {
        if (name->isString()) {
            // maybe user isn't doing nested configuration
            yarp::os::Property p;
            p.setMonitor(config.getMonitor(),
                         name->toString().c_str()); // pass on any monitoring
            p.fromString(config.toString());
            p.put("device",name->toString());
            p.unput("subdevice");
            poly.open(p);
        } else {
            Bottle subdevice = config.findGroup("subdevice").tail();
            poly.open(subdevice);
        }
        if (!poly.isValid()) {
            //printf("cannot make <%s>\n", name->toString().c_str());
            return false;
        }
    } else {
        printf("\"--subdevice <name>\" not set for server_framegrabber\n");
        return false;
    }
    if (poly.isValid()) {
        IAudioVisualStream *str;
        poly.view(str);
        bool a = true;
        bool v = true;
        bool vraw = true;
        if (str!=NULL) {
            a = str->hasAudio();
            v = str->hasVideo();
            vraw = str->hasRawVideo();
        }
        if (v) {
            poly.view(fgImage);
        }
        if (vraw) {
            poly.view(fgImageRaw);
        }
        if (a) {
            poly.view(fgSound);
        }
        if (a&&v) {
            poly.view(fgAv);
        }
        poly.view(fgCtrl);
        poly.view(fgTimed);
    }

    canDrop = !config.check("no_drop","if present, use strict policy for sending data");
    addStamp = config.check("stamp","if present, add timestamps to data");

    p.promiseType(Type::byName("yarp/image")); // TODO: reflect audio options
    p.setWriteOnly();
    p.open(config.check("name",Value("/grabber"),
                        "name of port to send data on").asString());

    /*
    double framerate=0;
    if (config.check("framerate", name,
                     "maximum rate in Hz to read from subdevice")) {
        framerate=name->asDouble();
    }
    */

    if (fgAv&&
        !config.check("shared-ports",
                      "If present, send audio and images on same port")) {
        separatePorts = true;
        yAssert(p2==NULL);
        p2 = new Port;
        yAssert(p2!=NULL);
        p2->open(config.check("name2",Value("/grabber2"),
                              "Name of second port to send data on, when audio and images sent separately").asString());
    }

    if (fgAv!=NULL) {
        if (separatePorts) {
            yAssert(p2!=NULL);
            thread.attach(new DataWriter2<yarp::sig::ImageOf<yarp::sig::PixelRgb>, yarp::sig::Sound>(p,*p2,*this,canDrop,addStamp));
        } else {
            thread.attach(new DataWriter<ImageRgbSound>(p,*this,canDrop,
                                                        addStamp));
        }
    } else if (fgImage!=NULL) {
        thread.attach(new DataWriter<yarp::sig::ImageOf<yarp::sig::PixelRgb> >(p,*this,canDrop,addStamp,fgTimed));
    } else if (fgImageRaw!=NULL) {
//.........这里部分代码省略.........

bool PolyDriver::coreOpen(yarp::os::Searchable& prop) {
    yarp::os::Searchable *config = ∝
    Property p;
    ConstString str = prop.toString();
    Value *part;
    if (prop.check("device",part)) {
        str = part->toString().c_str();
    }
    Bottle bot(str.c_str());
    if (bot.size()>1) {
        // this wasn't a device name, but some codes -- rearrange
        p.fromString(str.c_str());
        str = p.find("device").asString().c_str();
        config = &p;
    }

    DeviceDriver *driver = NULL;

    DriverCreator *creator = Drivers::factory().find(str.c_str());
    if (creator!=NULL) {
        Value *val;
        if (config->check("wrapped",val)&&(creator->getWrapper()!="")) {
            ConstString wrapper = creator->getWrapper();
            DriverCreator *wrapCreator =
                Drivers::factory().find(wrapper.c_str());
            if (wrapCreator!=NULL) {
                p.fromString(config->toString());
                p.unput("wrapped");
                config = &p;
                if (wrapCreator!=creator) {
                    p.put("subdevice",str.c_str());
                    p.put("device",wrapper.c_str());
                    p.setMonitor(prop.getMonitor(),
                                 wrapper.c_str()); // pass on any monitoring
                    driver = wrapCreator->create();
                    creator = wrapCreator;
                } else {
                    // already wrapped
                    driver = creator->create();
                }
            }
        } else {
            driver = creator->create();
        }
    } else {
        // FIXME do not use yarpdev here
        printf("yarpdev: ***ERROR*** could not find device <%s>\n", str.c_str());
    }

    if (driver!=NULL) {
        PolyDriver *manager = creator->owner();
        if (manager!=NULL) {
            link(*manager);
            return true;
        }

        //printf("yarpdev: parameters are %s\n", config->toString().c_str());
        bool ok = driver->open(*config);
        if (!ok) {
            printf("yarpdev: ***ERROR*** driver <%s> was found but could not open\n", config->find("device").toString().c_str());
            //YARP_DEBUG(Logger::get(),String("Discarding ") + str);
            delete driver;
            //YARP_DEBUG(Logger::get(),String("Discarded ") + str);
            driver = NULL;
        } else {
            yarp::dev::DeprecatedDeviceDriver *ddd = NULL;
            driver->view(ddd);
            if(ddd) {
                if(config->check("allow-deprecated-devices")) {
                    yWarning("Device \"%s\" is deprecated. Opening since the \"allow-deprecated-devices\" option was passed in the configuration.", str.c_str());
                } else {
                    yError("Device \"%s\" is deprecated. Pass the \"allow-deprecated-devices\" option in the configuration if you want to open it anyway.", str.c_str());
                    driver->close();
                    delete driver;
                    return false;
                }
            }
            if (creator!=NULL) {
                ConstString name = creator->getName();
                ConstString wrapper = creator->getWrapper();
                ConstString code = creator->getCode();
                yInfo("created %s <%s>. See C++ class %s for documentation.",
                      ((name==wrapper)?"wrapper":"device"),
                      name.c_str(),
                      code.c_str());
            }
        }
        dd = driver;
        return true;
    }

    return false;
}