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SDK: minor refactoring of the command handling

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This commit is contained in:
Alexey Rybalchenko 2020-03-31 14:42:22 +02:00 committed by Dennis Klein
parent 0a5820c07f
commit c5efd3e4a6
1 changed files with 59 additions and 47 deletions
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106
fairmq/sdk/Topology.h
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@ -197,6 +197,19 @@ class BasicTopology : public AsioBase<Executor, Allocator>
BasicTopology(BasicTopology&&) = default; BasicTopology(BasicTopology&&) = default;
BasicTopology& operator=(BasicTopology&&) = default; BasicTopology& operator=(BasicTopology&&) = default;
~BasicTopology()
{
UnsubscribeFromStateChanges();
std::lock_guard<std::mutex> lk(fMtx);
fDDSSession.UnsubscribeFromCommands();
try {
for (auto& op : fChangeStateOps) {
op.second.Complete(MakeErrorCode(ErrorCode::OperationCanceled));
}
} catch (...) {}
}
void SubscribeToStateChanges() void SubscribeToStateChanges()
{ {
using namespace fair::mq::sdk::cmd; using namespace fair::mq::sdk::cmd;
@ -215,54 +228,31 @@ class BasicTopology : public AsioBase<Executor, Allocator>
void SubscribeToCommands() void SubscribeToCommands()
{ {
using namespace fair::mq::sdk::cmd;
fDDSSession.SubscribeToCommands([&](const std::string& msg, const std::string& /* condition */, DDSChannel::Id senderId) { fDDSSession.SubscribeToCommands([&](const std::string& msg, const std::string& /* condition */, DDSChannel::Id senderId) {
Cmds inCmds; cmd::Cmds inCmds;
inCmds.Deserialize(msg); inCmds.Deserialize(msg);
// FAIR_LOG(debug) << "Received " << inCmds.Size() << " command(s) with total size of " << msg.length() << " bytes: "; // FAIR_LOG(debug) << "Received " << inCmds.Size() << " command(s) with total size of " << msg.length() << " bytes: ";
for (const auto& cmd : inCmds) { for (const auto& cmd : inCmds) {
// FAIR_LOG(debug) << " > " << cmd->GetType(); // FAIR_LOG(debug) << " > " << cmd->GetType();
switch (cmd->GetType()) { switch (cmd->GetType()) {
case Type::state_change: { case cmd::Type::state_change_subscription:
auto _cmd = static_cast<StateChange&>(*cmd); HandleCmd(static_cast<cmd::StateChangeSubscription&>(*cmd));
if (_cmd.GetCurrentState() == DeviceState::Exiting) {
fDDSSession.SendCommand(Cmds(make<StateChangeExitingReceived>()).Serialize(), senderId);
}
HandleCmd(_cmd);
} break;
case Type::state_change_subscription:
if (static_cast<StateChangeSubscription&>(*cmd).GetResult() != Result::Ok) {
FAIR_LOG(error) << "State change subscription failed for " << static_cast<StateChangeSubscription&>(*cmd).GetDeviceId();
}
break; break;
case Type::state_change_unsubscription: case cmd::Type::state_change_unsubscription:
if (static_cast<StateChangeUnsubscription&>(*cmd).GetResult() != Result::Ok) { HandleCmd(static_cast<cmd::StateChangeUnsubscription&>(*cmd));
FAIR_LOG(error) << "State change unsubscription failed for " << static_cast<StateChangeUnsubscription&>(*cmd).GetDeviceId();
}
break; break;
case Type::transition_status: { case cmd::Type::state_change:
auto _cmd = static_cast<TransitionStatus&>(*cmd); HandleCmd(static_cast<cmd::StateChange&>(*cmd), senderId);
if (_cmd.GetResult() != Result::Ok) {
FAIR_LOG(error) << _cmd.GetTransition() << " transition failed for " << _cmd.GetDeviceId();
DDSTask::Id id(_cmd.GetTaskId());
