Merge pull request 'Fix missing drivers from driver selection menu' (#47) from fix-missing-drivers into main

Reviewed-on: speed-dreams/speed-dreams-code#47

speed-dreams-data

@@ -1 +1 @@
-Subproject commit 3d26571ada10cd68944896fad39fd68b71c67abd
+Subproject commit b1cc506c221e5a83a676b0116dbb71f55fb8f9ba

src/drivers/dandroid/src/dandroid.cpp

@@ -82,11 +82,22 @@ extern "C" int moduleWelcome(const tModWelcomeIn * welcomeIn,
 	// Save module name and loadDir, and determine module XML file pathname.
 	setRobotName(welcomeIn->name);
 
-	// Filehandle for robot's xml-file
-	void* pRobotSettings = GfParmReadFileLocal(pathBuffer, GFPARM_RMODE_STD);
-
 	PLogDANDROID = GfLogger::instance("DANDROID");
 
+	std::string dirstr = std::string(GfLocalDir()) + "drivers/dandroid";
+	const char *dir = dirstr.c_str();
+
+	if (GfDirCreate(dir) != GF_DIR_CREATED)
+	{
+		PLogDANDROID->error("GfDirCreate %s failed\n", dir);
+		return -1;
+	}
+
+	int ret = 0;
+	// Filehandle for robot's xml-file
+	void* pRobotSettings = GfParmReadFileLocal(pathBuffer,
+		GFPARM_RMODE_STD | GFPARM_RMODE_CREAT);
+
 	// Loop over all possible drivers, clear all buffers,
 	// save defined driver names and descriptions.
 	driver.clear();
@@ -94,22 +105,15 @@ extern "C" int moduleWelcome(const tModWelcomeIn * welcomeIn,
 
 	if (pRobotSettings) // robot settings XML could be read
 	{
-		char SectionBuffer[BUFSIZE];
-		snprintf(SectionBuffer, BUFSIZE, "%s/%s/%d", ROB_SECT_ROBOTS, ROB_LIST_INDEX, 0);
-
-		// Try to get first driver from index 0
-		string sDriverName = GfParmGetStrNC(pRobotSettings,
-			SectionBuffer,
-			ROB_ATTR_NAME,
-			const_cast<char*>(sUndefined));
-
 		int n = GfParmGetEltNb(pRobotSettings, ROB_SECT_ROBOTS "/" ROB_LIST_INDEX);
 
 		for (int i = 0; i < n; i++)
 		{
+			char SectionBuffer[BUFSIZE];
+
 			snprintf(SectionBuffer, BUFSIZE, "%s/%s/%d", ROB_SECT_ROBOTS, ROB_LIST_INDEX, i);
 
-			sDriverName = GfParmGetStr(pRobotSettings, SectionBuffer,
+			std::string sDriverName = GfParmGetStr(pRobotSettings, SectionBuffer,
 				ROB_ATTR_NAME, sUndefined);
 
 			string sDriverDesc = GfParmGetStr(pRobotSettings, SectionBuffer,
@@ -118,6 +122,12 @@ extern "C" int moduleWelcome(const tModWelcomeIn * welcomeIn,
 			driver.push_back(TDriver(i));
 		}  // for i
 
+		if (GfParmWriteFile(nullptr, pRobotSettings, "dandroid"))
+		{
+			PLogDANDROID->error("GfParmWriteFile failed\n");
+			ret = -1;
+		}
+
 		GfParmReleaseHandle(pRobotSettings);
 	}
 	else
@@ -128,7 +138,7 @@ extern "C" int moduleWelcome(const tModWelcomeIn * welcomeIn,
 	// Set max nb of interfaces to return.
 	welcomeOut->maxNbItf = driver.size();
 
-	return 0;
+	return ret;
 }
 
 // Module entry point (new fixed name scheme).
@@ -167,18 +177,24 @@ extern "C" int moduleTerminate()
 // Module entry point
 extern "C" int dandroid(tModInfo * modInfo)
 {
+	std::string dirstr = std::string(GfLocalDir()) + "drivers/dandroid";
+	const char *dir = dirstr.c_str();
+
+	if (GfDirCreate(dir) != GF_DIR_CREATED)
+		return -1;
+
 	driver.clear();
 	Drivers.clear();
 	nameBuffer = "dandroid";
 
