Weight/mqttdds/Publisher.cxx

// Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima).
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

/*!
 * @file Publisher.cxx
 * This file contains the implementation of the publisher functions.
 *
 * This file was generated by the tool fastddsgen.
 */

#include "Publisher.hpp"

#include <condition_variable>
#include <csignal>
#include <stdexcept>
#include <thread>

#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
#include <fastdds/dds/log/Log.hpp>
#include <fastdds/dds/publisher/DataWriter.hpp>
#include <fastdds/dds/publisher/Publisher.hpp>
#include <fastdds/dds/publisher/qos/DataWriterQos.hpp>
#include <fastdds/dds/publisher/qos/PublisherQos.hpp>

#include "SystemPubSubTypes.hpp"
#include "json.hpp"
#include "msg.hpp"
#include "DEBUG.hpp"

using namespace eprosima::fastdds::dds;
using json = nlohmann::json;

PublisherApp::PublisherApp(
        const int& domain_id)
    : factory_(nullptr)
    , participant_(nullptr)
    , publisher_(nullptr)
    , bar_topic_(nullptr)
    , bar_writer_(nullptr)
    , bar_type_(new WeighingSystem::BarCommandUpdatePubSubType())
    , light_topic_(nullptr)
    , light_writer_(nullptr)
    , light_type_(new WeighingSystem::LightsCommandUpdatePubSubType())
    , summary_topic_(nullptr)
    , summary_writer_(nullptr)
    , summary_type_(new WeighingSystem::SummaryUpdatePubSubType())
    , print_topic_(nullptr)
    , print_writer_(nullptr)
    , print_type_(new InternalSystem::PrintReqPubSubType())
    , matched_(0)
    , samples_sent_(0)
    , stop_(false)
{
    //

    // Create the participant
    DomainParticipantQos pqos = PARTICIPANT_QOS_DEFAULT;
    pqos.name("Core_pub_participant");
    pqos.wire_protocol().builtin.discovery_config.leaseDuration = Duration_t(60, 0);
    pqos.wire_protocol().builtin.discovery_config.leaseDuration_announcementperiod = Duration_t(30, 0);
    factory_ = DomainParticipantFactory::get_shared_instance();
    participant_ = factory_->create_participant(domain_id, pqos, nullptr, StatusMask::none());
    if (participant_ == nullptr)
    {
        throw std::runtime_error("Core Participant initialization failed");
    }

    // Register the type
    bar_type_.register_type(participant_);
    light_type_.register_type(participant_);
    summary_type_.register_type(participant_);
    print_type_.register_type(participant_);

    // Create the publisher
    PublisherQos pub_qos = PUBLISHER_QOS_DEFAULT;
    participant_->get_default_publisher_qos(pub_qos);
    publisher_ = participant_->create_publisher(pub_qos, nullptr, StatusMask::none());
    if (publisher_ == nullptr)
    {
        throw std::runtime_error("Core Publisher initialization failed");
    }

    // Create the topic
    TopicQos topic_qos = TOPIC_QOS_DEFAULT;
    participant_->get_default_topic_qos(topic_qos);
    bar_topic_ = participant_->create_topic("BarCommandUpdate", bar_type_.get_type_name(), topic_qos);
    if (bar_topic_ == nullptr)
    {
        throw std::runtime_error("BarCommandUpdate Topic initialization failed");
    }

    // Create the data writer
    DataWriterQos writer_qos = DATAWRITER_QOS_DEFAULT;
    publisher_->get_default_datawriter_qos(writer_qos);
    writer_qos.reliability().kind = ReliabilityQosPolicyKind::RELIABLE_RELIABILITY_QOS;
    writer_qos.reliability().max_blocking_time = Duration_t(1, 0);
    writer_qos.durability().kind = DurabilityQosPolicyKind::VOLATILE_DURABILITY_QOS;
    writer_qos.history().kind = HistoryQosPolicyKind::KEEP_LAST_HISTORY_QOS;
    writer_qos.history().depth = 1;
    writer_qos.resource_limits().max_samples = 200;
    writer_qos.resource_limits().max_instances = 1;
    writer_qos.resource_limits().max_samples_per_instance = 100;
    writer_qos.data_sharing().off();
    bar_writer_ = publisher_->create_datawriter(bar_topic_, writer_qos, this, StatusMask::all());
    if (bar_writer_ == nullptr)
    {
        throw std::runtime_error("WeighingSystem::BarUpdate DataWriter initialization failed");
    }

