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Update to new DDS 2.2 API

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- require DDS 2.2
 - fix regressions in automatic port binding
 - fix regression in channel API
 - update DDS example readme
This commit is contained in:
Alexey Rybalchenko
2018-11-27 17:22:26 +01:00
committed by Dennis Klein
parent dc1d7a23c1
commit ffbe90b638
6 changed files with 53 additions and 102 deletions
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131
fairmq/plugins/DDS/DDS.cxx
View File

@@ -48,26 +48,20 @@ DDS::DDS(const string& name, const Plugin::Version version, const string& mainta
, fDeviceTerminationRequested(false)
, fHeartbeatInterval{100}
{
try
{
try {
TakeDeviceControl();
fControllerThread = thread(&DDS::HandleControl, this);
fHeartbeatThread = thread(&DDS::HeartbeatSender, this);
}
catch (PluginServices::DeviceControlError& e)
{
} catch (PluginServices::DeviceControlError& e) {
LOG(debug) << e.what();
}
catch (exception& e)
{
} catch (exception& e) {
LOG(error) << "Error in plugin initialization: " << e.what();
}
}
auto DDS::HandleControl() -> void
{
try
{
try {
// subscribe for state changes from DDS (subscriptions start firing after fService.start() is called)
SubscribeForCustomCommands();
@@ -80,23 +74,20 @@ auto DDS::HandleControl() -> void
SubscribeForConnectingChannels();
// subscribe to device state changes, pushing new state chenges into the event queue
SubscribeToDeviceStateChange([&](DeviceState newState)
{
SubscribeToDeviceStateChange([&](DeviceState newState) {
{
lock_guard<mutex> lock{fEventsMutex};
fEvents.push(newState);
}
fNewEvent.notify_one();
if (newState == DeviceState::Exiting)
{
if (newState == DeviceState::Exiting) {
fDeviceTerminationRequested = true;
}
{
lock_guard<mutex> lock{fStateChangeSubscriberMutex};
string id = GetProperty<string>("id");
for (auto subscriberId : fStateChangeSubscribers)
{
for (auto subscriberId : fStateChangeSubscribers) {
LOG(debug) << "Publishing state-change: " << newState << " to " << subscriberId;
fDDSCustomCmd.send("state-change: " + id + "," + ToStr(newState), to_string(subscriberId));
}
@@ -131,14 +122,11 @@ auto DDS::HandleControl() -> void
// wait until stop signal
unique_lock<mutex> lock(fStopMutex);
while (!fDeviceTerminationRequested)
{
while (!fDeviceTerminationRequested) {
fStopCondition.wait_for(lock, chrono::seconds(1));
}
LOG(debug) << "Stopping DDS control plugin";
}
catch (exception& e)
{
} catch (exception& e) {
LOG(error) << "Error: " << e.what() << endl;
return;
}
@@ -146,13 +134,10 @@ auto DDS::HandleControl() -> void
fDDSKeyValue.unsubscribe();
fDDSCustomCmd.unsubscribe();
try
{
try {
UnsubscribeFromDeviceStateChange();
ReleaseDeviceControl();
}
catch (fair::mq::PluginServices::DeviceControlError& e)
{
} catch (fair::mq::PluginServices::DeviceControlError& e) {
LOG(error) << e.what();
}
}
@@ -194,7 +179,7 @@ auto DDS::FillChannelContainers() -> void
for (const auto& vi : iValues) {
size_t pos = vi.find(":");
string chanName = vi.substr(0, pos );
string chanName = vi.substr(0, pos);
// check if provided name is a valid channel name
if (fConnectingChans.find(chanName) == fConnectingChans.end()) {
@@ -229,11 +214,9 @@ auto DDS::FillChannelContainers() -> void
auto DDS::SubscribeForConnectingChannels() -> void
{
fDDSKeyValue.subscribe([&] (const string& propertyId, const string& key, const string& value)
{
try
{
LOG(debug) << "Received update for " << propertyId << ": key=" << key << " value=" << value;
fDDSKeyValue.subscribe([&] (const string& propertyId, const string& value, uint64_t senderTaskID) {