 	// Filehandle for robot's xml-file
 	void* pRobotSettings = GfParmReadFileLocal("drivers/dandroid/dandroid.xml",
-		GFPARM_RMODE_STD);
+		GFPARM_RMODE_STD | GFPARM_RMODE_CREAT);
 
 	if (pRobotSettings)
 	{  // Let's look what we have to provide here
 		char SectionBuffer[BUFSIZE];
-		int n = GfParmGetEltNb(pRobotSettings, ROB_SECT_ROBOTS);
+		int ret = 0, n = GfParmGetEltNb(pRobotSettings, ROB_SECT_ROBOTS);
 
 		for (int i = 0; i < n; i++)
 		{
@@ -188,7 +204,14 @@ extern "C" int dandroid(tModInfo * modInfo)
 			Drivers.push_back(make_pair(sDriverName, sDriverDesc));
 			driver.push_back(TDriver(i));
 		}
+
+		if (GfParmWriteFile(nullptr, pRobotSettings, "usr"))
+			ret = -1;
+
 		GfParmReleaseHandle(pRobotSettings);
+
+		if (ret)
+			return ret;
 	}
 
 	return moduleInitialize(modInfo);

src/drivers/shadow/src/Shadow.cpp

@@ -122,23 +122,24 @@ extern "C" int moduleWelcome(const tModWelcomeIn* welcomeIn, tModWelcomeOut* wel
 {
     // Save module name and loadDir, and determine module XML file pathname.
     setRobotName(welcomeIn->name);
-
-    // Filehandle for robot's xml-file
-    void *pRobotSettings = GfParmReadFileLocal(pathBuffer, GFPARM_RMODE_STD);
-
     PLogSHADOW = GfLogger::instance("SHADOW");
 
+    std::string dirstr = std::string(GfLocalDir()) + "drivers/shadow";
+    const char *dir = dirstr.c_str();
+
+    if (GfDirCreate(dir) != GF_DIR_CREATED)
+    {
+        PLogSHADOW->error("GfDirCreate %s failed\n", dir);
+        return -1;
+    }
+
+    int ret = 0;
+    // Filehandle for robot's xml-file
+    void *pRobotSettings = GfParmReadFileLocal(pathBuffer,
+        GFPARM_RMODE_STD | GFPARM_RMODE_CREAT);
+
     if (pRobotSettings) // robot settings XML could be read
     {
-        char SectionBuffer[BUFSIZE];
-        snprintf(SectionBuffer, BUFSIZE, "%s/%s/%d", ROB_SECT_ROBOTS, ROB_LIST_INDEX, 0);
-
-        // Try to get first driver from index 0
-        string sDriverName = GfParmGetStrNC(pRobotSettings,
-            SectionBuffer,
-            ROB_ATTR_NAME,
-            const_cast<char*>(sUndefined));
-
         // Loop over all possible drivers, clear all buffers,
         // save defined driver names and descriptions.
         Drivers.clear();
@@ -147,9 +148,11 @@ extern "C" int moduleWelcome(const tModWelcomeIn* welcomeIn, tModWelcomeOut* wel
 
         for (int i = 0; i < n; i++)
         {
+            char SectionBuffer[BUFSIZE];
+
             snprintf(SectionBuffer, BUFSIZE, "%s/%s/%d", ROB_SECT_ROBOTS, ROB_LIST_INDEX, i);
 
-            sDriverName = GfParmGetStr(pRobotSettings, SectionBuffer,
+            std::string sDriverName = GfParmGetStr(pRobotSettings, SectionBuffer,
                 ROB_ATTR_NAME, sUndefined);
 
             // This driver is defined in robot's xml-file
@@ -158,6 +161,12 @@ extern "C" int moduleWelcome(const tModWelcomeIn* welcomeIn, tModWelcomeOut* wel
             Drivers.push_back(make_pair(sDriverName, sDriverDesc));
         }  // for i
 
