change: dynamic dev create changes

Author: robert-burger

configure.ac.in

@@ -10,9 +10,8 @@ m4_ifdef([AM_SILENT_RULES], [AM_SILENT_RULES([yes])])
 
 # Checks for programs.
 m4_ifdef([AM_PROG_AR], [AM_PROG_AR])
-AX_CHECK_COMPILE_FLAG([-std=gnu11], [CFLAGS+=" -std=gnu11"], [AC_PROG_CC_C99])
 AC_PROG_CXX
-AX_CXX_COMPILE_STDCXX_11([ext], [mandatory])
+AX_CXX_COMPILE_STDCXX(14, [ext], [mandatory])
 AC_PROG_AWK
 AC_PROG_INSTALL
 AC_PROG_LIBTOOL

m4/ax_cxx_compile_stdcxx_11.m4

@@ -75,7 +75,7 @@ static std::map<std::string, size_t> datatype_to_size = {
     { "double",   8 },
 };
 
-dsp402_device::dsp402_device(dsp402 *parent, const YAML::Node& node) :
+dsp402_device::dsp402_device(shared_ptr<dsp402> parent, const YAML::Node& node) :
     parent(parent)
 {
     config = YAML::Clone(node);
@@ -151,66 +151,81 @@ std::string create_process_data_definition(const std::string& type_prefix, const
 }
 
 void dsp402_device::open() {
-    user_inputs.pd = robotkernel::get_device<process_data>(user_inputs_name);
+    auto tmp_name = decode_id<pd_device>(user_inputs_name);
+    user_inputs.pd_dev = robotkernel::get_device<pd_device>(get<0>(tmp_name), get<1>(tmp_name));
     user_inputs.consumer = make_shared<pd_consumer>(parent->name + "." + name + ".user_inputs");
-    user_inputs.pd->set_consumer(user_inputs.consumer);
+    user_inputs.pd_dev->set_consumer(user_inputs.consumer);
+    user_inputs.pd = user_inputs.pd_dev->inner();
 
-    user_outputs.pd = robotkernel::get_device<process_data>(user_outputs_name);
+    tmp_name = decode_id<pd_device>(user_outputs_name);
+    user_outputs.pd_dev = robotkernel::get_device<pd_device>(get<0>(tmp_name), get<1>(tmp_name));
     user_outputs.provider = make_shared<pd_provider>(parent->name + "." + name + ".user_outputs");
-    user_outputs.pd->set_provider(user_outputs.provider);
+    user_outputs.pd_dev->set_provider(user_outputs.provider);
+    user_outputs.pd = user_outputs.pd_dev->inner();
+
+    if (!user_inputs.pd) {
+        throw runtime_error(string_printf("pd %s not ready yet, check depends!\n", user_inputs.pd_dev->id().c_str()));
+    }
+
+    if (!user_outputs.pd) {
+        throw runtime_error(string_printf("pd %s not ready yet, check depends!\n", user_outputs.pd_dev->id().c_str()));
+    }
 
     off_t inputs_length = 0;
-    std::string inputs_def = create_process_data_definition(prefix_entries ? user_inputs.pd->id() : "",
-            user_inputs.pd->process_data_definition, inputs_length, 
-            status_word_name, status_word_offset);
+    std::string inputs_def = create_process_data_definition(prefix_entries ? user_inputs.pd_dev->id() : "",
+            user_inputs.pd->process_data_definition, inputs_length, status_word_name, status_word_offset);
     inputs.trigger = make_shared<trigger_cb>(std::bind(&dsp402_device::tick_inputs, shared_from_this()));
+    inputs.pd_dev = get_device<pd_device>(parent->name, name + ".inputs");
     inputs.pd = make_shared<triple_buffer>(inputs_length, parent->name, name + ".inputs", inputs_def);
+    inputs.pd_dev->set_inner(inputs.pd, parent);
     inputs.provider = make_shared<pd_provider>(parent->name + "." + name + ".inputs");     
-    inputs.pd->set_provider(inputs.provider);
-    robotkernel::add_device(inputs.pd);
+    inputs.pd_dev->set_provider(inputs.provider);
 
     off_t outputs_length = 0;
-    std::string outputs_def = create_process_data_definition(prefix_entries ? user_outputs.pd->id() : "",
-            user_outputs.pd->process_data_definition, outputs_length, 
-            control_word_name, control_word_offset);
+    std::string outputs_def = create_process_data_definition(prefix_entries ? user_outputs.pd_dev->id() : "",
+            user_outputs.pd->process_data_definition, outputs_length, control_word_name, control_word_offset);
     outputs.trigger = make_shared<trigger_cb>(std::bind(&dsp402_device::tick_outputs_update, shared_from_this()));
-    outputs.pd = make_shared<triple_buffer>(outputs_length, parent->name, name + ".outputs", outputs_def);
+    outputs.pd_dev = get_device<pd_device>(parent->name, name + ".outputs");
+    outputs.pd = make_shared<triple_buffer>(outputs_length, outputs_def);
+    outputs.pd_dev->set_inner(outputs.pd, parent);
     outputs.consumer = make_shared<pd_consumer>(parent->name + "." + name + ".outputs");
-    outputs.pd->set_consumer(outputs.consumer);
-
-    parent->log(info, "%s: adding trigger to %s\n", name.c_str(), user_inputs.pd->trigger_dev->id().c_str());
-    user_inputs.pd->trigger_dev->add_trigger(inputs.trigger);
-    outputs.pd->trigger_dev->add_trigger(outputs.trigger);
+    outputs.pd_dev->set_consumer(outputs.consumer);
 