std::lock_guard<std::mutex> lk(fMtx);
for (auto& op : fChangeStateOps) {
if (!op.second.IsCompleted() && op.second.ContainsTask(id) &&
fStateData.at(fStateIndex.at(id)).state != op.second.GetTargetState()) {
op.second.Complete(MakeErrorCode(ErrorCode::DeviceChangeStateFailed));
}
}
}
}
break; break;
case Type::properties: { case cmd::Type::transition_status:
HandleCmd(static_cast<cmd::TransitionStatus&>(*cmd));
break;
case cmd::Type::properties:
HandleCmd(static_cast<cmd::Properties&>(*cmd)); HandleCmd(static_cast<cmd::Properties&>(*cmd));
}
break; break;
case Type::properties_set: { case cmd::Type::properties_set:
HandleCmd(static_cast<cmd::PropertiesSet&>(*cmd)); HandleCmd(static_cast<cmd::PropertiesSet&>(*cmd));
}
break; break;
default: default:
FAIR_LOG(warn) << "Unexpected/unknown command received: " << cmd->GetType(); FAIR_LOG(warn) << "Unexpected/unknown command received: " << cmd->GetType();
@ -273,21 +263,28 @@ class BasicTopology : public AsioBase<Executor, Allocator>
}); });
} }
~BasicTopology() auto HandleCmd(cmd::StateChangeSubscription const& cmd) -> void
{ {
UnsubscribeFromStateChanges(); if (cmd.GetResult() != cmd::Result::Ok) {
FAIR_LOG(error) << "State change subscription failed for " << cmd.GetDeviceId();
std::lock_guard<std::mutex> lk(fMtx); }
fDDSSession.UnsubscribeFromCommands();
try {
for (auto& op : fChangeStateOps) {
op.second.Complete(MakeErrorCode(ErrorCode::OperationCanceled));
}
} catch (...) {}
} }
auto HandleCmd(cmd::StateChange const& cmd) -> void auto HandleCmd(cmd::StateChangeUnsubscription const& cmd) -> void
{ {
if (cmd.GetResult() != cmd::Result::Ok) {
FAIR_LOG(error) << "State change unsubscription failed for " << cmd.GetDeviceId();
}
}
auto HandleCmd(cmd::StateChange const& cmd, DDSChannel::Id const& senderId) -> void
{
using namespace fair::mq::sdk::cmd;
if (cmd.GetCurrentState() == DeviceState::Exiting) {
fDDSSession.SendCommand(Cmds(make<StateChangeExitingReceived>()).Serialize(), senderId);
}
DDSTask::Id taskId(cmd.GetTaskId()); DDSTask::Id taskId(cmd.GetTaskId());
std::lock_guard<std::mutex> lk(fMtx); std::lock_guard<std::mutex> lk(fMtx);
@ -309,6 +306,21 @@ class BasicTopology : public AsioBase<Executor, Allocator>
} }
} }
auto HandleCmd(cmd::TransitionStatus const& cmd) -> void
{
if (cmd.GetResult() != cmd::Result::Ok) {
FAIR_LOG(error) << cmd.GetTransition() << " transition failed for " << cmd.GetDeviceId();
DDSTask::Id id(cmd.GetTaskId());
std::lock_guard<std::mutex> lk(fMtx);
for (auto& op : fChangeStateOps) {
if (!op.second.IsCompleted() && op.second.ContainsTask(id) &&
fStateData.at(fStateIndex.at(id)).state != op.second.GetTargetState()) {
op.second.Complete(MakeErrorCode(ErrorCode::DeviceChangeStateFailed));
}
}
}
}
auto HandleCmd(cmd::Properties const& cmd) -> void auto HandleCmd(cmd::Properties const& cmd) -> void
{ {
std::unique_lock<std::mutex> lk(fMtx); std::unique_lock<std::mutex> lk(fMtx);
@ -629,7 +641,7 @@ class BasicTopology : public AsioBase<Executor, Allocator>
} }
/// @brief Returns the current state of the topology /// @brief Returns the current state of the topology
/// @return map of id : DeviceStatus (initialized, state) /// @return map of id : DeviceStatus
auto GetCurrentState() const -> TopologyState auto GetCurrentState() const -> TopologyState
{ {
std::lock_guard<std::mutex> lk(fMtx); std::lock_guard<std::mutex> lk(fMtx);