    // Create the topic
    topic_qos = TOPIC_QOS_DEFAULT;
    participant_->get_default_topic_qos(topic_qos);
    light_topic_ = participant_->create_topic("LightsCommandUpdate", light_type_.get_type_name(), topic_qos);
    if (light_topic_ == nullptr)
    {
        throw std::runtime_error("LightsCommandUpdate Topic initialization failed");
    }

    // Create the data writer
    writer_qos = DATAWRITER_QOS_DEFAULT;
    publisher_->get_default_datawriter_qos(writer_qos);
    writer_qos.reliability().kind = ReliabilityQosPolicyKind::RELIABLE_RELIABILITY_QOS;
    writer_qos.reliability().max_blocking_time = Duration_t(1, 0);
    writer_qos.durability().kind = DurabilityQosPolicyKind::VOLATILE_DURABILITY_QOS;
    writer_qos.history().kind = HistoryQosPolicyKind::KEEP_LAST_HISTORY_QOS;
    writer_qos.history().depth = 1;
    writer_qos.resource_limits().max_samples = 200;
    writer_qos.resource_limits().max_instances = 1;
    writer_qos.resource_limits().max_samples_per_instance = 100;
    writer_qos.data_sharing().off();
    light_writer_ = publisher_->create_datawriter(light_topic_, writer_qos, this, StatusMask::all());
    if (light_writer_ == nullptr)
    {
        throw std::runtime_error("WeighingSystem::LightsUpdate DataWriter initialization failed");
    }

    // Create the topic
    topic_qos = TOPIC_QOS_DEFAULT;
    participant_->get_default_topic_qos(topic_qos);
    summary_topic_ = participant_->create_topic("SummaryUpdate", summary_type_.get_type_name(), topic_qos);
    if (summary_topic_ == nullptr)
    {
        throw std::runtime_error("SummaryUpdate Topic initialization failed");
    }

    // Create the data writer
    writer_qos = DATAWRITER_QOS_DEFAULT;
    publisher_->get_default_datawriter_qos(writer_qos);
    writer_qos.reliability().kind = ReliabilityQosPolicyKind::RELIABLE_RELIABILITY_QOS;
    writer_qos.reliability().max_blocking_time = Duration_t(1, 0);
    writer_qos.durability().kind = DurabilityQosPolicyKind::TRANSIENT_LOCAL_DURABILITY_QOS;
    writer_qos.history().kind = HistoryQosPolicyKind::KEEP_LAST_HISTORY_QOS;
    writer_qos.history().depth = 1;
    writer_qos.resource_limits().max_samples = 200;
    writer_qos.resource_limits().max_instances = 1;
    writer_qos.resource_limits().max_samples_per_instance = 100;
    writer_qos.data_sharing().off();
    summary_writer_ = publisher_->create_datawriter(summary_topic_, writer_qos, this, StatusMask::all());
    if (summary_writer_ == nullptr)
    {
        throw std::runtime_error("WeighingSystem::SummaryUpdate DataWriter initialization failed");
    }

    // Create the topic
    topic_qos = TOPIC_QOS_DEFAULT;
    participant_->get_default_topic_qos(topic_qos);
    print_topic_ = participant_->create_topic("PrintReq", print_type_.get_type_name(), topic_qos);
    if (print_topic_ == nullptr)
    {
        throw std::runtime_error("PrintReq Topic initialization failed");
    }

    // Create the data writer
    writer_qos = DATAWRITER_QOS_DEFAULT;
    publisher_->get_default_datawriter_qos(writer_qos);
    writer_qos.reliability().kind = ReliabilityQosPolicyKind::RELIABLE_RELIABILITY_QOS;
    writer_qos.reliability().max_blocking_time = Duration_t(1, 0);
    writer_qos.durability().kind = DurabilityQosPolicyKind::VOLATILE_DURABILITY_QOS;
    writer_qos.history().kind = HistoryQosPolicyKind::KEEP_LAST_HISTORY_QOS;
    writer_qos.history().depth = 1;
    writer_qos.resource_limits().max_samples = 200;
    writer_qos.resource_limits().max_instances = 1;
    writer_qos.resource_limits().max_samples_per_instance = 100;
    writer_qos.data_sharing().off();
    print_writer_ = publisher_->create_datawriter(print_topic_, writer_qos, this, StatusMask::all());
    if (print_writer_ == nullptr)
    {
        throw std::runtime_error("InternalSystem::PrintReq DataWriter initialization failed");
    }
}

PublisherApp::~PublisherApp()
{
    if (nullptr != participant_)
    {
        // Delete DDS entities contained within the DomainParticipant
        participant_->delete_contained_entities();

