mirror of
https://github.com/FairRootGroup/FairMQ.git
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609 lines
20 KiB
C++
609 lines
20 KiB
C++
/********************************************************************************
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* Copyright (C) 2014 GSI Helmholtzzentrum fuer Schwerionenforschung GmbH *
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* *
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* This software is distributed under the terms of the *
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* GNU Lesser General Public Licence (LGPL) version 3, *
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* copied verbatim in the file "LICENSE" *
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********************************************************************************/
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/**
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* FairMQStateMachine.h
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*
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* @since 2012-10-25
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* @author D. Klein, A. Rybalchenko
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*/
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#ifndef FAIRMQSTATEMACHINE_H_
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#define FAIRMQSTATEMACHINE_H_
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#define FAIRMQ_INTERFACE_VERSION 3
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#include <string>
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#include <atomic>
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#include <mutex>
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#include <condition_variable>
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#include <thread>
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#include <chrono>
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#include <functional>
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#include <unordered_map>
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// Increase maximum number of boost::msm states (default is 10)
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// This #define has to be before any msm header includes
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#define FUSION_MAX_VECTOR_SIZE 20
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#include <boost/mpl/for_each.hpp>
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#include <boost/msm/back/state_machine.hpp>
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#include <boost/msm/back/tools.hpp>
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#include <boost/msm/back/metafunctions.hpp>
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#include <boost/msm/front/state_machine_def.hpp>
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#include <boost/msm/front/functor_row.hpp>
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#include <boost/signals2.hpp> // signal/slot for onStateChange callbacks
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#include "FairMQLogger.h"
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namespace msmf = boost::msm::front;
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namespace fair
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{
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namespace mq
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{
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namespace fsm
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{
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// defining events for the boost MSM state machine
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struct INIT_DEVICE { std::string name() const { return "INIT_DEVICE"; } };
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struct internal_DEVICE_READY { std::string name() const { return "internal_DEVICE_READY"; } };
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struct INIT_TASK { std::string name() const { return "INIT_TASK"; } };
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struct internal_READY { std::string name() const { return "internal_READY"; } };
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struct RUN { std::string name() const { return "RUN"; } };
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struct PAUSE { std::string name() const { return "PAUSE"; } };
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struct STOP { std::string name() const { return "STOP"; } };
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struct RESET_TASK { std::string name() const { return "RESET_TASK"; } };
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struct RESET_DEVICE { std::string name() const { return "RESET_DEVICE"; } };
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struct internal_IDLE { std::string name() const { return "internal_IDLE"; } };
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struct END { std::string name() const { return "END"; } };
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struct ERROR_FOUND { std::string name() const { return "ERROR_FOUND"; } };
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// deactivate the warning for non-virtual destructor thrown in the boost library
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#if defined(__clang__)
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_Pragma("clang diagnostic push")
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_Pragma("clang diagnostic ignored \"-Wnon-virtual-dtor\"")
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#elif defined(__GNUC__) || defined(__GNUG__)
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_Pragma("GCC diagnostic push")
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_Pragma("GCC diagnostic ignored \"-Wnon-virtual-dtor\"")
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#endif
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// defining the boost MSM state machine
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struct FairMQFSM : public msmf::state_machine_def<FairMQFSM>
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{
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public:
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FairMQFSM()
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: fState()
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, fChangeStateMutex()
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, fWork()
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, fWorkAvailableCondition()
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, fWorkDoneCondition()
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, fWorkMutex()
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, fWorkerTerminated(false)
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, fWorkActive(false)
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, fWorkAvailable(false)
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, fStateChangeSignal()
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, fStateChangeSignalsMap()
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, fTerminationRequested(false)
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, fWorkerThread()
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{}
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virtual ~FairMQFSM()
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{}
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template<typename Event, typename FSM>
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void on_entry(Event const&, FSM& fsm)
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{
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LOG(STATE) << "Starting FairMQ state machine";
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fState = IDLE;
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fsm.CallStateChangeCallbacks(IDLE);
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// start a worker thread to execute user states in.