+        if (GfParmWriteFile(nullptr, pRobotSettings, "shadow"))
+        {
+            PLogSHADOW->error("GfParmWriteFile failed\n");
+            ret = -1;
+        }
+
         GfParmReleaseHandle(pRobotSettings);
     }
     else
@@ -169,7 +178,7 @@ extern "C" int moduleWelcome(const tModWelcomeIn* welcomeIn, tModWelcomeOut* wel
     // Set max nb of interfaces to return.
     welcomeOut->maxNbItf = Drivers.size();
 
-    return 0;
+    return ret;
 }
 
 // Module entry point (new fixed name scheme).
@@ -210,12 +219,13 @@ extern "C" int shadow(tModInfo *modInfo)
     nameBuffer = "shadow";
 
     // Filehandle for robot's xml-file
-    void *pRobotSettings = GfParmReadFileLocal(pathBuffer, GFPARM_RMODE_STD);
+    void *pRobotSettings = GfParmReadFileLocal(pathBuffer,
+        GFPARM_RMODE_STD | GFPARM_RMODE_CREAT);
 
     if (pRobotSettings)
     {  // Let's look what we have to provide here
         char SectionBuffer[BUFSIZE];
-        int n = GfParmGetEltNb(pRobotSettings, ROB_SECT_ROBOTS);
+        int ret = 0, n = GfParmGetEltNb(pRobotSettings, ROB_SECT_ROBOTS);
 
         for (int i = 0; i < n; i++)
         {
@@ -224,7 +234,14 @@ extern "C" int shadow(tModInfo *modInfo)
             std::string sDriverDesc = GfParmGetStr(pRobotSettings, SectionBuffer, ROB_ATTR_DESC, "");
             Drivers.push_back(make_pair(sDriverName, sDriverDesc));
         }
+
+        if (GfParmWriteFile(nullptr, pRobotSettings, "shadow"))
+            ret = -1;
+
         GfParmReleaseHandle(pRobotSettings);
+
+        if (ret)
+            return ret;
     }
 
     return moduleInitialize(modInfo);

src/drivers/simplix/src/unitmain.cpp

@@ -263,13 +263,19 @@ void* GetFileHandle(const char*	RobotName)
     snprintf(BufPathXMLRel, BUFSIZE,			  // Robot's xml-filename
         "drivers/%s/%s.xml",RobotName,RobotName);// relative to installation
 
+    std::string dirstr = std::string(GfLocalDir()) + "drivers" + RobotName;
+    const char *dir = dirstr.c_str();
+
+    if (GfDirCreate(dir) != GF_DIR_CREATED)
+      return NULL;
+
     //	Test local installation	path
     snprintf(BufPathXML, BUFSIZE, "%s%s",
         GetLocalDir(), RobPathXMLRel);
     snprintf(BufPathDir, BUFSIZE, "%s%s",
         GetLocalDir(), RobPathDirRel);
     RobotSettings = GfParmReadFile
-        (RobPathXML, GFPARM_RMODE_STD	);
+        (RobPathXML, GFPARM_RMODE_STD | GFPARM_RMODE_CREAT);
 
     if	(!RobotSettings)
     {
@@ -281,6 +287,13 @@ void* GetFileHandle(const char*	RobotName)
       RobotSettings = GfParmReadFile
           (RobPathXML, GFPARM_RMODE_STD );
     }
+
+    if (GfParmWriteFile(nullptr, RobotSettings, "simplix"))
+    {
+      GfParmReleaseHandle(RobotSettings);
+      return NULL;
+    }
+
     return	RobotSettings;
 }
 //==========================================================================*

src/drivers/usr/src/usr.cpp

@@ -93,22 +93,24 @@ extern "C" int moduleWelcome(const tModWelcomeIn* welcomeIn,
     // Save module name and loadDir, and determine module XML file pathname.
     setRobotName(welcomeIn->name);
 
-    // Filehandle for robot's xml-file
-    void *pRobotSettings = GfParmReadFileLocal(pathBuffer, GFPARM_RMODE_STD);
-
     PLogUSR = GfLogger::instance("USR");
 