-    robotkernel::add_device(outputs.pd);
+    parent->log(info, "%s: adding trigger to %s\n", name.c_str(), user_inputs.pd_dev->id().c_str());
+    user_inputs.pd_dev->add_trigger(inputs.trigger);
+    outputs.pd_dev->add_trigger(outputs.trigger);
 }
 
 void dsp402_device::close() {
-    parent->log(info, "%s: removing trigger to %s\n", name.c_str(), user_inputs.pd->trigger_dev->id().c_str());
-    user_inputs.pd->trigger_dev->remove_trigger(inputs.trigger);
+    parent->log(info, "%s: removing trigger to %s\n", name.c_str(), user_inputs.pd_dev->id().c_str());
+    user_inputs.pd_dev->remove_trigger(inputs.trigger);
     inputs.trigger = nullptr;
 
-    parent->log(info, "%s: removing trigger to %s\n", name.c_str(), outputs.pd->trigger_dev->id().c_str());
-    outputs.pd->trigger_dev->remove_trigger(outputs.trigger);
+    parent->log(info, "%s: removing trigger to %s\n", name.c_str(), outputs.pd_dev->id().c_str());
+    outputs.pd_dev->remove_trigger(outputs.trigger);
     outputs.trigger = nullptr;
 
-    outputs.pd->reset_consumer(outputs.consumer);
-    robotkernel::remove_device(outputs.pd);
+    outputs.pd_dev->reset_consumer(outputs.consumer);
+    outputs.pd_dev->reset_inner(parent);
     outputs.consumer = nullptr;
     outputs.pd = nullptr;
+    outputs.pd_dev = nullptr;
 
-    inputs.pd->reset_provider(inputs.provider);
-    robotkernel::remove_device(inputs.pd);
+    inputs.pd_dev->reset_provider(inputs.provider);
+    inputs.pd_dev->reset_inner(parent);
     inputs.provider = nullptr;
     inputs.pd = nullptr;
+    inputs.pd_dev = nullptr;
 
-    user_inputs.pd->reset_consumer(user_inputs.consumer);
+    user_inputs.pd_dev->reset_consumer(user_inputs.consumer);
     user_inputs.pd = nullptr;
     user_inputs.consumer = nullptr;
+    user_inputs.pd_dev = nullptr;
 
-    user_outputs.pd->reset_provider(user_outputs.provider);
+    user_outputs.pd_dev->reset_provider(user_outputs.provider);
     user_outputs.pd = nullptr;
     user_outputs.provider = nullptr;
+    user_outputs.pd_dev = nullptr;
 }
 
 
@@ -343,14 +358,14 @@ void dsp402::init() {
     if (config["devices"]) {
         // backwards compability
         for (const auto& dev : config["devices"])
-            devices.push_back(make_shared<dsp402_device>(this, dev)); 
+            devices.push_back(make_shared<dsp402_device>(shared_from_this(), dev)); 
     }
 
     std::list<YAML::Node> device_instances_list;
     robotkernel::parse_templates(config, device_instances_list);
 
     for (const auto& inst : device_instances_list) {
-        devices.push_back(make_shared<dsp402_device>(this, inst)); 
+        devices.push_back(make_shared<dsp402_device>(shared_from_this(), inst)); 
     }
 
     for (const auto& dev : devices) {

src/dsp402.cpp

@@ -32,6 +32,9 @@
 
 #include "yaml-cpp/yaml.h"
 
+using namespace robotkernel;
+using namespace std;
+
 namespace module_dsp402 { class dsp402_device; };
 YAML::Emitter& operator<<(YAML::Emitter& out, const module_dsp402::dsp402_device& dev);
 
@@ -46,14 +49,14 @@ class trigger_cb : public robotkernel::trigger_base {
         trigger_cb(std::function<void(void)> cb) : cb(cb) {}
 
         //! trigger function
-        void tick() { cb(); }
+        void do_trigger() override { cb(); }
 };
 
 class dsp402_device : 
     public std::enable_shared_from_this<dsp402_device>
 {
     public:
-        dsp402 *parent;
+        shared_ptr<dsp402> parent;
 
         std::string name;
         std::string user_inputs_name;
@@ -67,12 +70,13 @@ class dsp402_device :
         YAML::Node config;
 
         //! de-/construction
-        dsp402_device(dsp402 *parent, const YAML::Node& node);
+        dsp402_device(shared_ptr<dsp402> parent, const YAML::Node& node);
         ~dsp402_device();
 
         typedef struct {
             std::shared_ptr<trigger_cb> trigger;
-            robotkernel::sp_process_data_t pd;
+            shared_ptr<pd_device> pd_dev;
+            shared_ptr<process_data> pd;
             robotkernel::sp_pd_provider_t provider;
             robotkernel::sp_pd_consumer_t consumer;
         } pd_t;