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fsm.fWorkerThread = std::thread(&FairMQFSM::Worker, &fsm);
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}
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template<typename Event, typename FSM>
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void on_exit(Event const&, FSM& /*fsm*/)
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{
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LOG(STATE) << "Exiting FairMQ state machine";
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}
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// list of FSM states
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struct OK_FSM : public msmf::state<> {};
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struct ERROR_FSM : public msmf::terminate_state<> {};
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struct IDLE_FSM : public msmf::state<> {};
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struct INITIALIZING_DEVICE_FSM : public msmf::state<> {};
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struct DEVICE_READY_FSM : public msmf::state<> {};
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struct INITIALIZING_TASK_FSM : public msmf::state<> {};
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struct READY_FSM : public msmf::state<> {};
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struct RUNNING_FSM : public msmf::state<> {};
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struct PAUSED_FSM : public msmf::state<> {};
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struct RESETTING_TASK_FSM : public msmf::state<> {};
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struct RESETTING_DEVICE_FSM : public msmf::state<> {};
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struct EXITING_FSM : public msmf::state<> {};
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// initial states
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using initial_state = boost::mpl::vector<IDLE_FSM, OK_FSM>;
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// actions
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struct IdleFct
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{
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template<typename EVT, typename FSM, typename SourceState, typename TargetState>
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void operator()(EVT const&, FSM& fsm, SourceState&, TargetState&)
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{
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LOG(STATE) << "Entering IDLE state";
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fsm.fState = IDLE;
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}
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};
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struct InitDeviceFct
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{
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template<typename EVT, typename FSM, typename SourceState, typename TargetState>
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void operator()(EVT const&, FSM& fsm, SourceState&, TargetState&)
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{
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fsm.fState = INITIALIZING_DEVICE;
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std::unique_lock<std::mutex> lock(fsm.fWorkMutex);
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while (fsm.fWorkActive)
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{
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fsm.fWorkDoneCondition.wait(lock);
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}
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fsm.fWorkAvailable = true;
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LOG(STATE) << "Entering INITIALIZING DEVICE state";
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fsm.fWork = std::bind(&FairMQFSM::InitWrapper, &fsm);
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fsm.fWorkAvailableCondition.notify_one();
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}
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};
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struct DeviceReadyFct
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{
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template<typename EVT, typename FSM, typename SourceState, typename TargetState>
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void operator()(EVT const&, FSM& fsm, SourceState&, TargetState&)
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{
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LOG(STATE) << "Entering DEVICE READY state";
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fsm.fState = DEVICE_READY;
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}
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};
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struct InitTaskFct
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{
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template<typename EVT, typename FSM, typename SourceState, typename TargetState>
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void operator()(EVT const&, FSM& fsm, SourceState&, TargetState&)
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{
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fsm.fState = INITIALIZING_TASK;
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std::unique_lock<std::mutex> lock(fsm.fWorkMutex);
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while (fsm.fWorkActive)
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{
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fsm.fWorkDoneCondition.wait(lock);
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}
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fsm.fWorkAvailable = true;
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LOG(STATE) << "Entering INITIALIZING TASK state";
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fsm.fWork = std::bind(&FairMQFSM::InitTaskWrapper, &fsm);
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fsm.fWorkAvailableCondition.notify_one();
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}
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};
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struct ReadyFct
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{
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template<typename EVT, typename FSM, typename SourceState, typename TargetState>
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void operator()(EVT const&, FSM& fsm, SourceState&, TargetState&)
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{
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LOG(STATE) << "Entering READY state";
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fsm.fState = READY;
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}
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};
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struct RunFct
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{
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template<typename EVT, typename FSM, typename SourceState, typename TargetState>
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void operator()(EVT const&, FSM& fsm, SourceState&, TargetState&)
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{
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fsm.fState = RUNNING;
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std::unique_lock<std::mutex> lock(fsm.fWorkMutex);
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while (fsm.fWorkActive)
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{