+    std::string dirstr = std::string(GfLocalDir()) + "drivers/usr";
+	const char *dir = dirstr.c_str();
+
+	if (GfDirCreate(dir) != GF_DIR_CREATED)
+	{
+		PLogUSR->error("GfDirCreate %s failed\n", dir);
+		return -1;
+	}
+
+    // Filehandle for robot's xml-file
+    int ret = 0;
+    void *pRobotSettings = GfParmReadFileLocal(pathBuffer,
+        GFPARM_RMODE_STD | GFPARM_RMODE_CREAT);
+
     if (pRobotSettings)          // robot settings XML could be read
     {
-        char SectionBuffer[BUFSIZE];
-        snprintf(SectionBuffer, BUFSIZE, "%s/%s/%d", ROB_SECT_ROBOTS, ROB_LIST_INDEX, 0);
-
-        // Try to get first driver from index 0
-        string sDriverName = GfParmGetStrNC(pRobotSettings,
-                                            SectionBuffer,
-                                            ROB_ATTR_NAME,
-                                            const_cast<char*>(sUndefined));
-
         // Loop over all possible drivers, clear all buffers,
         // save defined driver names and descriptions.
         Drivers.clear();
@@ -117,9 +119,11 @@ extern "C" int moduleWelcome(const tModWelcomeIn* welcomeIn,
 
         for (int i = 0; i < n; i++)
         {
+            char SectionBuffer[BUFSIZE];
+
             snprintf(SectionBuffer, BUFSIZE, "%s/%s/%d", ROB_SECT_ROBOTS, ROB_LIST_INDEX, i);
 
-            sDriverName = GfParmGetStr(pRobotSettings, SectionBuffer,
+            std::string sDriverName = GfParmGetStr(pRobotSettings, SectionBuffer,
                 ROB_ATTR_NAME, sUndefined);
 
             // This driver is defined in robot's xml-file
@@ -128,6 +132,12 @@ extern "C" int moduleWelcome(const tModWelcomeIn* welcomeIn,
             Drivers.push_back(make_pair(sDriverName, sDriverDesc));
         }  // for i
 
+        if (GfParmWriteFile(nullptr, pRobotSettings, "usr"))
+        {
+            PLogUSR->error("GfDirCreate %s failed\n", dir);
+            ret = -1;
+        }
+
         GfParmReleaseHandle(pRobotSettings);
     }
     else        // if robot settings XML could not be read
@@ -139,7 +149,7 @@ extern "C" int moduleWelcome(const tModWelcomeIn* welcomeIn,
     // Set max nb of interfaces to return.
     welcomeOut->maxNbItf = Drivers.size();
 
-    return 0;
+    return ret;
 }
 
 // Module entry point (new fixed name scheme).
@@ -175,17 +185,24 @@ extern "C" int moduleTerminate()
 // Module entry point
 extern "C" int usr(tModInfo *modInfo)
 {
+    std::string dirstr = std::string(GfLocalDir()) + "drivers/usr";
+    const char *dir = dirstr.c_str();
+
+    if (GfDirCreate(dir) != GF_DIR_CREATED)
+        return -1;
+
     Drivers.clear();
     pathBuffer = "drivers/usr/usr.xml";
     nameBuffer = "usr";
 
     // Filehandle for robot's xml-file
-    void *pRobotSettings = GfParmReadFileLocal(pathBuffer, GFPARM_RMODE_STD);
+    void *pRobotSettings = GfParmReadFileLocal(pathBuffer,
+        GFPARM_RMODE_STD | GFPARM_RMODE_CREAT);
 
     if (pRobotSettings)               // Let's look what we have to provide here
     {
         char SectionBuffer[BUFSIZE];
-        int n = GfParmGetEltNb(pRobotSettings, ROB_SECT_ROBOTS);
+        int ret = 0, n = GfParmGetEltNb(pRobotSettings, ROB_SECT_ROBOTS);
 
         for (int i = 0; i < n; i++)
         {
@@ -195,7 +212,13 @@ extern "C" int usr(tModInfo *modInfo)
             Drivers.push_back(make_pair(sDriverName, sDriverDesc));
         }
 
+        if (GfParmWriteFile(nullptr, pRobotSettings, "usr"))
+            ret = -1;
+
         GfParmReleaseHandle(pRobotSettings);
+
+        if (ret)
+            return ret;
     }
 
     return moduleInitialize(modInfo);