Move config & control DDS functionality into plugins.

2025-10-16 01:51:45 +00:00 · 2016-10-19 16:20:40 +02:00
parent 16fd63cd5b
commit da3010b20c
22 changed files with 868 additions and 567 deletions
--- a/fairmq/plugins/control/FairMQDDSControlPlugin.cxx
+++ b/fairmq/plugins/control/FairMQDDSControlPlugin.cxx
@@ -0,0 +1,163 @@
+/********************************************************************************
+ *    Copyright (C) 2014 GSI Helmholtzzentrum fuer Schwerionenforschung GmbH    *
+ *                                                                              *
+ *              This software is distributed under the terms of the             *
+ *         GNU Lesser General Public Licence version 3 (LGPL) version 3,        *
+ *                  copied verbatim in the file "LICENSE"                       *
+ ********************************************************************************/
+
+#include "dds_intercom.h"
+
+#include "FairMQControlPlugin.h"
+
+#include "FairMQLogger.h"
+#include "FairMQDevice.h"
+
+#include <string>
+#include <exception>
+#include <condition_variable>
+#include <mutex>
+#include <chrono>
+
+using namespace std;
+using namespace dds::intercom_api;
+
+class FairMQControlPluginDDS
+{
+  public:
+    static FairMQControlPluginDDS* GetInstance()
+    {
+        if (fInstance == NULL)
+        {
+            fInstance  = new FairMQControlPluginDDS();
+        }
+        return fInstance;
+    }
+
+   static void ResetInstance()
+   {
+        try
+        {
+            delete fInstance;
+            fInstance = NULL;
+        }
+        catch (exception& e)
+        {
+            LOG(ERROR) << "Error: " << e.what() << endl;
+            return;
+        }
+   }
+
+    void Init(FairMQDevice& device)
+    {
+        string id = device.GetProperty(FairMQDevice::Id, "");
+        string pid(to_string(getpid()));
+
+        try
+        {
+            fDDSCustomCmd.subscribe([id, pid, &device, this](const string& cmd, const string& cond, uint64_t senderId)
+            {
+                LOG(INFO) << "Received command: " << cmd;
+
+                if (cmd == "check-state")
+                {
+                    fDDSCustomCmd.send(id + ": " + device.GetCurrentStateName() + " (pid: " + pid + ")", to_string(senderId));
+                }
+                else if (fEvents.find(cmd) != fEvents.end())
+                {
+                    fDDSCustomCmd.send(id + ": attempting to " + cmd, to_string(senderId));
+                    device.ChangeState(cmd);
+                }
+                else if (cmd == "END")
+                {
+                    fDDSCustomCmd.send(id + ": attempting to " + cmd, to_string(senderId));
+                    device.ChangeState(cmd);
+                    fDDSCustomCmd.send(id + ": " + device.GetCurrentStateName(), to_string(senderId));
+                    if (device.GetCurrentStateName() == "EXITING")
+                    {
+                        unique_lock<mutex> lock(fMtx);
+                        fStopCondition.notify_one();
+                    }
+                }
+                else
+                {
+                    LOG(WARN) << "Unknown command: " << cmd;
+                    LOG(WARN) << "Origin: " << senderId;
+                    LOG(WARN) << "Destination: " << cond;
+                }
+            });
+        }
+        catch (exception& e)
+        {
+            LOG(ERROR) << "Error: " << e.what() << endl;
+            return;
+        }
+    }
+
+    void Run(FairMQDevice& device)
+    {
+        try
+        {
+            fService.start();
+
+            LOG(INFO) << "Listening for commands from DDS...";
+            unique_lock<mutex> lock(fMtx);
+            while (!device.Terminated())
+            {
+                fStopCondition.wait_for(lock, chrono::seconds(1));
+            }
+            LOG(DEBUG) << "Stopping DDS control plugin";
+        }
+        catch (exception& e)
+        {
+            LOG(ERROR) << "Error: " << e.what() << endl;
+            return;
+        }
+    }
+
+  private:
+    FairMQControlPluginDDS()
+        : fService()
+        , fDDSCustomCmd(fService)
+        , fMtx()
+        , fStopCondition()
+        , fEvents({ "INIT_DEVICE", "INIT_TASK", "PAUSE", "RUN", "STOP", "RESET_TASK", "RESET_DEVICE" })
+    {
+        fService.subscribeOnError([](const EErrorCode errorCode, const string& errorMsg) {
+            LOG(ERROR) << "Error received: error code: " << errorCode << ", error message: " << errorMsg << endl;
+        });
+    }
+
+    static FairMQControlPluginDDS* fInstance;
+
+    CIntercomService fService;
+    CCustomCmd fDDSCustomCmd;
+
+    mutex fMtx;
+    condition_variable fStopCondition;
+
+    const set<string> fEvents;
+};
+
+FairMQControlPluginDDS* FairMQControlPluginDDS::fInstance = NULL;
+
+void initControl(FairMQDevice& device)
+{
+    FairMQControlPluginDDS::GetInstance()->Init(device);
+}
+
+/// Controls device state via DDS custom commands interface
+/// \param device  Reference to FairMQDevice whose state to control
+void handleStateChanges(FairMQDevice& device)
+{
+    FairMQControlPluginDDS::GetInstance()->Run(device);
+}
+
+void stopControl()
+{
+    LOG(DEBUG) << "[FairMQControlPluginDDS]: " << "Resetting instance.";
+    FairMQControlPluginDDS::ResetInstance();
+    LOG(DEBUG) << "[FairMQControlPluginDDS]: " << "Instance has been reset.";
+}
+
+FairMQControlPlugin fairmqControlPlugin = { initControl, handleStateChanges, stopControl };