/*
*
* 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_ = "";
// 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);
}
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::ConnectSlotNode(const SignalOnNodeChange::slot_type& signal_on_node_change_)
{
this->signal_on_node_change_.connect(signal_on_node_change_);
}
void Manager::ConnectSlotModule(const SignalOnModuleChange::slot_type& slot_on_module_change)
{
this->signal_on_module_change_.connect(slot_on_module_change);
}
void Manager::ConnectSlotModule(const SignalOnModuleMessage::slot_type& slot_on_module_message)
{
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 " +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(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("Module " + module->GetFullId() + " is available on node " + node->GetId() + ".");
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());
}
}
}
}
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 (current_state != target_state)
{
this->signal_on_node_change_(node_id, false);
}
}
else
{
if (current_state != target_state)
{
this->signal_on_node_change_(node_id, true);
}
}
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_ = "";
}
}
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;
}
common::StringList Manager::GetAvailableNodes()
{
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);
}
return available_nodes;
}
bool Manager::ResetNode(Node::Id node_id)
{
NodeList::iterator it = this->nodes_.find(node_id);
if (it == this->nodes_.end())
{
LOG.Error("Could not find node " + node_id);
return false;
}
it->second->Reset();
return true;
}
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 " + 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