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SDK: Add Topology::AsyncSetProperties

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Co-Author: Alexey Rybalchenko <alexryba@gmail.com>
This commit is contained in:
Dennis Klein
2020-01-20 15:09:24 +01:00
committed by Dennis Klein
parent 25658370fa
commit 1c8ad03f3c
10 changed files with 513 additions and 116 deletions
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92
fairmq/plugins/DDS/DDS.cxx
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@@ -324,7 +324,6 @@ auto DDS::HeartbeatSender() -> void
auto DDS::SubscribeForCustomCommands() -> void
{
using namespace sdk::cmd;
LOG(debug) << "Subscribing for DDS custom commands.";
string id = GetProperty<string>("id");
@@ -332,59 +331,59 @@ auto DDS::SubscribeForCustomCommands() -> void
fDDS.SubscribeCustomCmd([id, this](const string& cmdStr, const string& cond, uint64_t senderId) {
// LOG(info) << "Received command: '" << cmdStr << "' from " << senderId;
Cmds inCmds;
using namespace fair::mq::sdk;
cmd::Cmds inCmds;
inCmds.Deserialize(cmdStr);
for (const auto& cmd : inCmds) {
// LOG(info) << "Received command type: '" << cmd->GetType() << "' from " << senderId;
switch (cmd->GetType()) {
case Type::check_state: {
fDDS.Send(Cmds(make<CurrentState>(id, GetCurrentDeviceState())).Serialize(), to_string(senderId));
}
break;
case Type::change_state: {
Transition transition = static_cast<ChangeState&>(*cmd).GetTransition();
case cmd::Type::check_state: {
fDDS.Send(cmd::Cmds(cmd::make<cmd::CurrentState>(id, GetCurrentDeviceState()))
.Serialize(),
to_string(senderId));
} break;
case cmd::Type::change_state: {
Transition transition = static_cast<cmd::ChangeState&>(*cmd).GetTransition();
if (ChangeDeviceState(transition)) {
Cmds outCmds(make<TransitionStatus>(id, Result::Ok, transition));
cmd::Cmds outCmds(
cmd::make<cmd::TransitionStatus>(id, cmd::Result::Ok, transition));
fDDS.Send(outCmds.Serialize(), to_string(senderId));
} else {
Cmds outCmds(make<TransitionStatus>(id, Result::Failure, transition));
sdk::cmd::Cmds outCmds(
cmd::make<cmd::TransitionStatus>(id, cmd::Result::Failure, transition));
fDDS.Send(outCmds.Serialize(), to_string(senderId));
}
{
lock_guard<mutex> lock{fStateChangeSubscriberMutex};
fLastExternalController = senderId;
}
}
break;
case Type::dump_config: {
} break;
case cmd::Type::dump_config: {
stringstream ss;
for (const auto pKey: GetPropertyKeys()) {
for (const auto pKey : GetPropertyKeys()) {
ss << id << ": " << pKey << " -> " << GetPropertyAsString(pKey) << "\n";
}
Cmds outCmds(make<Config>(id, ss.str()));
cmd::Cmds outCmds(cmd::make<cmd::Config>(id, ss.str()));
fDDS.Send(outCmds.Serialize(), to_string(senderId));
}
break;
case Type::subscribe_to_heartbeats: {
} break;
case cmd::Type::subscribe_to_heartbeats: {
{
lock_guard<mutex> lock{fHeartbeatSubscriberMutex};
fHeartbeatSubscribers.insert(senderId);
}
Cmds outCmds(make<HeartbeatSubscription>(id, Result::Ok));
cmd::Cmds outCmds(cmd::make<cmd::HeartbeatSubscription>(id, cmd::Result::Ok));
fDDS.Send(outCmds.Serialize(), to_string(senderId));
}
break;
case Type::unsubscribe_from_heartbeats: {
} break;
case cmd::Type::unsubscribe_from_heartbeats: {
{
lock_guard<mutex> lock{fHeartbeatSubscriberMutex};
fHeartbeatSubscribers.erase(senderId);
}
Cmds outCmds(make<HeartbeatUnsubscription>(id, Result::Ok));
cmd::Cmds outCmds(cmd::make<cmd::HeartbeatUnsubscription>(id, cmd::Result::Ok));
fDDS.Send(outCmds.Serialize(), to_string(senderId));
}
break;
case Type::state_change_exiting_received: {
} break;
case cmd::Type::state_change_exiting_received: {
{
lock_guard<mutex> lock{fStateChangeSubscriberMutex};
if (fLastExternalController == senderId) {
@@ -392,31 +391,50 @@ auto DDS::SubscribeForCustomCommands() -> void
}
}
fExitingAcked.notify_one();
}
break;
case Type::subscribe_to_state_change: {
} break;
case cmd::Type::subscribe_to_state_change: {
lock_guard<mutex> lock{fStateChangeSubscriberMutex};
fStateChangeSubscribers.insert(senderId);
if (!fControllerThread.joinable()) {
fControllerThread = thread(&DDS::WaitForExitingAck, this);
}
LOG(debug) << "Publishing state-change: " << fLastState << "->" << fCurrentState << " to " << senderId;
LOG(debug) << "Publishing state-change: " << fLastState << "->" << fCurrentState
<< " to " << senderId;
Cmds outCmds(make<StateChangeSubscription>(id, Result::Ok), make<StateChange>(id, dds::env_prop<dds::task_id>(), fLastState, fCurrentState));
cmd::Cmds outCmds(
cmd::make<cmd::StateChangeSubscription>(id, cmd::Result::Ok),
cmd::make<cmd::StateChange>(
id, dds::env_prop<dds::task_id>(), fLastState, fCurrentState));
fDDS.Send(outCmds.Serialize(), to_string(senderId));
}
break;
case Type::unsubscribe_from_state_change: {
} break;
case cmd::Type::unsubscribe_from_state_change: {
{
lock_guard<mutex> lock{fStateChangeSubscriberMutex};
fStateChangeSubscribers.erase(senderId);
}
Cmds outCmds(make<StateChangeUnsubscription>(id, Result::Ok));
cmd::Cmds outCmds(
cmd::make<cmd::StateChangeUnsubscription>(id, cmd::Result::Ok));
fDDS.Send(outCmds.Serialize(), to_string(senderId));
}
break;
} break;
case cmd::Type::set_properties: {
auto _cmd(static_cast<cmd::SetProperties&>(*cmd));
auto const request_id(_cmd.GetRequestId());
auto result(cmd::Result::Ok);
try {
fair::mq::Properties props;
for (auto const& prop : _cmd.GetProps()) {
props.insert({prop.first, fair::mq::Property(prop.second)});
}
SetProperties(props);
} catch (...) {
LOG(warn) << "Setting properties (request id: " << request_id << ") failed";
result = cmd::Result::Failure;
}
cmd::Cmds const outCmds(cmd::make<cmd::PropertiesSet>(id, request_id, result));
fDDS.Send(outCmds.Serialize(), to_string(senderId));
} break;
default:
LOG(warn) << "Unexpected/unknown command received: " << cmdStr;
LOG(warn) << "Origin: " << senderId;