Weight/gatectrl/Subscriber.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 Subscriber.cxx
 * This file contains the implementation of the subscriber functions.
 *
 * This file was generated by the tool fastddsgen.
 */

#include "Subscriber.hpp"

#include <condition_variable>
#include <stdexcept>

#include <fastdds/dds/core/status/SubscriptionMatchedStatus.hpp>
#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
#include <fastdds/dds/subscriber/DataReader.hpp>
#include <fastdds/dds/subscriber/qos/DataReaderQos.hpp>
#include <fastdds/dds/subscriber/qos/SubscriberQos.hpp>
#include <fastdds/dds/subscriber/SampleInfo.hpp>
#include <fastdds/dds/subscriber/Subscriber.hpp>

#include "SystemPubSubTypes.hpp"

#include "msg.hpp"
#include "DEBUG.hpp"
#include "utils.hpp"

using namespace eprosima::fastdds::dds;

SubscriberApp::SubscriberApp(
        const int& domain_id)
    : factory_(nullptr)
    , participant_(nullptr)
    , subscriber_(nullptr)
    , bar_topic_(nullptr)
    , bar_reader_(nullptr)
    , bar_type_(new WeighingSystem::BarCommandUpdatePubSubType())
    , light_topic_(nullptr)
    , light_reader_(nullptr)
    , light_type_(new WeighingSystem::LightsCommandUpdatePubSubType())
    , samples_received_(0)
    , stop_(false)
{
    // Create the participant
    DomainParticipantQos pqos = PARTICIPANT_QOS_DEFAULT;
    pqos.name("GateCtrl_sub_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("GateCtrl Participant initialization failed");
    }

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

    // Create the subscriber
    SubscriberQos sub_qos = SUBSCRIBER_QOS_DEFAULT;
    participant_->get_default_subscriber_qos(sub_qos);
    subscriber_ = participant_->create_subscriber(sub_qos, nullptr, StatusMask::none());
    if (subscriber_ == nullptr)
    {
        throw std::runtime_error("GateCtrl Subscriber 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("WeighingSystem::BarCommandUpdate Topic initialization failed");
    }

    // Create the reader
    DataReaderQos reader_qos = DATAREADER_QOS_DEFAULT;
    subscriber_->get_default_datareader_qos(reader_qos);
    reader_qos.reliability().kind = ReliabilityQosPolicyKind::RELIABLE_RELIABILITY_QOS;
    reader_qos.reliability().max_blocking_time = Duration_t(1, 0);
    reader_qos.durability().kind = DurabilityQosPolicyKind::VOLATILE_DURABILITY_QOS;
    reader_qos.history().kind = HistoryQosPolicyKind::KEEP_LAST_HISTORY_QOS;
    reader_qos.history().depth = 1;
    reader_qos.resource_limits().max_samples = 200;
    reader_qos.resource_limits().max_instances = 1;
    reader_qos.resource_limits().max_samples_per_instance = 100;
    reader_qos.data_sharing().off();
    bar_reader_ = subscriber_->create_datareader(bar_topic_, reader_qos, this, StatusMask::all());
    if (bar_reader_ == nullptr)
    {
        throw std::runtime_error("WeighingSystem::BarCommandUpdate DataReader 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("WeighingSystem::LightsCommandUpdate Topic initialization failed");
    }

    // Create the reader
    reader_qos = DATAREADER_QOS_DEFAULT;
    subscriber_->get_default_datareader_qos(reader_qos);
    reader_qos.reliability().kind = ReliabilityQosPolicyKind::RELIABLE_RELIABILITY_QOS;
    reader_qos.reliability().max_blocking_time = Duration_t(1, 0);
    reader_qos.durability().kind = DurabilityQosPolicyKind::VOLATILE_DURABILITY_QOS;
    reader_qos.history().kind = HistoryQosPolicyKind::KEEP_LAST_HISTORY_QOS;
    reader_qos.history().depth = 1;
    reader_qos.resource_limits().max_samples = 200;
    reader_qos.resource_limits().max_instances = 1;
    reader_qos.resource_limits().max_samples_per_instance = 100;
    reader_qos.data_sharing().off();
    light_reader_ = subscriber_->create_datareader(light_topic_, reader_qos, this, StatusMask::all());
    if (light_reader_ == nullptr)
    {
        throw std::runtime_error("WeighingSystem::LightsCommandUpdate DataReader initialization failed");
    }
}