try {
LOG(debug) << "Received update for " << propertyId << ": value=" << value << ", senderTaskID=" << senderTaskID;
string val = value;
// check if it is to handle as one out of multiple values
auto it = fIofN.find(propertyId);
@@ -254,20 +237,18 @@ auto DDS::SubscribeForConnectingChannels() -> void
auto it2 = fI.find(propertyId);
if (it2 != fI.end()) {
LOG(debug) << "adding connecting channel " << propertyId << " : " << connectionStrings.at(it2->second);
fConnectingChans.at(propertyId).fDDSValues.insert(make_pair<string, string>(key.c_str(), connectionStrings.at(it2->second).c_str()));
fConnectingChans.at(propertyId).fDDSValues.insert({senderTaskID, connectionStrings.at(it2->second).c_str()});
} else {
LOG(error) << "multiple bound channels received, but no task index specified, only assigning the first";
fConnectingChans.at(propertyId).fDDSValues.insert(make_pair<string, string>(key.c_str(), connectionStrings.at(0).c_str()));
fConnectingChans.at(propertyId).fDDSValues.insert({senderTaskID, connectionStrings.at(0).c_str()});
}
} else { // only one bound channel received
fConnectingChans.at(propertyId).fDDSValues.insert(make_pair<string, string>(key.c_str(), val.c_str()));
fConnectingChans.at(propertyId).fDDSValues.insert({senderTaskID, val.c_str()});
}
// update channels and remove them from unfinished container
for (auto mi = fConnectingChans.begin(); mi != fConnectingChans.end(); /* no increment */)
{
if (mi->second.fSubChannelAddresses.size() == mi->second.fDDSValues.size())
{
for (auto mi = fConnectingChans.begin(); mi != fConnectingChans.end(); /* no increment */) {
if (mi->second.fSubChannelAddresses.size() == mi->second.fDDSValues.size()) {
// when multiple subChannels are used, their order on every device should be the same, irregardless of arrival order from DDS.
sort(mi->second.fSubChannelAddresses.begin(), mi->second.fSubChannelAddresses.end());
auto it3 = mi->second.fDDSValues.begin();
@@ -277,24 +258,19 @@ auto DDS::SubscribeForConnectingChannels() -> void
++it3;
}
fConnectingChans.erase(mi++);
}
else
{
} else {
++mi;
}
}
}
catch (const exception& e)
{
LOG(error) << "Error on handling DDS property update for " << propertyId << ": key=" << key << " value=" << value << ": " << e.what();
} catch (const exception& e) {
LOG(error) << "Error on handling DDS property update for " << propertyId << ": value=" << value << ", senderTaskID=" << senderTaskID << ": " << e.what();
}
});
}
auto DDS::PublishBoundChannels() -> void
{
for (const auto& chan : fBindingChans)
{
for (const auto& chan : fBindingChans) {
string joined = boost::algorithm::join(chan.second, ",");
LOG(debug) << "Publishing " << chan.first << " bound addresses (" << chan.second.size() << ") to DDS under '" << chan.first << "' property name.";
fDDSKeyValue.putValue(chan.first, joined);
@@ -306,13 +282,11 @@ auto DDS::HeartbeatSender() -> void
string id = GetProperty<string>("id");
string pid(to_string(getpid()));
while (!fDeviceTerminationRequested)
{
while (!fDeviceTerminationRequested) {
{
lock_guard<mutex> lock{fHeartbeatSubscriberMutex};
for (const auto subscriberId : fHeartbeatSubscribers)
{
for (const auto subscriberId : fHeartbeatSubscribers) {
fDDSCustomCmd.send("heartbeat: " + id + "," + pid, to_string(subscriberId));
}
}
@@ -326,58 +300,42 @@ auto DDS::SubscribeForCustomCommands() -> void
string id = GetProperty<string>("id");
string pid(to_string(getpid()));
fDDSCustomCmd.subscribe([id, pid, this](const string& cmd, const string& cond, uint64_t senderId)
{