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fsm.fWorkDoneCondition.wait(lock);
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}
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fsm.fWorkAvailable = true;
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LOG(STATE) << "Entering RUNNING state";
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fsm.fWork = std::bind(&FairMQFSM::RunWrapper, &fsm);
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fsm.fWorkAvailableCondition.notify_one();
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}
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};
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struct PauseFct
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{
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template<typename EVT, typename FSM, typename SourceState, typename TargetState>
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void operator()(EVT const&, FSM& fsm, SourceState&, TargetState&)
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{
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fsm.fState = PAUSED;
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fsm.Unblock();
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std::unique_lock<std::mutex> lock(fsm.fWorkMutex);
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while (fsm.fWorkActive)
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{
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fsm.fWorkDoneCondition.wait(lock);
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}
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fsm.fWorkAvailable = true;
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LOG(STATE) << "Entering PAUSED state";
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fsm.fWork = std::bind(&FairMQFSM::PauseWrapper, &fsm);
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fsm.fWorkAvailableCondition.notify_one();
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}
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};
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struct ResumeFct
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{
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template<typename EVT, typename FSM, typename SourceState, typename TargetState>
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void operator()(EVT const&, FSM& fsm, SourceState&, TargetState&)
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{
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fsm.fState = RUNNING;
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std::unique_lock<std::mutex> lock(fsm.fWorkMutex);
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while (fsm.fWorkActive)
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{
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fsm.fWorkDoneCondition.wait(lock);
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}
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fsm.fWorkAvailable = true;
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LOG(STATE) << "Entering RUNNING state";
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fsm.fWork = std::bind(&FairMQFSM::RunWrapper, &fsm);
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fsm.fWorkAvailableCondition.notify_one();
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}
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};
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struct StopFct
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{
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template<typename EVT, typename FSM, typename SourceState, typename TargetState>
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void operator()(EVT const&, FSM& fsm, SourceState&, TargetState&)
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{
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fsm.fState = READY;
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fsm.Unblock();
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std::unique_lock<std::mutex> lock(fsm.fWorkMutex);
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while (fsm.fWorkActive)
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{
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fsm.fWorkDoneCondition.wait(lock);
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}
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LOG(STATE) << "Entering READY state";
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}
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};
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struct InternalStopFct
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{
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template<typename EVT, typename FSM, typename SourceState, typename TargetState>
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void operator()(EVT const&, FSM& fsm, SourceState&, TargetState&)
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{
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fsm.fState = READY;
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fsm.Unblock();
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LOG(STATE) << "RUNNING state finished without an external event, entering READY state";
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}
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};
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struct ResetTaskFct
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{
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template<typename EVT, typename FSM, typename SourceState, typename TargetState>
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void operator()(EVT const&, FSM& fsm, SourceState&, TargetState&)
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{
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fsm.fState = RESETTING_TASK;
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std::unique_lock<std::mutex> lock(fsm.fWorkMutex);
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while (fsm.fWorkActive)
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{
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fsm.fWorkDoneCondition.wait(lock);
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}
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fsm.fWorkAvailable = true;
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LOG(STATE) << "Entering RESETTING TASK state";
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fsm.fWork = std::bind(&FairMQFSM::ResetTaskWrapper, &fsm);
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fsm.fWorkAvailableCondition.notify_one();
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}
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};
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struct ResetDeviceFct
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{
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template<typename EVT, typename FSM, typename SourceState, typename TargetState>
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void operator()(EVT const&, FSM& fsm, SourceState&, TargetState&)
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{
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fsm.fState = RESETTING_DEVICE;
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std::unique_lock<std::mutex> lock(fsm.fWorkMutex);
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while (fsm.fWorkActive)
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{
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fsm.fWorkDoneCondition.wait(lock);
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}
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fsm.fWorkAvailable = true;