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

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

void SubscriberApp::on_subscription_matched(
        DataReader* reader,
        const SubscriptionMatchedStatus& info)
{
    if (info.current_count_change == 1)
    {
        DEBUG(reader->get_topicdescription()->get_name() << " Subscriber matched.");
    }
    else if (info.current_count_change == -1)
    {
        DEBUG(reader->get_topicdescription()->get_name() << " Subscriber unmatched.");
    }
    else
    {
        DEBUG(info.current_count_change << " is not a valid value for SubscriptionMatchedStatus current count change");
    }
}

void SubscriberApp::on_data_available(
        DataReader* reader)
{
    SampleInfo info;
    std::string topic_name = reader->get_topicdescription()->get_name();
    DEBUG(topic_name << " Topic receviced.");

    if (topic_name == "BarCommandUpdate")
    {
        WeighingSystem::BarCommandUpdate sample_;
        while ((!is_stopped()) && (RETCODE_OK == reader->take_next_sample(&sample_, &info)))
        {
            if ((info.instance_state == ALIVE_INSTANCE_STATE) && info.valid_data)
            {
                {
                    std::unique_lock<std::mutex> lock(MsgData::queue_cv_mtx_);
                    MsgData::BarCommandUpdate_queue_.push(std::move(sample_));
                    lock.unlock();
                }
            }
        }
    }
    else if (topic_name == "LightsCommandUpdate")
    {
        WeighingSystem::LightsCommandUpdate sample_;
        while ((!is_stopped()) && (RETCODE_OK == reader->take_next_sample(&sample_, &info)))
        {
            if ((info.instance_state == ALIVE_INSTANCE_STATE) && info.valid_data)
            {
                {
                    std::unique_lock<std::mutex> lock(MsgData::queue_cv_mtx_);
                    MsgData::LightsCommandUpdate_queue_.push(std::move(sample_));
                    lock.unlock();
                }
            }
        }
    }
}

void SubscriberApp::run(std::shared_ptr<MsgHandler> handler)
{
    while (!is_stopped())
    {
        std::unique_lock<std::mutex> lock(MsgData::queue_cv_mtx_, std::try_to_lock);
        if (lock.owns_lock())
        {
            if(!MsgData::BarCommandUpdate_queue_.empty())
            {

                WeighingSystem::BarCommandUpdate cmd = std::move(MsgData::BarCommandUpdate_queue_.front());
                MsgData::BarCommandUpdate_queue_.pop();
                lock.unlock();

                // std::cout << "[DEBUG] DDS Received: "
                //             << "FrontBarSignalUp=" << cmd.FrontBarSignalUp() << ", "
                //             << "FrontBarSignalDown=" << cmd.FrontBarSignalDown() << ", "
                //             << "FrontBarEnable=" << cmd.FrontBarEnable() << ", "
                //             << "BackBarSignalUp=" << cmd.BackBarSignalUp() << ", "
                //             << "BackBarSignalDown=" << cmd.BackBarSignalDown() << ", "
                //             << "BackBarEnable=" << cmd.BackBarEnable()
                //             << std::endl;



                std::vector<std::string> port;
                if (!std::filesystem::exists(getExeDir() / "frontbar.lock"))
                {
                    if (cmd.FrontBarEnable() == true)
                    {
                        if (cmd.FrontBarSignalUp() == 1)
                        {
                            port.push_back("FrontBarUp");
                            handler->new_bar_state.FrontBarState = 1;
                        }
                        else if (cmd.FrontBarSignalDown() == 1)
                        {
                            port.push_back("FrontBarDown");
                            handler->new_bar_state.FrontBarState = 2;
                        }
                    }
                }
                if (!std::filesystem::exists(getExeDir() / "backbar.lock"))
                {
                    if (cmd.BackBarEnable() == true)
                    {
                        if (cmd.BackBarSignalUp() == 1)
                        {
                            port.push_back("BackBarUp");
                            handler->new_bar_state.BackBarState = 1;
                        }
                        else if (cmd.BackBarSignalDown() == 1)
                        {
                            port.push_back("BackBarDown");
                            handler->new_bar_state.BackBarState = 2;
                        }
                    }
                }
                if (!port.empty())
                {
                    handler->CtrlBar(port);
                }
            }
            else if(!MsgData::LightsCommandUpdate_queue_.empty())
            {
                WeighingSystem::LightsCommandUpdate cmd = std::move(MsgData::LightsCommandUpdate_queue_.front());
                MsgData::LightsCommandUpdate_queue_.pop();
                lock.unlock();
                std::map<std::string, uint8_t> port;
                if (cmd.FrontLEDEnable() == true)
                {
                    port["FrontLED"] = cmd.FrontLEDSignal();
                    handler->new_bar_state.FrontLEDState = cmd.FrontLEDSignal();
                }
                if (cmd.BackLEDEnable() == true)
                {
                    port["BackLED"] = cmd.BackLEDSignal();
                    handler->new_bar_state.BackLEDState = cmd.BackLEDSignal();
                }
                handler->CtrlLight(port);
            }
            else
            {
                lock.unlock();
            }
        }
        
        {
            std::unique_lock<std::mutex> period_lock(terminate_cv_mtx_);
            terminate_cv_.wait_for(period_lock, std::chrono::milliseconds(period_ms_), [this](){return is_stopped();});
        }
    }
}

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

void SubscriberApp::stop()
{
    stop_.store(true);
    terminate_cv_.notify_all();
}