fDDSCustomCmd.subscribe([id, pid, this](const string& cmd, const string& cond, uint64_t senderId) {
LOG(info) << "Received command: " << cmd;
if (cmd == "check-state")
{
if (cmd == "check-state") {
fDDSCustomCmd.send(id + ": " + ToStr(GetCurrentDeviceState()) + " (pid: " + pid + ")", to_string(senderId));
}
else if (fCommands.find(cmd) != fCommands.end())
{
} else if (fCommands.find(cmd) != fCommands.end()) {
fDDSCustomCmd.send(id + ": attempting to " + cmd, to_string(senderId));
ChangeDeviceState(ToDeviceStateTransition(cmd));
}
else if (cmd == "END")
{
} else if (cmd == "END") {
fDDSCustomCmd.send(id + ": attempting to " + cmd, to_string(senderId));
ChangeDeviceState(ToDeviceStateTransition(cmd));
fDDSCustomCmd.send(id + ": " + ToStr(GetCurrentDeviceState()), to_string(senderId));
if (ToStr(GetCurrentDeviceState()) == "EXITING")
{
if (ToStr(GetCurrentDeviceState()) == "EXITING") {
unique_lock<mutex> lock(fStopMutex);
fStopCondition.notify_one();
}
}
else if (cmd == "dump-config")
{
} else if (cmd == "dump-config") {
stringstream ss;
for (const auto pKey: GetPropertyKeys())
{
for (const auto pKey: GetPropertyKeys()) {
ss << id << ": " << pKey << " -> " << GetPropertyAsString(pKey) << endl;
}
fDDSCustomCmd.send(ss.str(), to_string(senderId));
}
else if (cmd == "subscribe-to-heartbeats")
{
} else if (cmd == "subscribe-to-heartbeats") {
{
// auto size = fHeartbeatSubscribers.size();
lock_guard<mutex> lock{fHeartbeatSubscriberMutex};
fHeartbeatSubscribers.insert(senderId);
}
fDDSCustomCmd.send("heartbeat-subscription: " + id + ",OK", to_string(senderId));
}
else if (cmd == "unsubscribe-from-heartbeats")
{
} else if (cmd == "unsubscribe-from-heartbeats") {
{
lock_guard<mutex> lock{fHeartbeatSubscriberMutex};
fHeartbeatSubscribers.erase(senderId);
}
fDDSCustomCmd.send("heartbeat-unsubscription: " + id + ",OK", to_string(senderId));
}
else if (cmd == "subscribe-to-state-changes")
{
} else if (cmd == "subscribe-to-state-changes") {
{
// auto size = fStateChangeSubscribers.size();
lock_guard<mutex> lock{fStateChangeSubscriberMutex};
@@ -387,17 +345,13 @@ auto DDS::SubscribeForCustomCommands() -> void
auto state = GetCurrentDeviceState();
LOG(debug) << "Publishing state-change: " << state << " to " << senderId;
fDDSCustomCmd.send("state-change: " + id + "," + ToStr(state), to_string(senderId));
}
else if (cmd == "unsubscribe-from-state-changes")
{
} else if (cmd == "unsubscribe-from-state-changes") {
{
lock_guard<mutex> lock{fStateChangeSubscriberMutex};
fStateChangeSubscribers.erase(senderId);
}
fDDSCustomCmd.send("state-changes-unsubscription: " + id + ",OK", to_string(senderId));
}
else
{
} else {
LOG(warn) << "Unknown command: " << cmd;
LOG(warn) << "Origin: " << senderId;
LOG(warn) << "Destination: " << cond;
@@ -408,8 +362,7 @@ auto DDS::SubscribeForCustomCommands() -> void
auto DDS::WaitForNextState() -> DeviceState
{
unique_lock<mutex> lock{fEventsMutex};
while (fEvents.empty())
{
while (fEvents.empty()) {
fNewEvent.wait(lock);
}
@@ -420,13 +373,11 @@ auto DDS::WaitForNextState() -> DeviceState
DDS::~DDS()
{
if (fControllerThread.joinable())
{
if (fControllerThread.joinable()) {
fControllerThread.join();
}
if (fHeartbeatThread.joinable())
{
if (fHeartbeatThread.joinable()) {
fHeartbeatThread.join();
}
}

2
fairmq/plugins/DDS/DDS.h
View File

@@ -41,7 +41,7 @@ struct DDSConfig
// container of sub channel addresses
std::vector<std::string> fSubChannelAddresses;
// dds values for the channel
std::unordered_map<std::string, std::string> fDDSValues;
std::unordered_map<uint64_t, std::string> fDDSValues;
};
struct IofN