        // Delete DomainParticipant
        factory_->delete_participant(participant_);
    }
}

void PublisherApp::on_publication_matched(
        DataWriter* writer,
        const PublicationMatchedStatus& info)
{
    if (info.current_count_change == 1)
    {
        {
            std::lock_guard<std::mutex> lock(mutex_);
            matched_ = info.current_count;
        }
        DEBUG(writer->get_topic()->get_name() << " Publisher matched.");
        cv_.notify_one();
    }
    else if (info.current_count_change == -1)
    {
        {
            std::lock_guard<std::mutex> lock(mutex_);
            matched_ = info.current_count;
        }
        DEBUG(writer->get_topic()->get_name() << " Publisher unmatched.");
    }
    else
    {
        DEBUG(info.current_count_change << " is not a valid value for PublicationMatchedStatus current count change");
    }
}

bool PublisherApp::bar_ctrl(const std::map<std::string, std::string>& ctrl)
{
    WeighingSystem::BarCommandUpdate cmd;

    for (const auto &[port, opt] : ctrl)
    {
        if (port == "FrontBar")
        {
            if (opt == "up")
            {
                cmd.FrontBarSignalUp() = 1;
                cmd.FrontBarSignalDown() = 0;
            }
            else
            {
                cmd.FrontBarSignalUp() = 0;
                cmd.FrontBarSignalDown() = 1;
            }
            cmd.FrontBarEnable() = 1;
        }
        else if (port == "BackBar")
        {
            if (opt == "up")
            {
                cmd.BackBarSignalUp() = 1;
                cmd.BackBarSignalDown() = 0;
            }
            else
            {
                cmd.BackBarSignalUp() = 0;
                cmd.BackBarSignalDown() = 1;
            }
            cmd.BackBarEnable() = 1;
        }
    }

    DEBUG("send bar ctrl cmd");
    bar_writer_->write(&cmd);

    return true;
}

bool PublisherApp::light_ctrl(const std::map<std::string, std::string>& ctrl)
{
    WeighingSystem::LightsCommandUpdate cmd;

    for (const auto &[port, opt] : ctrl)
    {
        if (port == "FrontLED")
        {
            if (opt == "red")
            {
                cmd.FrontLEDSignal() = 1;
            }
            else
            {
                cmd.FrontLEDSignal() = 2;
            }
            cmd.FrontLEDEnable() = 1;
        }
        else if (port == "BackLED")
        {
            if (opt == "red")
            {
                cmd.BackLEDSignal() = 1;
            }
            else
            {
                cmd.BackLEDSignal() = 2;
            }
            cmd.BackLEDEnable() = 1;
        }
    }

    DEBUG("send light ctrl cmd");
    light_writer_->write(&cmd);

    return true;
}

bool PublisherApp::print_receipt(const std::map<std::string, std::string>& msg)
{
    InternalSystem::PrintReq req;

    req.msg() = msg;

    for (auto &m : req.msg())
    {
        DEBUG("first: " << m.first << " second: " << m.second);
    }

    print_writer_->write(&req);

    return true;
}

void PublisherApp::run(std::shared_ptr<mqtt::async_client> dev)
{
    while (!is_stopped())
    {
        //dds msg
        std::unique_lock<std::mutex> dds_lock(DdsMsgData::queue_cv_mtx_, std::try_to_lock);
        if (dds_lock.owns_lock())
        {
            if (!DdsMsgData::LicenseSnapUpdate_queue_.empty())
            {
                WeighingSystem::LicenseSnapUpdate info = std::move(DdsMsgData::LicenseSnapUpdate_queue_.front());
                DdsMsgData::LicenseSnapUpdate_queue_.pop();
                dds_lock.unlock();

                // DEBUG("车牌: " << info.License());
                // DEBUG("类型: " << info.NewTag());
            }
            else if (!DdsMsgData::ScaleInfo_queue_.empty())
            {
                WeighingSystem::ScaleInfo info = std::move(DdsMsgData::ScaleInfo_queue_.front());
                DdsMsgData::ScaleInfo_queue_.pop();
                dds_lock.unlock();

                // DEBUG("有车: " << info.HasVehicle());
                // DEBUG("稳定: " << info.WeightOK());
                // DEBUG("设备状态: " << info.State());
                // DEBUG("实时重量: " << info.Value());
                // DEBUG("稳定重量: " << info.StableValue());
            }
            else if (!DdsMsgData::BarUpdate_queue_.empty())
            {
                WeighingSystem::BarUpdate info = std::move(DdsMsgData::BarUpdate_queue_.front());
                DdsMsgData::BarUpdate_queue_.pop();
                dds_lock.unlock();

