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SDK: send heartbeats when subscribed to state changes

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This commit is contained in:
Alexey Rybalchenko
2020-04-10 13:07:05 +02:00
committed by Dennis Klein
parent 330687772f
commit 5721ea9510
4 changed files with 69 additions and 21 deletions
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43
fairmq/plugins/DDS/DDS.cxx
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@@ -109,16 +109,27 @@ DDS::DDS(const string& name,
break;
}
lock_guard<mutex> lock{fStateChangeSubscriberMutex};
using namespace sdk::cmd;
auto now = chrono::steady_clock::now();
string id = GetProperty<string>("id");
fLastState = fCurrentState;
fCurrentState = newState;
using namespace sdk::cmd;
for (auto subscriberId : fStateChangeSubscribers) {
LOG(debug) << "Publishing state-change: " << fLastState << "->" << newState << " to " << subscriberId;
Cmds cmds(make<StateChange>(id, fDDSTaskId, fLastState, fCurrentState));
fDDS.Send(cmds.Serialize(), to_string(subscriberId));
lock_guard<mutex> lock{fStateChangeSubscriberMutex};
for (auto it = fStateChangeSubscribers.cbegin(); it != fStateChangeSubscribers.end();) {
// if a subscriber did not send a heartbeat in more than 3 times the promised interval,
// remove it from the subscriber list
if (chrono::duration<double>(now - it->second.first).count() > 3 * it->second.second) {
LOG(warn) << "Controller '" << it->first
<< "' did not send heartbeats since over 3 intervals ("
<< 3 * it->second.second << " ms), removing it.";
fStateChangeSubscribers.erase(it++);
} else {
LOG(debug) << "Publishing state-change: " << fLastState << "->" << fCurrentState << " to " << it->first;
Cmds cmds(make<StateChange>(id, fDDSTaskId, fLastState, fCurrentState));
fDDS.Send(cmds.Serialize(), to_string(it->first));
++it;
}
}
});
@@ -150,7 +161,7 @@ auto DDS::WaitForExitingAck() -> void
unique_lock<mutex> lock(fStateChangeSubscriberMutex);
auto timeout = GetProperty<unsigned int>("wait-for-exiting-ack-timeout");
fExitingAcked.wait_for(lock, chrono::milliseconds(timeout), [this]() {
return fExitingAckedByLastExternalController;
return fExitingAckedByLastExternalController || fStateChangeSubscribers.empty();
});
}
@@ -362,8 +373,9 @@ auto DDS::HandleCmd(const string& id, sdk::cmd::Cmd& cmd, const string& cond, ui
fExitingAcked.notify_one();
} break;
case Type::subscribe_to_state_change: {
auto _cmd = static_cast<cmd::SubscribeToStateChange&>(cmd);
lock_guard<mutex> lock{fStateChangeSubscriberMutex};
fStateChangeSubscribers.insert(senderId);
fStateChangeSubscribers.emplace(senderId, make_pair(chrono::steady_clock::now(), _cmd.GetInterval()));
LOG(debug) << "Publishing state-change: " << fLastState << "->" << fCurrentState << " to " << senderId;
@@ -372,6 +384,15 @@ auto DDS::HandleCmd(const string& id, sdk::cmd::Cmd& cmd, const string& cond, ui
fDDS.Send(outCmds.Serialize(), to_string(senderId));
} break;
case Type::subscription_heartbeat: {
try {
auto _cmd = static_cast<cmd::SubscriptionHeartbeat&>(cmd);
lock_guard<mutex> lock{fStateChangeSubscriberMutex};
fStateChangeSubscribers.at(senderId) = make_pair(chrono::steady_clock::now(), _cmd.GetInterval());
} catch(out_of_range& oor) {
LOG(warn) << "Received subscription heartbeat from an unknown controller with id '" << senderId << "'";
}
} break;
case Type::unsubscribe_from_state_change: {
{
lock_guard<mutex> lock{fStateChangeSubscriberMutex};
@@ -384,12 +405,12 @@ auto DDS::HandleCmd(const string& id, sdk::cmd::Cmd& cmd, const string& cond, ui
auto _cmd = static_cast<cmd::GetProperties&>(cmd);
auto const request_id(_cmd.GetRequestId());
auto result(Result::Ok);
std::vector<std::pair<std::string, std::string>> props;
vector<pair<string, string>> props;
try {
for (auto const& prop : GetPropertiesAsString(_cmd.GetQuery())) {
props.push_back({prop.first, prop.second});
}
} catch (std::exception const& e) {
} catch (exception const& e) {
LOG(warn) << "Getting properties (request id: " << request_id << ") failed: " << e.what();
result = Result::Failure;
}
@@ -407,7 +428,7 @@ auto DDS::HandleCmd(const string& id, sdk::cmd::Cmd& cmd, const string& cond, ui
}
// TODO Handle builtin keys with different value type than string
SetProperties(props);
} catch (std::exception const& e) {
} catch (exception const& e) {
LOG(warn) << "Setting properties (request id: " << request_id << ") failed: " << e.what();
result = Result::Failure;
}