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LOG(STATE) << "Entering RESETTING DEVICE state";
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fsm.fWork = std::bind(&FairMQFSM::ResetWrapper, &fsm);
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fsm.fWorkAvailableCondition.notify_one();
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}
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};
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struct ExitingFct
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{
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template<typename EVT, typename FSM, typename SourceState, typename TargetState>
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void operator()(EVT const&, FSM& fsm, SourceState&, TargetState&)
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{
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LOG(STATE) << "Entering EXITING state";
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fsm.fState = EXITING;
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fsm.fTerminationRequested = true;
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fsm.CallStateChangeCallbacks(EXITING);
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// terminate worker thread
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{
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std::lock_guard<std::mutex> lock(fsm.fWorkMutex);
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fsm.fWorkerTerminated = true;
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fsm.fWorkAvailableCondition.notify_one();
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}
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// join the worker thread (executing user states)
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if (fsm.fWorkerThread.joinable())
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{
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fsm.fWorkerThread.join();
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}
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fsm.Exit();
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}
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};
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struct ErrorFoundFct
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{
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template<typename EVT, typename FSM, typename SourceState, typename TargetState>
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void operator()(EVT const&, FSM& fsm, SourceState&, TargetState&)
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{
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LOG(STATE) << "Entering ERROR state";
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fsm.fState = Error;
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fsm.CallStateChangeCallbacks(Error);
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}
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};
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// Transition table for FairMQFSM
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struct transition_table : boost::mpl::vector<
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// Start Event Next Action Guard
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msmf::Row<IDLE_FSM, INIT_DEVICE, INITIALIZING_DEVICE_FSM, InitDeviceFct, msmf::none>,
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msmf::Row<IDLE_FSM, END, EXITING_FSM, ExitingFct, msmf::none>,
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msmf::Row<INITIALIZING_DEVICE_FSM, internal_DEVICE_READY, DEVICE_READY_FSM, DeviceReadyFct, msmf::none>,
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msmf::Row<DEVICE_READY_FSM, INIT_TASK, INITIALIZING_TASK_FSM, InitTaskFct, msmf::none>,
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msmf::Row<DEVICE_READY_FSM, RESET_DEVICE, RESETTING_DEVICE_FSM, ResetDeviceFct, msmf::none>,
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msmf::Row<INITIALIZING_TASK_FSM, internal_READY, READY_FSM, ReadyFct, msmf::none>,
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msmf::Row<READY_FSM, RUN, RUNNING_FSM, RunFct, msmf::none>,
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msmf::Row<READY_FSM, RESET_TASK, RESETTING_TASK_FSM, ResetTaskFct, msmf::none>,
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msmf::Row<RUNNING_FSM, PAUSE, PAUSED_FSM, PauseFct, msmf::none>,
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msmf::Row<RUNNING_FSM, STOP, READY_FSM, StopFct, msmf::none>,
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msmf::Row<RUNNING_FSM, internal_READY, READY_FSM, InternalStopFct, msmf::none>,
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msmf::Row<PAUSED_FSM, RUN, RUNNING_FSM, ResumeFct, msmf::none>,
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msmf::Row<RESETTING_TASK_FSM, internal_DEVICE_READY, DEVICE_READY_FSM, DeviceReadyFct, msmf::none>,
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msmf::Row<RESETTING_DEVICE_FSM, internal_IDLE, IDLE_FSM, IdleFct, msmf::none>,
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msmf::Row<OK_FSM, ERROR_FOUND, ERROR_FSM, ErrorFoundFct, msmf::none>>
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{};
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// replaces the default no-transition response.
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template<typename FSM, typename Event>
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void no_transition(Event const& e, FSM&, int state)
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{
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using recursive_stt = typename boost::msm::back::recursive_get_transition_table<FSM>::type;
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using all_states = typename boost::msm::back::generate_state_set<recursive_stt>::type;
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std::string stateName;
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boost::mpl::for_each<all_states, boost::msm::wrap<boost::mpl::placeholders::_1>>(boost::msm::back::get_state_name<recursive_stt>(stateName, state));
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stateName = stateName.substr(24);
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std::size_t pos = stateName.find("_FSME");
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stateName.erase(pos);
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if (stateName == "1RUNNING" || stateName == "6DEVICE_READY" || stateName == "0PAUSED" || stateName == "8RESETTING_TASK" || stateName == "0RESETTING_DEVICE")
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{
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stateName = stateName.substr(1);
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}
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if (stateName != "OK")
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{
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LOG(STATE) << "No transition from state " << stateName << " on event " << e.name();
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}
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// LOG(STATE) << "no transition from state " << GetStateName(state) << " (" << state << ") on event " << e.name();
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}
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// backward compatibility to FairMQStateMachine
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enum State
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{
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OK,
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Error,
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IDLE,