                // DEBUG("前拦车器状态: " << info.FrontBarState());
                // DEBUG("后拦车器状态: " << info.BackBarState());

                if (dev != nullptr)
                {
                    if (dev->is_connected())
                    {
                        json j;
                        j["bar_state"]["FrontBar"] = info.FrontBarState();
                        j["bar_state"]["BackBar"] = info.BackBarState();

                        auto mqtt_msg = mqtt::make_message("response", j.dump());
                        mqtt_msg->set_qos(0);
                        mqtt_msg->set_retained(false);
                        dev->publish(mqtt_msg);
                    }
                }
            }
            else if (!DdsMsgData::LightsUpdate_queue_.empty())
            {
                WeighingSystem::LightsUpdate info = std::move(DdsMsgData::LightsUpdate_queue_.front());
                DdsMsgData::LightsUpdate_queue_.pop();
                dds_lock.unlock();

                // DEBUG("前红绿灯状态: " << info.FrontLEDState());
                // DEBUG("后红绿灯状态: " << info.BackLEDState());

                if (dev != nullptr)
                {
                    if (dev->is_connected())
                    {
                        json j;
                        j["light_state"]["FrontLED"] = info.FrontLEDState();
                        j["light_state"]["BackLED"] = info.FrontLEDState();

                        auto mqtt_msg = mqtt::make_message("response", j.dump());
                        mqtt_msg->set_qos(0);
                        mqtt_msg->set_retained(false);
                        dev->publish(mqtt_msg);
                    }
                }
            }
            else if (!DdsMsgData::InfraredUpdate_queue_.empty())
            {
                WeighingSystem::InfraredUpdate info = std::move(DdsMsgData::InfraredUpdate_queue_.front());
                DdsMsgData::InfraredUpdate_queue_.pop();
                dds_lock.unlock();

                // DEBUG("前红外对射状态: " << info.FrontResistanceSignal());
                // DEBUG("后红外对射状态: " << info.BackResistanceSignal());

                if (dev != nullptr)
                {
                    if (dev->is_connected())
                    {
                        json j;
                        j["infrared_state"]["FrontResistance"] = info.FrontResistanceSignal();
                        j["infrared_state"]["BackResistance"] = info.BackResistanceSignal();

                        auto mqtt_msg = mqtt::make_message("response", j.dump());
                        mqtt_msg->set_qos(0);
                        mqtt_msg->set_retained(false);
                        dev->publish(mqtt_msg);
                    }
                }
            }
            else
            {
                dds_lock.unlock();
            }
        }

        // mqtt msg
        std::unique_lock<std::mutex> mqtt_lock(MqttMsgData::queue_cv_mtx_, std::try_to_lock);
        if (mqtt_lock.owns_lock())
        {
            if (!MqttMsgData::Mqtt_msg_queue_.empty())
            {
                mqtt::const_message_ptr msg = std::move(MqttMsgData::Mqtt_msg_queue_.front());
                MqttMsgData::Mqtt_msg_queue_.pop();
                mqtt_lock.unlock();

                json cmd = json::parse(msg->to_string());

                if (cmd.contains("bar_ctrl"))
                {
                    std::map<std::string, std::string> ctrl = cmd["bar_ctrl"].get<std::map<std::string, std::string>>();
                    bar_ctrl(ctrl);
                }
                else if (cmd.contains("light_ctrl"))
                {
                    std::map<std::string, std::string> ctrl = cmd["light_ctrl"].get<std::map<std::string, std::string>>();
                    light_ctrl(ctrl);
                }
            }
            else
            {
                mqtt_lock.unlock();
            }
        }
        
        // Wait for period or stop event
        std::unique_lock<std::mutex> period_lock(mutex_);
        cv_.wait_for(period_lock, std::chrono::milliseconds(period_ms_), [this]()
                {
                    return is_stopped();
                });
    }
}


bool PublisherApp::publish()
{
    bool ret = false;
    // Wait for the data endpoints discovery
    std::unique_lock<std::mutex> matched_lock(mutex_);
    cv_.wait(matched_lock, [&]()
            {
                // at least one has been discovered
                return ((matched_ > 0) || is_stopped());
            });

    if (!is_stopped())
    {
        /* Initialize your structure here */
        WeighingSystem::BarCommandUpdate sample_;
        ret = (RETCODE_OK == bar_writer_->write(&sample_));
    }
    return ret;
}

bool PublisherApp::is_stopped()
{
    return stop_.load();
}

void PublisherApp::stop()
{
    stop_.store(true);
    cv_.notify_one();
}