Subversion Repositories HomeAutomation

/*

 *

 *  Copyright (C) 2010  Mattias Runge

 *

 *  This program is free software; you can redistribute it and/or modify

 *  it under the terms of the GNU General Public License as published by

 *  the Free Software Foundation; either version 2 of the License, or

 *  (at your option) any later version.

 *

 *  This program is distributed in the hope that it will be useful,

 *  but WITHOUT ANY WARRANTY; without even the implied warranty of

 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

 *  GNU General Public License for more details.

 *

 *  You should have received a copy of the GNU General Public License along

 *  with this program; if not, write to the Free Software Foundation, Inc.,

 *  51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.

 *

 */

#include "Manager.h"

#include <boost/lexical_cast.hpp>

#include "broker/Manager.h"

#include "broker/Message.h"

#include "common/common.h"

#include "timer/Manager.h"

#include "storage/Manager.h"

#include "can/Message.h"

namespace atom {

namespace control {

Manager::Pointer Manager::instance_;

Manager::Manager() : broker::Subscriber(false), LOG("control::Manager")

{

    Node::SetupStateMachine();

    this->active_programming_node_id_ = 0;

    // Nyquist–Shannon sampling theorem state that we need to double the time, modules send every 10 seconds

    this->timer_id_ = timer::Manager::Instance()->Set(20000, true);

}

Manager::~Manager()

{

}

Manager::Pointer Manager::Instance()

{

    return Manager::instance_;

}

void Manager::Create()

{

    Manager::instance_ = Manager::Pointer(new Manager());

}

void Manager::Delete()

{

    Manager::instance_.reset();

}

void Manager::ConnectSlots(const SignalOnNodeChange::slot_type& signal_on_node_change_, const SignalOnModuleChange::slot_type& slot_on_module_change, const SignalOnModuleMessage::slot_type& slot_on_module_message)

{

    this->signal_on_node_change_.connect(signal_on_node_change_);

    this->signal_on_module_change_.connect(slot_on_module_change);

    this->signal_on_module_message_.connect(slot_on_module_message);

}

void Manager::SlotOnTimeoutHandler(timer::TimerId timer_id, bool repeat)

{

    if (timer_id != this->timer_id_)

    {

        return;

    }

    for (NodeList::iterator it = this->nodes_.begin(); it != this->nodes_.end(); it++)

    {

        if (!it->second->CheckTimeout())

        {

            LOG.Info("Node " + common::ToHex(it->second->GetId()) + " has not sent anything in a long time, setting offline.");

            this->RemoveModules(it->second->GetId());

            storage::Manager::Instance()->FlushStore("NodeList");

            storage::Manager::Instance()->FlushStore("ModuleList");

        }

    }

}

void Manager::SlotOnMessageHandler(broker::Message::Pointer message)

{

    if (message->GetType() == broker::Message::CAN_MESSAGE)

    {

        //LOG.Debug("Message received");

        can::Message* payload = static_cast<can::Message*>(message->GetPayload().get());

        Node::Pointer node;

        if (payload->GetClassName() == "nmt")

        {

            if (payload->GetCommandName() == "Bios_Start")

            {

                node = this->GetNode(boost::lexical_cast<unsigned int>(payload->GetVariables()["HardwareId"]));

                node->Trigger(Node::EVENT_BIOS_START, payload->GetVariables());

            }

            else if (payload->GetCommandName() == "App_Start")

            {

                node = this->GetNode(boost::lexical_cast<unsigned int>(payload->GetVariables()["HardwareId"]));

                node->Trigger(Node::EVENT_APP_START, payload->GetVariables());

            }

            else if (payload->GetCommandName() == "Heartbeat")

            {

                node = this->GetNode(boost::lexical_cast<unsigned int>(payload->GetVariables()["HardwareId"]));

                node->Trigger(Node::EVENT_HEARTBEAT, payload->GetVariables());

            }

            else if (payload->GetCommandName() == "Pgm_Ack")

            {

                node = this->GetNode(this->active_programming_node_id_);

                node->Trigger(Node::EVENT_PGM_ACK, payload->GetVariables());

            }

            else if (payload->GetCommandName() == "Pgm_Nack")

            {

                node = this->GetNode(this->active_programming_node_id_);

                node->Trigger(Node::EVENT_PGM_NACK, payload->GetVariables());

            }

        }

        else if (payload->GetDirectionName() == "From_Owner")

        {

            Module::Pointer module = this->GetModule(boost::lexical_cast<unsigned int>(payload->GetId()), payload->GetModuleName(), payload->GetClassName());

            if (payload->GetCommandName() == "List")

            {

                node = this->GetNode(boost::lexical_cast<unsigned int>(payload->GetVariables()["HardwareId"]));

                node->ResetTimeout();

                module->SetNodeId(node->GetId());

                if (this->GetNumberOfModules(node->GetId()) == boost::lexical_cast<unsigned int>(payload->GetVariables()["NumberOfModules"]))

