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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 "Node.h"

#include <boost/date_time/posix_time/posix_time.hpp>

#include <boost/lexical_cast.hpp>

#include "Manager.h"

#include "can/Message.h"

#include "broker/Manager.h"

namespace atom {

namespace control {

Node::TransitionList Node::transitions_;

std::map<Node::State, std::string> Node::state_names_;

std::map<Node::Event, std::string> Node::event_names_;

Node::Node(Node::Id id) : LOG("control::Node")

{

    this->state_ = STATE_NORM_OFFLINE;

    this->id_ = id;

    this->current_offset_ = 0;

    this->expected_ack_data_ = 0;

    this->program_start_time_ = 0;

}

Node::~Node()

{

}

void Node::ConnectSlots(const SignalOnNewState::slot_type& slot_on_new_state)

{

    this->signal_on_new_state_.connect(slot_on_new_state);

}

Node::Id Node::GetId()

{

    return this->id_;

}

Node::State Node::GetState()

{

    return this->state_;

}

void Node::SetupStateMachine()

{

    // Normal flow

    Node::AddTransition(STATE_NORM_OFFLINE,          EVENT_BIOS_START,        STATE_NORM_ONLINE);

    Node::AddTransition(STATE_NORM_OFFLINE,          EVENT_APP_START,         STATE_NORM_LIST);

    Node::AddTransition(STATE_NORM_OFFLINE,          EVENT_HEARTBEAT,         STATE_NORM_LIST);

    Node::AddTransition(STATE_NORM_OFFLINE,          EVENT_PROGRAM_BIOS,      STATE_BPGM_OFFLINE);

    Node::AddTransition(STATE_NORM_OFFLINE,          EVENT_PROGRAM_APP,       STATE_APGM_OFFLINE);

    Node::AddTransition(STATE_NORM_OFFLINE,          EVENT_RESET,             STATE_NO_CHANGE);

    Node::AddTransition(STATE_NORM_ONLINE,           EVENT_BIOS_START,        STATE_NORM_ONLINE);

    Node::AddTransition(STATE_NORM_ONLINE,           EVENT_APP_START,         STATE_NORM_LIST);

    Node::AddTransition(STATE_NORM_ONLINE,           EVENT_HEARTBEAT,         STATE_NORM_LIST);

    Node::AddTransition(STATE_NORM_ONLINE,           EVENT_PROGRAM_BIOS,      STATE_BPGM_OFFLINE);

    Node::AddTransition(STATE_NORM_ONLINE,           EVENT_PROGRAM_APP,       STATE_APGM_OFFLINE);

    Node::AddTransition(STATE_NORM_ONLINE,           EVENT_RESET,             STATE_NORM_OFFLINE);

    Node::AddTransition(STATE_NORM_LIST,             EVENT_BIOS_START,        STATE_NORM_ONLINE);

    Node::AddTransition(STATE_NORM_LIST,             EVENT_APP_START,         STATE_NORM_LIST);

    Node::AddTransition(STATE_NORM_LIST,             EVENT_HEARTBEAT,         STATE_NO_CHANGE);

    Node::AddTransition(STATE_NORM_LIST,             EVENT_LIST_DONE,         STATE_NORM_INITIALIZED);

    Node::AddTransition(STATE_NORM_LIST,             EVENT_PROGRAM_BIOS,      STATE_BPGM_OFFLINE);

    Node::AddTransition(STATE_NORM_LIST,             EVENT_PROGRAM_APP,       STATE_APGM_OFFLINE);

    Node::AddTransition(STATE_NORM_LIST,             EVENT_RESET,             STATE_NORM_OFFLINE);

    Node::AddTransition(STATE_NORM_INITIALIZED,      EVENT_BIOS_START,        STATE_NORM_ONLINE);

    Node::AddTransition(STATE_NORM_INITIALIZED,      EVENT_APP_START,         STATE_NORM_LIST);

    Node::AddTransition(STATE_NORM_INITIALIZED,      EVENT_HEARTBEAT,         STATE_NO_CHANGE);

    Node::AddTransition(STATE_NORM_INITIALIZED,      EVENT_PROGRAM_BIOS,      STATE_BPGM_OFFLINE);

    Node::AddTransition(STATE_NORM_INITIALIZED,      EVENT_PROGRAM_APP,       STATE_APGM_OFFLINE);

    Node::AddTransition(STATE_NORM_INITIALIZED,      EVENT_RESET,             STATE_NORM_OFFLINE);

    // Program bios flow

    Node::AddTransition(STATE_BPGM_OFFLINE,          EVENT_BIOS_START,        STATE_BPGM_START);

