message_manager.cpp

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/*
 * Software License Agreement (BSD License)
 *
 * Copyright (c) 2011, Southwest Research Institute
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *       * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *       * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
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 *       of its contributors may be used to endorse or promote products derived
 *       from this software without specific prior written permission.
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#ifdef ROS
#include "ros/ros.h"
#include "simple_message/message_manager.h"
#include "simple_message/log_wrapper.h"
#include "simple_message/simple_message.h"
#endif

#ifdef MOTOPLUS
#include "message_manager.h"
#include "log_wrapper.h"
#include "simple_message.h"
#endif


using namespace industrial::smpl_msg_connection;
using namespace industrial::message_handler;
using namespace industrial::simple_message;
using namespace industrial::comms_fault_handler;
using namespace industrial::simple_comms_fault_handler;

namespace industrial
{
namespace message_manager
{

MessageManager::MessageManager()
{
  this->num_handlers_ = 0;
  for (unsigned int i = 0; i < this->getMaxNumHandlers(); i++)
  {
    this->handlers_[i] = NULL;
  }
  this->comms_hndlr_ = NULL;
}

MessageManager::~MessageManager()
{

}

bool MessageManager::init(SmplMsgConnection* connection)
{
  bool rtn = false;

  LOG_INFO("Initializing message manager with default comms fault handler");


  if (NULL != connection)
  {
    this->getDefaultCommsFaultHandler().init(connection);
    this->init(connection, (CommsFaultHandler*)(&this->getDefaultCommsFaultHandler()));
    rtn = true;
  }
  else
  {
    LOG_ERROR("NULL connection passed into manager init");
    rtn = false;
  }

  return rtn;
}

bool MessageManager::init(SmplMsgConnection* connection, CommsFaultHandler* fault_handler)
{
  bool rtn = false;

    LOG_INFO("Initializing message manager");

    if (NULL != connection && NULL != fault_handler)
    {
      this->setConnection(connection);
      this->getPingHandler().init(connection);
      this->setCommsFaultHandler(fault_handler);

      if (this->add(&this->getPingHandler()))
      {
        rtn = true;
      }
      else
      {
        rtn = false;
        LOG_WARN("Failed to add ping handler, manager won't respond to pings");
      }

    }
    else
    {
      LOG_ERROR("NULL connection or NULL fault handler passed into manager init");
      rtn = false;
    }

    return rtn;
  }



void MessageManager::spinOnce()
{
  SimpleMessage msg;
  MessageHandler* handler = NULL;

  if(!this->getConnection()->isConnected())
  {
    this->getCommsFaultHandler()->connectionFailCB();
  }

  if (this->getConnection()->receiveMsg(msg))
  {
    LOG_COMM("Message received");
    handler = this->getHandler(msg.getMessageType());

    if (NULL != handler)
    {
      LOG_DEBUG("Executing handler callback for message type: %d", handler->getMsgType());
      handler->callback(msg);
    }
    else
    {
      if (CommTypes::SERVICE_REQUEST == msg.getCommType())
      {
        simple_message::SimpleMessage fail;
        fail.init(msg.getMessageType(), CommTypes::SERVICE_REPLY, ReplyTypes::FAILURE);
        this->getConnection()->sendMsg(fail);
        LOG_WARN("Unhandled message type encounters, sending failure reply");
      }
      LOG_ERROR("Message callback for message type: %d, not exectued", msg.getMessageType());
    }
  }
  else
  {
    LOG_ERROR("Failed to receive incoming message");
    this->getCommsFaultHandler()->sendFailCB();
  }
}

void MessageManager::spin()
{
  LOG_INFO("Entering message manager spin loop");
#ifdef ROS
  while (ros::ok())
#else
  while (true)
#endif
  {
    this->spinOnce();
  }
}

bool MessageManager::add(MessageHandler * handler)
{
  bool rtn = false;

  if (NULL != handler)
  {
    if (this->getMaxNumHandlers() > this->getNumHandlers())
    {
      // If get handler returns NULL then a hander for the message type
      // does not exist and this one can be added, otherwise return
      // and error
      if (NULL == getHandler(handler->getMsgType()))
      {
        this->handlers_[this->getNumHandlers()] = handler;
        this->setNumHandlers(this->getNumHandlers() + 1);
        LOG_INFO("Added message handler for message type: %d", handler->getMsgType());
        rtn = true;
      }
      else
      {
        LOG_ERROR("Failed to add handler for: %d, handler already exists", handler->getMsgType());
        rtn = false;
      }
    }
    else
    {
      LOG_ERROR("Max number of hanlders exceeded");
      rtn = false;
    }
  }
  else
  {
    LOG_ERROR("NULL handler not added");
    rtn = false;
  }
  return rtn;
}

MessageHandler* MessageManager::getHandler(int msg_type)
{
  MessageHandler* rtn = NULL;
  MessageHandler* temp = NULL;

  for (unsigned int i = 0; i < this->getMaxNumHandlers(); i++)
  {
    temp = this->handlers_[i];
    // The handlers are searched until the appropriate handler is found
    // or a NULL value is found (signifies the end of the buffer);
    if (NULL != temp)
    {
      if (temp->getMsgType() == msg_type)
      {
        rtn = temp;
        break;
      }
    }
    else
    {
      rtn = NULL;
      LOG_WARN("Null value encountered, end of handlers reached");
      break;
    }
  }

  if (NULL == rtn)
  {
    LOG_WARN("Handler not found for type: %d", msg_type);
  }

  return rtn;
}

} // namespace message_manager
} // namespace industrial