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/*
Aseba - an event-based framework for distributed robot control
Copyright (C) 2007--2016:
Stephane Magnenat <stephane at magnenat dot net>
(http://stephane.magnenat.net)
and other contributors, see authors.txt for details
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published
by the Free Software Foundation, version 3 of the License.
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 Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef ASEBA_DESCRIPTIONS_MANAGER_H
#define ASEBA_DESCRIPTIONS_MANAGER_H
#include "msg.h"
#include "../utils/utils.h"
#include <string>
#include <set>
namespace Aseba
{
/** \addtogroup msg */
/*@{*/
//! This helper class builds complete descriptions out of multiple message parts.
//! For now, it does not support the disconnection of a whole network nor the update of the description of any node
class NodesManager
{
protected:
//! Potentially partial Descriptions of nodes along with their reception status
struct Node: public TargetDescription
{
Node() = default;
Node(const TargetDescription& targetDescription);
unsigned namedVariablesReceptionCounter{0}; //!< what is the status of the reception of named variables
unsigned localEventsReceptionCounter{0}; //!< what is the status of the reception of local events
unsigned nativeFunctionReceptionCounter{0}; //!< what is the status of the reception of native functions
bool connected{true}; //!< whether this node is considered connected, on a "physical" level
UnifiedTime lastSeen; //!< when this node was last seen?
bool isComplete() const;
};
//! Map from nodes id to nodes descriptions
typedef std::map<unsigned, Node> NodesMap;
NodesMap nodes; //!< all known nodes descriptions and connection status
std::set<unsigned> mismatchingNodes; //<! seen nodes with mismatching protocol versions
public:
//! Virtual destructor
virtual ~NodesManager() = default;
//! Ping the network to detect new nodes and ensure existing nodes are still here
void pingNetwork();
//! Process a message and request and reconstruct descriptions if relevant
void processMessage(const Message* message);
//! Return the name corresponding to a node identifier; if invalid, return the empty string
std::wstring getNodeName(unsigned nodeId) const;
//! Return the id of the node corresponding to name and set ok to true, if provided; if invalid, return 0xFFFFFFFF and set ok to false. If several nodes have this name, either return preferedId if it exists otherwise return the first found.
unsigned getNodeId(const std::wstring& name, unsigned preferedId = 0, bool *ok = nullptr) const;
//! Return the description of a node and set ok to true, if provided; if invalid, return 0 and set ok to false
const TargetDescription *getDescription(unsigned nodeId, bool *ok = nullptr) const;
//! Return the position of a variable and set ok to true, if provided; if invalid, return 0xFFFFFFFF and set ok to false
unsigned getVariablePos(unsigned nodeId, const std::wstring& name, bool *ok = nullptr) const;
//! Return the length of a variable and set ok to true, if provided; if invalid, return 0xFFFFFFFF and set ok to false
unsigned getVariableSize(unsigned nodeId, const std::wstring& name, bool *ok = nullptr) const;
//! Reset all descriptions, for instance when a network was disconnected and is reconnected
void reset();
protected:
//! Check if a node description has been fully received, and if so, call the nodeDescriptionReceived() virtual function
void checkIfNodeDescriptionComplete(unsigned id, const Node& description);
//! Virtual function that is called when a message must be sent
virtual void sendMessage(const Message& message) = 0;
//! Virtual function that is called when a version mismatches, called once per node
virtual void nodeProtocolVersionMismatch(unsigned nodeId, const std::wstring &nodeName, uint16_t protocolVersion) { }
//! Virtual function that is called when a node is first seen, meaning its description has been fully received
virtual void nodeDescriptionReceived(unsigned nodeId) { }
//! Virtual function that is called when a node is connected, we know its description has been fully received
virtual void nodeConnected(unsigned nodeId) { }
//! Virtual function that is called when a node is explicitly connected or has not been seen for a while
virtual void nodeDisconnected(unsigned nodeId) { }
};
/*@}*/
} // namespace Aseba
#endif
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