    Node::AddTransition(STATE_BPGM_START,            EVENT_PGM_ACK,           STATE_BPGM_DATA);

    Node::AddTransition(STATE_BPGM_START,            EVENT_PGM_NACK,          STATE_NORM_OFFLINE); // Return to normal flow

    Node::AddTransition(STATE_BPGM_DATA,             EVENT_PGM_ACK,           STATE_BPGM_DATA); // If there is no more data to send STATE_PGM_END will be set instead

    Node::AddTransition(STATE_BPGM_DATA,             EVENT_PGM_NACK,          STATE_NORM_OFFLINE); // Return to normal flow

    Node::AddTransition(STATE_BPGM_END,              EVENT_PGM_ACK,           STATE_BPGM_COPY);

    Node::AddTransition(STATE_BPGM_END,              EVENT_PGM_NACK,          STATE_NORM_OFFLINE); // Return to normal flow

    Node::AddTransition(STATE_BPGM_COPY,             EVENT_BIOS_START,        STATE_APGM_OFFLINE); // Remove application after bios upgrade

    // Program application flow

    Node::AddTransition(STATE_APGM_OFFLINE,          EVENT_BIOS_START,        STATE_APGM_START);

    Node::AddTransition(STATE_APGM_START,            EVENT_PGM_ACK,           STATE_APGM_DATA);

    Node::AddTransition(STATE_APGM_START,            EVENT_PGM_NACK,          STATE_NORM_OFFLINE); // Return to normal flow

    Node::AddTransition(STATE_APGM_DATA,             EVENT_PGM_ACK,           STATE_APGM_DATA); // If there is no more data to send STATE_PGM_END will be set instead

    Node::AddTransition(STATE_APGM_DATA,             EVENT_PGM_NACK,          STATE_NORM_OFFLINE); // Return to normal flow

    Node::AddTransition(STATE_APGM_END,              EVENT_PGM_ACK,           STATE_NORM_OFFLINE); // Return to normal flow

    Node::AddTransition(STATE_APGM_END,              EVENT_PGM_NACK,          STATE_NORM_OFFLINE); // Return to normal flow

    Node::state_names_[STATE_INVALID] = "STATE_INVALID";

    Node::state_names_[STATE_NO_CHANGE] = "STATE_NO_CHANGE";

    Node::state_names_[STATE_NORM_OFFLINE] = "STATE_NORM_OFFLINE";

    Node::state_names_[STATE_NORM_ONLINE] = "STATE_NORM_ONLINE";

    Node::state_names_[STATE_NORM_LIST] = "STATE_NORM_LIST";

    Node::state_names_[STATE_NORM_INITIALIZED] = "STATE_NORM_INITIALIZED";

    Node::state_names_[STATE_BPGM_OFFLINE] = "STATE_BPGM_OFFLINE";

    Node::state_names_[STATE_BPGM_START] = "STATE_BPGM_START";

    Node::state_names_[STATE_BPGM_DATA] = "STATE_BPGM_DATA";

    Node::state_names_[STATE_BPGM_END] = "STATE_BPGM_END";

    Node::state_names_[STATE_BPGM_COPY] = "STATE_BPGM_COPY";

    Node::state_names_[STATE_APGM_OFFLINE] = "STATE_APGM_OFFLINE";

    Node::state_names_[STATE_APGM_START] = "STATE_APGM_START";

    Node::state_names_[STATE_APGM_DATA] = "STATE_APGM_DATA";

    Node::state_names_[STATE_APGM_END] = "STATE_APGM_END";

    Node::event_names_[EVENT_BIOS_START] = "EVENT_BIOS_START";

    Node::event_names_[EVENT_APP_START] = "EVENT_APP_START";

    Node::event_names_[EVENT_HEARTBEAT] = "EVENT_HEARTBEAT";

    Node::event_names_[EVENT_PGM_ACK] = "EVENT_PGM_ACK";

    Node::event_names_[EVENT_PGM_NACK] = "EVENT_PGM_NACK";

    Node::event_names_[EVENT_LIST_DONE] = "EVENT_LIST_DONE";

    Node::event_names_[EVENT_PROGRAM_BIOS] = "EVENT_PROGRAM_BIOS";

    Node::event_names_[EVENT_PROGRAM_APP] = "EVENT_PROGRAM_APP";

    Node::event_names_[EVENT_RESET] = "EVENT_RESET";

}

void Node::AddTransition(Node::State current_state, Node::Event event, State target_state)

{

    Node::transitions_[current_state][event] = target_state;

}

Node::State Node::GetTransitionTarget(Node::Event event)

{

    Node::TransitionList::iterator it1 = Node::transitions_.find(this->state_);

    if (it1 == Node::transitions_.end())

