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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/>.
*/
#include <cstring>
#include <dashel/dashel.h>
#include "../../common/productids.h"
#include "../../common/consts.h"
#include "../../common/msg/msg.h"
#include "../../common/msg/NodesManager.h"
#include "../../common/utils/utils.h"
#include "../../common/zeroconf/zeroconf-dashelhub.h"
namespace Aseba
{
using namespace Dashel;
using namespace std;
//! StreamNodesManager encapsulates a Dashel::Stream with its own NodesManager, to avoid node id conflicts.
class StreamNodesManager : NodesManager
{
private:
Stream* stream; //!< encapsulated stream
map<unsigned, pair<unsigned,unsigned>> pidMap; //!< remember each node's _productId pos and value
public:
StreamNodesManager(Stream* stream) :
stream(stream)
{}
void advertiseNodes(Aseba::Zeroconf & zeroconf)
{
vector<unsigned int> ids;
vector<unsigned int> pids;
vector<string> names;
unsigned protocolVersion{99};
for (auto const & node: nodes)
{
bool ok;
auto description = getDescription(node.first, &ok);
if (ok)
{
ids.push_back(node.first);
names.push_back(WStringToUTF8(description->name));
protocolVersion = min(protocolVersion, description->protocolVersion);
if (pidMap.find(node.first) != pidMap.end())
pids.push_back(pidMap.at(node.first).second);
}
}
Aseba::Zeroconf::TxtRecord txt{protocolVersion, join(names," "), false, ids, pids};
try
{
zeroconf.advertise("Aseba Local " + stream->getTargetParameter("port"), stream, txt);
}
catch (const runtime_error& e)
{
cerr << "Can't advertise stream " << stream->getTargetName() << " (" << join(names," ") << "): " << e.what() << endl;
}
}
void requestProductIds()
{
for (auto const & node: nodes)
{
bool ok;
auto pos = getVariablePos(node.first, L"_productId", &ok);
if (ok)
{
pidMap[node.first] = make_pair(pos,0);
GetVariables getVariables(node.first,pos,1);
getVariables.serialize(stream);
stream->flush();
}
}
}
void incomingVariable(const Variables * message)
{
auto nodeId = message->source;
if (pidMap.find(nodeId) != pidMap.end() && pidMap.at(nodeId).first == message->start)
pidMap.at(nodeId).second = message->variables[0];
}
void sendMessage(const Message& message)
{
message.serialize(stream);
stream->flush();
}
void processMessage(const Message* message)
{
NodesManager::processMessage(message);
}
};
//! Dashel::Hub::Advertiser collects node descriptions from a set of tcp Dashel streams
//! and advertises them on the local network using Zeroconf.
class Advertiser: public Hub
{
protected:
map<Stream*,StreamNodesManager> streamMap;
Aseba::DashelhubZeroconf zeroconf;
protected:
virtual void incomingData(Stream *stream) override
{
Message *message(Message::receive(stream));
streamMap.at(stream).processMessage(message);
const Variables *variables(dynamic_cast<Variables *>(message));
if (variables)
streamMap.at(stream).incomingVariable(variables);
}
virtual void connectionClosed(Stream *stream, bool abnormal) override
{
zeroconf.forget("Aseba Local " + stream->getTargetParameter("port"), stream);
}
public:
Advertiser(const vector<string> & dashel_targets):
zeroconf(*this)
{
for (auto const & dashel: dashel_targets)
{
try
{
if (Dashel::Stream* cxn = connect(dashel))
streamMap.emplace(cxn,StreamNodesManager(cxn));
}
catch(Dashel::DashelException e)
{
cerr << "Can't connect target " << dashel << ": " << e.what() << endl;
}
}
ListNodes listNodes;
for (auto const & stream: streamMap)
{
listNodes.serialize(stream.first);
stream.first->flush();
}
run5s(); // wait for descriptions
}
void advertiseNodes()
{
for (auto & stream: streamMap)
stream.second.advertiseNodes(zeroconf);
}
void requestProductIds()
{
for (auto & stream: streamMap)
stream.second.requestProductIds();
run5s(); // wait for product id values
}
void run5s()
{
int timeout{5000};
UnifiedTime startTime;
while (timeout > 0)
{
if (!step(100))
break;
const UnifiedTime now;
timeout -= (now - startTime).value;
startTime = now;
}
}
};
}
int main(int argc, char* argv[])
{
std::vector<std::string> dashel_targets;
int argCounter = 1;
while (argCounter < argc)
{
auto arg = argv[argCounter++];
if (strncmp(arg, "-", 1) != 0)
dashel_targets.push_back(arg);
}
Aseba::Advertiser hub(dashel_targets);
hub.requestProductIds();
hub.advertiseNodes();
hub.run();
}
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