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/*

 *

 *  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 "common/log.h"

#include "can/Message.h"

namespace atom {

namespace control {

Manager::Pointer Manager::instance_;

static const std::string log_module_ = "control::manager";

Manager::Manager() : broker::Subscriber(false)

{

  LOG_DEBUG_ENTER;

  Node::SetupStateMachine();

  this->active_programming_node_id_ = "";

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

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

  LOG_DEBUG_EXIT;

}

Manager::~Manager()

{

  LOG_DEBUG_ENTER;

  LOG_DEBUG_EXIT;

}

Manager::Pointer Manager::Instance()

{

  LOG_DEBUG_ENTER;

  LOG_DEBUG_EXIT;

  return Manager::instance_;

}

void Manager::Create()

{

  LOG_DEBUG_ENTER;

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

  LOG_DEBUG_EXIT;

}

void Manager::Delete()

{

  LOG_DEBUG_ENTER;

  Manager::instance_.reset();

  LOG_DEBUG_EXIT;

}

void Manager::ConnectSlotNode(const SignalOnNodeChange::slot_type& signal_on_node_change_)

{

  LOG_DEBUG_ENTER;

  this->signal_on_node_change_.connect(signal_on_node_change_);

  LOG_DEBUG_EXIT;

}

void Manager::ConnectSlotModule(const SignalOnModuleChange::slot_type& slot_on_module_change)

{

  LOG_DEBUG_ENTER;

  this->signal_on_module_change_.connect(slot_on_module_change);

  LOG_DEBUG_EXIT;

}

void Manager::ConnectSlotModule(const SignalOnModuleMessage::slot_type& slot_on_module_message)

{

  LOG_DEBUG_ENTER;

  this->signal_on_module_message_.connect(slot_on_module_message);

  LOG_DEBUG_EXIT;

}

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

{

  LOG_DEBUG_ENTER;

  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(log_module_, "Node %s has not sent anything in a long time, setting offline.", it->second->GetId().c_str());

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

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

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

    }

  }

  LOG_DEBUG_EXIT;

}

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

{

  LOG_DEBUG_ENTER;

  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(common::ToHex(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(common::ToHex(boost::lexical_cast<unsigned int>(payload->GetVariables()["HardwareId"])));

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

      }

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

      {

        node = this->GetNode(common::ToHex(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(common::ToHex(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(log_module_, "Module %s is available on node %s.", module->GetFullId().c_str(), node->GetId().c_str());

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

      }

      else if (module->GetNodeId() != "")

      {

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

        node->ResetTimeout();

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

      }

    }

  }

  LOG_DEBUG_EXIT;

}

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

{

  LOG_DEBUG_ENTER;

  if (target_state != Node::STATE_NORM_INITIALIZED)

  {

    this->RemoveModules(node_id);

  }

  if (current_state != target_state)

  {

    this->signal_on_node_change_(node_id, (target_state == Node::STATE_NORM_INITIALIZED || target_state == Node::STATE_NORM_LIST || target_state == Node::STATE_NORM_ONLINE));

  }

  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_ = "";

  }

  LOG_DEBUG_EXIT;

}

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

{

  LOG_DEBUG_ENTER;

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

  if (it == this->modules_.end())

  {

    log::Warning(log_module_, "Can not send message to %s , it is not available.", full_id.c_str());

    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(log_module_, "Failed to send message, %s", e.what());

  }

  LOG_DEBUG_EXIT;

}

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

{

  LOG_DEBUG_ENTER;

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

  LOG_DEBUG_EXIT;

}

common::StringList Manager::GetAvailableModules()

{

  LOG_DEBUG_ENTER;

  common::StringList available_modules;

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

  {

    available_modules.push_back(it->first);

  }

  LOG_DEBUG_EXIT;

  return available_modules;

}

common::StringList Manager::GetAvailableNodes()

{

  LOG_DEBUG_ENTER;

  common::StringList available_nodes;

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

  {

    std::string node = it->first;

    for (ModuleList::iterator it2 = this->modules_.begin(); it2 != this->modules_.end(); it2++)

    {

      if (it2->second->GetNodeId() == it->first)

      {

        node += "," + it2->first;

      }

    }

    available_nodes.push_back(node);

  }

  LOG_DEBUG_EXIT;

  return available_nodes;

}

bool Manager::ResetNode(Node::Id node_id)

{

  LOG_DEBUG_ENTER;

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

  if (it == this->nodes_.end())

  {

      log::Error(log_module_, "Could not find node %s.", node_id.c_str());

      return false;

  }

  it->second->Reset();

  LOG_DEBUG_EXIT;

  return true;

}

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

{

  LOG_DEBUG_ENTER;

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

  if (it == this->nodes_.end())

  {

    log::Error(log_module_, "Could not find node %s.", node_id.c_str());

    return false;

  }

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

  if (!code->LoadIntelHexFile(filename))

  {

    log::Error(log_module_, "Could not parse %s.", filename.c_str());

    return false;

  }

  if (is_bios)

  {

    log::Debug(log_module_, "is_bios true");

    it->second->ProgramBios(code);

  }

  else

  {

    log::Debug(log_module_, "is_bios false");

    it->second->ProgramApplication(code);

  }

  LOG_DEBUG_EXIT;

  return true;

}

/* Program node with hexdata as argument */

bool Manager::ProgramNodeHex(Node::Id node_id, bool is_bios, std::string hex_data)

{

  LOG_DEBUG_ENTER;

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

  if (it == this->nodes_.end())

  {

    log::Error(log_module_, "Could not find node %s.", node_id.c_str());

    return false;

  }

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

  if (!code->ParseIntelHex(hex_data))

  {

    log::Error(log_module_, "Could not parse hexdata %s.", hex_data.c_str());

    return false;

  }

  if (is_bios)

  {

    log::Debug(log_module_, "is_bios true");

    it->second->ProgramBios(code);

  }

  else

  {

    log::Debug(log_module_, "is_bios false");

    it->second->ProgramApplication(code);

  }

  LOG_DEBUG_EXIT;

  return true;

}

Node::Information Manager::GetNodeInformation(Node::Id node_id)

{

  LOG_DEBUG_ENTER;

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

  if (it == this->nodes_.end())

  {

    throw std::runtime_error("No such node exists, " + node_id);

  }

  LOG_DEBUG_EXIT;

  return it->second->GetInformation();

}

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

{

  LOG_DEBUG_ENTER;

  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;

  }

  LOG_DEBUG_EXIT;

  return node;

}

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

{

  LOG_DEBUG_ENTER;

  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;

  }

  LOG_DEBUG_EXIT;

  return module;

}

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

{

  LOG_DEBUG_ENTER;

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

  {

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

    {

      log::Info(log_module_, "Module %s is unavailable.", it->second->GetFullId().c_str());

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

      this->modules_.erase(it);

      break;

    }

  }

  LOG_DEBUG_EXIT;

}

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

{

  LOG_DEBUG_ENTER;

  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++;

    }

  }

  LOG_DEBUG_EXIT;

  return number_of_modules;

}

}; // namespace control

}; // namespace atom