    {

        LOG.Warning("No transitions found for current state " + boost::lexical_cast<std::string>(this->state_));

        return STATE_INVALID;

    }

    Node::Transition::iterator it2 = it1->second.find(event);

    if (it2 == it1->second.end())

    {

        LOG.Warning("No transitions found for current state " + boost::lexical_cast<std::string>(this->state_) + " for event " + boost::lexical_cast<std::string>(event));

        return STATE_INVALID;

    }

    return it2->second;

}

void Node::Trigger(Node::Event event, common::StringMap variables)

{

    this->ResetTimeout();

    State target_state = this->GetTransitionTarget(event);

    LOG.Debug("Trigger called on " + this->id_ + ", current state: " + Node::state_names_[this->state_] + ", event: " + Node::event_names_[event] + ", target state: "  + Node::state_names_[target_state]);

    if (target_state == STATE_INVALID)

    {

        this->SendReset();

        target_state = STATE_NORM_OFFLINE;

    }

    else if (target_state == STATE_NO_CHANGE)

    {

        return;

    }

    if ((this->state_ == STATE_APGM_END || this->state_ == STATE_BPGM_END) && event == EVENT_PGM_ACK)

    {

        unsigned int checksum = boost::lexical_cast<unsigned int>(variables["Data"]);

        if (this->expected_ack_data_ != checksum)

        {

            LOG.Warning("Checksum received in ACK was incorrect got " + boost::lexical_cast<std::string>(checksum) + " expected " + boost::lexical_cast<std::string>(this->expected_ack_data_) + ", aborting...");

        }

        else if (this->state_ == STATE_BPGM_END)

        {

            float speed = (float)this->code_->GetLength() / (float)(time(NULL) - this->program_start_time_);

            LOG.Info("Data was successfully transferred to " + this->id_ + ", speed was " + boost::lexical_cast<std::string>(speed) + " B/s");

            LOG.Debug("Sending application programming copy to node " + this->id_);

            can::Message* payload = new can::Message("nmt", "", "", 0, "Pgm_Copy");

            unsigned int source0 = GET_LOW_BYTE_16(this->start_offset_);

            unsigned int source1 = GET_HIGH_BYTE_16(this->start_offset_);

            unsigned int destination0 = GET_LOW_BYTE_16(this->code_->GetAddressLower());

            unsigned int destination1 = GET_HIGH_BYTE_16(this->code_->GetAddressLower());

            unsigned int length0 = GET_LOW_BYTE_16(this->code_->GetLength());

            unsigned int length1 = GET_HIGH_BYTE_16(this->code_->GetLength());

            payload->SetVariable("Source0", boost::lexical_cast<std::string>(source0));

            payload->SetVariable("Source1", boost::lexical_cast<std::string>(source1));

            payload->SetVariable("Destination0", boost::lexical_cast<std::string>(destination0));

            payload->SetVariable("Destination1", boost::lexical_cast<std::string>(destination1));

            payload->SetVariable("Length0", boost::lexical_cast<std::string>(length0));

            payload->SetVariable("Length1", boost::lexical_cast<std::string>(length1));

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

        }

        else

        {

            float speed = (float)this->code_->GetLength() / (float)(time(NULL) - this->program_start_time_);

            LOG.Info("Programming was completed successfully on " + this->id_ + ", speed was " + boost::lexical_cast<std::string>(speed) + " B/s");

        }

    }

    if (target_state == STATE_NORM_LIST)

    {

        this->SendListRequest();

    }

    else if (target_state == STATE_BPGM_OFFLINE || target_state == STATE_APGM_OFFLINE)

    {

        if (event != EVENT_BIOS_START)

        {

            this->SendReset();

        }

    }

    else if (target_state == STATE_APGM_START || target_state == STATE_BPGM_START)

    {

        if (!this->code_->IsValid())

        {

            LOG.Error("Code is not valid, aborting...");

            target_state = STATE_NORM_OFFLINE;

        }

        else

        {

            LOG.Debug("Sending programming start to node " + this->id_);

            can::Message* payload = new can::Message("nmt", "", "", 0, "Pgm_Start");

            payload->SetVariable("HardwareId", boost::lexical_cast<std::string>(common::FromHex(this->id_)));

            this->start_offset_ = target_state == STATE_BPGM_START ? 0 : this->code_->GetAddressLower();

            unsigned int address0 = GET_LOW_BYTE_16(this->start_offset_);

            unsigned int address1 = GET_HIGH_BYTE_16(this->start_offset_);

            this->expected_ack_data_ = SWAP_BYTE_ORDER_16(this->start_offset_);

            payload->SetVariable("Address0", boost::lexical_cast<std::string>(address0));

            payload->SetVariable("Address1", boost::lexical_cast<std::string>(address1));

            payload->SetVariable("Address2", "0"); // Not used?