                {

                    node->Trigger(Node::EVENT_LIST_DONE, payload->GetVariables());

                }

                LOG.Info("Module " + module->GetFullId() + " is available on node " + common::ToHex(node->GetId()) + ".");

                this->signal_on_module_change_(module->GetFullId(), true);

            }

            else

            {

                node = this->GetNode(module->GetNodeId());

                node->ResetTimeout();

                this->signal_on_module_message_(module->GetFullId(), payload->GetCommandName(), payload->GetVariables());

            }

        }

    }

}

void Manager::SlotOnNewState(Node::Id node_id, Node::State current_state, Node::State target_state)

{

    if (target_state != Node::STATE_NORM_INITIALIZED)

    {

        this->RemoveModules(node_id);

    }

    if (target_state == Node::STATE_BPGM_OFFLINE || target_state == Node::STATE_APGM_OFFLINE)

    {

        this->active_programming_node_id_ = node_id;

    }

    else if (target_state == Node::STATE_NORM_OFFLINE)

    {

        this->active_programming_node_id_ = 0;

    }

}

void Manager::SendMessageHandler(std::string full_id, std::string command, common::StringMap variables)

{

    ModuleList::iterator it = this->modules_.find(full_id);

    if (it == this->modules_.end())

    {

        LOG.Warning("Can not send message to " + full_id + ", it is not available");

        return;

    }

    try

    {

        can::Message* payload = new can::Message(it->second->GetClassName(), "To_Owner", it->second->GetName(), it->second->GetId(), command);

        payload->SetVariables(variables);

        broker::Manager::Instance()->Post(broker::Message::Pointer(new broker::Message(broker::Message::CAN_MESSAGE, broker::Message::PayloadPointer(payload), this)));

        //LOG.Debug("Command " + command + " sent to " + it->second->GetName());

    }

    catch (std::runtime_error& e)

    {

        LOG.Error("Failed to send message, " + std::string(e.what()));

    }

}

void Manager::SendMessage(std::string full_id, std::string command, common::StringMap variables)

{

    this->io_service_.post(boost::bind(&Manager::SendMessageHandler, this, full_id, command, variables));

}

common::StringList Manager::GetAvailableModules()

{

    common::StringList available_modules;

    for (ModuleList::iterator it = this->modules_.begin(); it != this->modules_.end(); it++)

    {

        available_modules.push_back(it->first);

    }

    return available_modules;

}

bool Manager::ProgramNode(Node::Id node_id, bool is_bios, std::string filename)

{

    NodeList::iterator it = this->nodes_.find(node_id);

    if (it == this->nodes_.end())

    {

        LOG.Error("Could not find node " +  common::ToHex(node_id));

        return false;

    }

    Code::Pointer code = Code::Pointer(new Code());

    if (!code->LoadIntelHexFile(filename))

    {

        LOG.Error("Failed to parse " + filename);

        return false;

    }

    if (is_bios)

    {

        LOG.Debug("is_bios true");

        it->second->ProgramBios(code);

    }

    else

    {

        LOG.Debug("is_bios false");

        it->second->ProgramApplication(code);

    }

    return true;

}

Node::Pointer Manager::GetNode(Node::Id node_id)

{

    Node::Pointer node;

    NodeList::iterator it = this->nodes_.find(node_id);

    if (it == this->nodes_.end())

    {

        node = Node::Pointer(new Node(node_id));

        node->ConnectSlots(Node::SignalOnNewState::slot_type(&Manager::SlotOnNewState, this, _1, _2, _3).track(this->tracker_));

        this->nodes_[node_id] = node;

    }

    else

    {

        node = it->second;

    }

    return node;

}

Module::Pointer Manager::GetModule(Module::Id module_id, std::string module_name, std::string class_name)

{

    Module::Pointer module;

    ModuleList::iterator it = this->modules_.find(Module::MakeFullId(module_id, module_name));

    if (it == this->modules_.end())

    {

        module = Module::Pointer(new Module(module_id, module_name, class_name));

        this->modules_[module->GetFullId()] = module;

    }

    else

    {

        module = it->second;

    }

    return module;

}

void Manager::RemoveModules(Node::Id node_id)

{

    for (ModuleList::iterator it = this->modules_.begin(); it != this->modules_.end(); it++)

    {

        if (it->second->GetNodeId() == node_id)

        {

            LOG.Info("Module " + it->second->GetFullId() + " is unavailable.");

            this->signal_on_module_change_(it->second->GetFullId(), false);

            this->modules_.erase(it);

        }

    }

}

unsigned int Manager::GetNumberOfModules(Node::Id node_id)

{

    unsigned int number_of_modules = 0;

    for (ModuleList::iterator it = this->modules_.begin(); it != this->modules_.end(); it++)

    {

        if (it->second->GetNodeId() == node_id)

        {

            number_of_modules++;

        }

    }

    return number_of_modules;

}

}; // namespace control

}; // namespace atom