Fawkes API Fawkes Development Version
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00001 00002 /*************************************************************************** 00003 * bbsync_plugin.cpp - Fawkes BlackBoardSynchronization Plugin 00004 * 00005 * Created: Fri Jun 29 11:47:53 2007 (on flight to RoboCup 2007, Atlanta) 00006 * Copyright 2006 Tim Niemueller [www.niemueller.de] 00007 * 00008 ****************************************************************************/ 00009 00010 /* This program is free software; you can redistribute it and/or modify 00011 * it under the terms of the GNU General Public License as published by 00012 * the Free Software Foundation; either version 2 of the License, or 00013 * (at your option) any later version. 00014 * 00015 * This program is distributed in the hope that it will be useful, 00016 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00017 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00018 * GNU Library General Public License for more details. 00019 * 00020 * Read the full text in the LICENSE.GPL file in the doc directory. 00021 */ 00022 00023 #include "bbsync_plugin.h" 00024 #include "sync_thread.h" 00025 00026 #include <set> 00027 00028 using namespace fawkes; 00029 00030 /** @class BlackBoardSynchronizationPlugin "bbsync_plugin.h" 00031 * BlackBoard synchronization plugin. 00032 * This plugin synchronizes one or more (or even all) interfaces of two or 00033 * more Fawkes instances over the network. 00034 * 00035 * @author Tim Niemueller 00036 */ 00037 00038 /** Constructor. 00039 * @param config Fawkes configuration 00040 */ 00041 BlackBoardSynchronizationPlugin::BlackBoardSynchronizationPlugin(Configuration *config) 00042 : Plugin(config) 00043 { 00044 std::set<std::string> peers; 00045 std::set<std::string> ignored_peers; 00046 00047 std::string prefix = "/fawkes/bbsync/"; 00048 std::string peers_prefix = prefix + "peers/"; 00049 00050 Configuration::ValueIterator *i = config->search(peers_prefix.c_str()); 00051 while (i->next()) { 00052 std::string peer = std::string(i->path()).substr(peers_prefix.length()); 00053 peer = peer.substr(0, peer.find("/")); 00054 00055 if ( (peers.find(peer) == peers.end()) && 00056 (ignored_peers.find(peer) == ignored_peers.end()) ) { 00057 00058 std::string peer_prefix = peers_prefix + peer + "/"; 00059 00060 bool active = true; 00061 try { 00062 active = config->get_bool((peer_prefix + "active").c_str()); 00063 } catch (Exception &e) {} // ignored, assume enabled 00064 00065 if (active) { 00066 //printf("Adding sync thread for peer %s\n", peer.c_str()); 00067 BlackBoardSynchronizationThread *sync_thread; 00068 sync_thread = new BlackBoardSynchronizationThread(prefix, peer_prefix, peer); 00069 peers.insert(peer); 00070 thread_list.push_back(sync_thread); 00071 } else { 00072 //printf("Ignoring sync peer %s\n", peer.c_str()); 00073 ignored_peers.insert(peer); 00074 } 00075 } 00076 } 00077 delete i; 00078 00079 if ( thread_list.empty() ) { 00080 throw Exception("No synchronization peers configured, aborting"); 00081 } else { 00082 } 00083 } 00084 00085 PLUGIN_DESCRIPTION("Synchronize with remote Fawkes BlackBoards") 00086 EXPORT_PLUGIN(BlackBoardSynchronizationPlugin)