            payload->SetVariable("Address3", "0"); // Not used?

            this->current_offset_ = 0;

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

            this->program_start_time_ = time(NULL);

        }

    }

    else if (target_state == STATE_APGM_DATA || target_state == STATE_BPGM_DATA)

    {

        unsigned int offset = boost::lexical_cast<unsigned int>(variables["Data"]);

        if ( this->expected_ack_data_ != offset)

        {

            LOG.Warning("Offset received in ACK was incorrect got " + boost::lexical_cast<std::string>(offset) + " expected " + boost::lexical_cast<std::string>(this->expected_ack_data_) + ", aborting...");

            target_state = STATE_NORM_OFFLINE;

        }

        else if (this->current_offset_ >= this->code_->GetLength())

        {

            LOG.Debug("Sending programming end to node " + this->id_);

            unsigned int checksum = this->code_->GetChecksum();

            this->expected_ack_data_ = SWAP_BYTE_ORDER_16(checksum);

            can::Message* payload = new can::Message("nmt", "", "", 0, "Pgm_End");

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

            target_state = target_state == STATE_BPGM_DATA ? STATE_BPGM_END : STATE_APGM_END;

        }

        else

        {

            LOG.Debug("Sending programming data to node " + this->id_);

            can::Message* payload = new can::Message("nmt", "", "", 0, "Pgm_Data_48");

            unsigned int offset0 = GET_LOW_BYTE_16(this->start_offset_ + this->current_offset_);

            unsigned int offset1 = GET_HIGH_BYTE_16(this->start_offset_ + this->current_offset_);

            this->expected_ack_data_ = SWAP_BYTE_ORDER_16(this->start_offset_ + this->current_offset_);

            payload->SetVariable("Offset0", boost::lexical_cast<std::string>(offset0));

            payload->SetVariable("Offset1", boost::lexical_cast<std::string>(offset1));

            for (int n = 0; (this->current_offset_ < this->code_->GetLength()) && (n < 6); n++)

            {

                //LOG.Debug("Data" + boost::lexical_cast<std::string>(n) + "=" +  boost::lexical_cast<std::string>((unsigned int)this->code_->GetByte(this->code_->GetAddressLower() + this->current_offset_)));

                payload->SetVariable("Data" + boost::lexical_cast<std::string>(n), boost::lexical_cast<std::string>((unsigned int)this->code_->GetByte(this->code_->GetAddressLower() + this->current_offset_)));

                this->current_offset_++;

            }

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

        }

    }

    else if (target_state == STATE_BPGM_COPY)

    {

        LOG.Debug("Preparing to send null application to node " + this->id_);

        this->code_->Reset();

        this->code_->AddByte(0xFF);

        this->code_->AddByte(0xFF);

    }

    else if (target_state == STATE_NORM_OFFLINE)

    {

        this->SendReset();

    }

    if (this->state_ != target_state)

    {

        this->signal_on_new_state_(this->id_, this->state_, target_state);

    }

    this->state_ = target_state;

}

bool Node::CheckTimeout()

{

    if (this->state_ == STATE_NORM_OFFLINE)

    {

        return true;

    }

    if (this->code_.use_count() == 0 && this->last_active_ + 10 < time(NULL))

    {

        this->state_ = STATE_NORM_OFFLINE;

        return false;

    }

    return true;

}

void Node::ResetTimeout()

{

    this->last_active_ = time(NULL);

}

void Node::Reset()

{

    common::StringMap variables;

    this->Trigger(EVENT_RESET, variables);

}

void Node::ProgramApplication(Code::Pointer code)

{

    this->code_ = code;

    common::StringMap variables;

    this->Trigger(EVENT_PROGRAM_APP, variables);

}

void Node::ProgramBios(Code::Pointer code)

{

    this->code_ = code;

    common::StringMap variables;

    this->Trigger(EVENT_PROGRAM_BIOS, variables);

}

void Node::SendReset()

{

    LOG.Info("Sending node reset to " + this->id_);

    can::Message* payload = new can::Message("nmt", "", "", 0, "Reset");

    payload->SetVariable("HardwareId", boost::lexical_cast<std::string>(common::FromHex(this->id_)));

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

}

void Node::SendListRequest()

{

    LOG.Debug("Sending module listing on node " + this->id_);

    can::Message* payload = new can::Message("mnmt", "To_Owner", "", 0, "List");

    payload->SetVariable("HardwareId", boost::lexical_cast<std::string>(common::FromHex(this->id_)));

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

}

}; // namespace control

}; // namespace atom