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INITIALIZING_DEVICE,
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DEVICE_READY,
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INITIALIZING_TASK,
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READY,
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RUNNING,
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PAUSED,
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RESETTING_TASK,
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RESETTING_DEVICE,
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EXITING
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};
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static std::string GetStateName(const int state)
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{
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switch(state)
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{
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case OK:
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return "OK";
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case Error:
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return "Error";
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case IDLE:
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return "IDLE";
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case INITIALIZING_DEVICE:
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return "INITIALIZING_DEVICE";
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case DEVICE_READY:
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return "DEVICE_READY";
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case INITIALIZING_TASK:
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return "INITIALIZING_TASK";
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case READY:
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return "READY";
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case RUNNING:
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return "RUNNING";
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case PAUSED:
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return "PAUSED";
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case RESETTING_TASK:
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return "RESETTING_TASK";
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case RESETTING_DEVICE:
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return "RESETTING_DEVICE";
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case EXITING:
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return "EXITING";
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default:
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return "requested name for non-existent state...";
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}
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}
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std::string GetCurrentStateName() const
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{
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return GetStateName(fState);
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}
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int GetCurrentState() const
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{
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return fState;
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}
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bool CheckCurrentState(int state) const
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{
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return state == fState;
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}
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bool CheckCurrentState(std::string state) const
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{
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return state == GetCurrentStateName();
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}
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// actions to be overwritten by derived classes
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virtual void InitWrapper() {}
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virtual void InitTaskWrapper() {}
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virtual void RunWrapper() {}
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virtual void PauseWrapper() {}
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virtual void ResetWrapper() {}
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virtual void ResetTaskWrapper() {}
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virtual void Exit() {}
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virtual void Unblock() {}
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bool Terminated()
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{
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return fTerminationRequested;
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|
}
|
|
|
|
protected:
|
|
std::atomic<State> fState;
|
|
std::mutex fChangeStateMutex;
|
|
|
|
// function to execute user states in a worker thread
|
|
std::function<void(void)> fWork;
|
|
std::condition_variable fWorkAvailableCondition;
|
|
std::condition_variable fWorkDoneCondition;
|
|
std::mutex fWorkMutex;
|
|
bool fWorkerTerminated;
|
|
bool fWorkActive;
|
|
bool fWorkAvailable;
|
|
|
|
boost::signals2::signal<void(const State)> fStateChangeSignal;
|
|
std::unordered_map<std::string, boost::signals2::connection> fStateChangeSignalsMap;
|
|
std::atomic<bool> fTerminationRequested;
|
|
|
|
void CallStateChangeCallbacks(const State state) const
|
|
{
|
|
if (!fStateChangeSignal.empty())
|
|
{
|
|
fStateChangeSignal(state);
|
|
}
|
|
}
|
|
|
|
private:
|
|
void Worker()
|
|
{
|
|
while (true)
|
|
{
|
|
{
|
|
std::unique_lock<std::mutex> lock(fWorkMutex);
|
|
// Wait for work to be done.
|
|
while (!fWorkAvailable && !fWorkerTerminated)
|
|
{
|
|
fWorkAvailableCondition.wait(lock);
|
|
}
|
|
|
|
if (fWorkerTerminated)
|
|
{
|
|
break;
|
|
}
|
|
|
|
fWorkActive = true;
|
|
}
|
|
|
|
fWork();
|
|
|
|
{
|
|
std::lock_guard<std::mutex> lock(fWorkMutex);
|
|
fWorkActive = false;
|
|
fWorkAvailable = false;
|
|
fWorkDoneCondition.notify_one();
|
|
}
|
|
CallStateChangeCallbacks(fState);
|
|
}
|
|
}
|
|
|
|
// run state handlers in a separate thread
|
|
std::thread fWorkerThread;
|
|
};
|
|
|
|
// reactivate the warning for non-virtual destructor
|
|
#if defined(__clang__)
|
|
_Pragma("clang diagnostic pop")
|
|
#elif defined(__GNUC__) || defined(__GNUG__)
|
|
_Pragma("GCC diagnostic pop")
|
|
#endif
|
|
|
|
} // namespace fsm
|
|
} // namespace mq
|
|
} // namespace fair
|
|
|
|
class FairMQStateMachine : public boost::msm::back::state_machine<fair::mq::fsm::FairMQFSM>
|
|
{
|
|
public:
|
|
enum Event
|
|
{
|
|
INIT_DEVICE,
|
|
internal_DEVICE_READY,
|
|
INIT_TASK,
|
|
internal_READY,
|
|
RUN,
|
|
PAUSE,
|
|
STOP,
|
|
RESET_TASK,
|
|
RESET_DEVICE,
|
|
internal_IDLE,
|
|
END,
|
|
ERROR_FOUND
|
|
};
|
|
|
|
FairMQStateMachine();
|
|
virtual ~FairMQStateMachine();
|
|
|
|
int GetInterfaceVersion() const;
|
|
|
|
bool ChangeState(int event);
|
|
bool ChangeState(const std::string& event);
|
|
|
|
void WaitForEndOfState(int event);
|
|
void WaitForEndOfState(const std::string& event);
|
|
|
|
bool WaitForEndOfStateForMs(int event, int durationInMs);
|
|
bool WaitForEndOfStateForMs(const std::string& event, int durationInMs);
|
|
|
|
void SubscribeToStateChange(const std::string& key, std::function<void(const State)> callback);
|
|
void UnsubscribeFromStateChange(const std::string& key);
|
|
|
|
private:
|
|
int GetEventNumber(const std::string& event);
|
|
};
|
|
|
|
#endif /* FAIRMQSTATEMACHINE_H_ */
|