/**
* Invokes storage IO.
*/
int setVotedFor(NodeID node_id)
{
if (!node_id.isValid())
{
UAVCAN_ASSERT(0);
return -ErrInvalidParam;
}
tracer_.onEvent(TraceRaftVotedForUpdate, node_id.get());
StorageMarshaller io(storage_);
uint32_t tmp = node_id.get();
int res = io.setAndGetBack(getVotedForKey(), tmp);
if (res < 0)
{
return res;
}
if (node_id.get() != tmp)
{
return -ErrFailure;
}
voted_for_ = node_id;
return 0;
}
void handleTimerEvent(const TimerEvent&)
{
if (get_node_info_client_.hasPendingCalls())
{
return;
}
const NodeID node_id = pickNextNodeToQueryAndCleanupMap();
if (!node_id.isUnicast())
{
trace(TraceDiscoveryTimerStop, 0);
stop();
return;
}
if (!handler_.canDiscoverNewNodes())
{
return; // Timer must continue to run in order to not stuck when it unlocks
}
trace(TraceDiscoveryGetNodeInfoRequest, node_id.get());
UAVCAN_TRACE("dynamic_node_id_server::NodeDiscoverer", "Requesting GetNodeInfo from node %d",
int(node_id.get()));
const int res = get_node_info_client_.call(node_id, protocol::GetNodeInfo::Request());
if (res < 0)
{
getNode().registerInternalFailure("NodeDiscoverer GetNodeInfo call");
}
}
bool operator()(const NodeID node_id, const FirmwareFilePath&)
{
if (node_id.get() > owner.last_queried_node_id_ &&
!owner.begin_fw_update_client_.hasPendingCallToServer(node_id))
{
output = min(output, node_id.get());
}
return false;
}
TEST(NodeID, SettingNamespaceUri_And_Index)
{
uint32_t id = 1;
uint32_t ns = 2;
NodeID node = NumericNodeID(id, ns);
node.SetNamespaceURI("uri");
node.SetServerIndex(3);
ASSERT_TRUE(node.HasNamespaceURI());
ASSERT_TRUE(node.HasServerIndex());
}
void initialize(int port)
{
myport = port;
current.__set_ip(get_eth_ip());
current.__set_port(myport);
current.__set_id(sha256_ip_port_hex(current.ip, current.port));
NodeID noSet; // the finger table nodes are noSet at the start
ftable.assign(256,noSet);
predecessor = current;
successor = current;
ftable[0] = current;
}
void findSucc(NodeID& _return, const std::string& key) {
NodeID pred;
findPred(pred, key);
if (pred.id == current.id)
{
_return = successor;
_return.__set_count(pred.count);
return;
}
shared_ptr<DHTNodeClient> client(connectClientAgency(pred.ip, pred.port));
client->getNodeSucc(_return);
_return.__set_count(pred.count);
}
NodeID
calcNodeID (PublicKey const& pk)
{
ripesha_hasher h;
h(pk.data(), pk.size());
auto const digest = static_cast<
ripesha_hasher::result_type>(h);
static_assert(NodeID::bytes ==
sizeof(ripesha_hasher::result_type), "");
NodeID result;
std::memcpy(result.data(),
digest.data(), digest.size());
return result;
}
Frame(DataTypeID data_type_id, TransferType transfer_type, NodeID src_node_id, NodeID dst_node_id,
uint_fast8_t frame_index, TransferID transfer_id, bool last_frame = false)
: transfer_priority_(getDefaultPriorityForTransferType(transfer_type))
, transfer_type_(transfer_type)
, data_type_id_(data_type_id)
, payload_len_(0)
, src_node_id_(src_node_id)
, dst_node_id_(dst_node_id)
, frame_index_(frame_index)
, transfer_id_(transfer_id)
, last_frame_(last_frame)
{
UAVCAN_ASSERT((transfer_type == TransferTypeMessageBroadcast) == dst_node_id.isBroadcast());
UAVCAN_ASSERT(data_type_id.isValidForDataTypeKind(getDataTypeKindForTransferType(transfer_type)));
UAVCAN_ASSERT(src_node_id.isUnicast() ? (src_node_id != dst_node_id) : true);
UAVCAN_ASSERT(frame_index <= getMaxIndex());
}
/**
* Unicast the message to the specified destination Node ID.
* Returns negative error code.
*/
int unicast(const DataType& message, NodeID dst_node_id)
{
if (!dst_node_id.isUnicast())
{
UAVCAN_ASSERT(0);
return -ErrInvalidParam;
}
return BaseType::publish(message, TransferTypeMessageUnicast, dst_node_id);
}
void NodeTable::doDiscovery()
{
m_timers.schedule(c_bucketRefresh.count(), [this](boost::system::error_code const& _ec)
{
if (_ec)
// we can't use m_logger here, because captured this might be already destroyed
clog(VerbosityDebug, "discov")
<< "Discovery timer was probably cancelled: " << _ec.value() << " "
<< _ec.message();
if (_ec.value() == boost::asio::error::operation_aborted || m_timers.isStopped())
return;
LOG(m_logger) << "performing random discovery";
NodeID randNodeId;
crypto::Nonce::get().ref().copyTo(randNodeId.ref().cropped(0, h256::size));
crypto::Nonce::get().ref().copyTo(randNodeId.ref().cropped(h256::size, h256::size));
doDiscover(randNodeId, 0, make_shared<set<shared_ptr<NodeEntry>>>());
});
}
NodeID RippleAddress::getNodeID () const
{
switch (nVersion)
{
case TOKEN_NONE:
Throw<std::runtime_error> ("unset source - getNodeID");
case TOKEN_NODE_PUBLIC:
{
// Note, we are encoding the left.
NodeID node;
node.copyFrom(Hash160 (vchData));
return node;
}
default:
Throw<std::runtime_error> ("bad source: " + std::to_string(nVersion));
}
return {}; // Silence compiler warning.
}
virtual void handleTimerEvent(const TimerEvent&)
{
if (pending_nodes_.isEmpty())
{
TimerBase::stop();
UAVCAN_TRACE("FirmwareUpdateTrigger", "Timer stopped");
return;
}
const NodeID node_id = pickNextNodeID();
if (!node_id.isUnicast())
{
return;
}
FirmwareFilePath* const path = pending_nodes_.access(node_id);
if (path == UAVCAN_NULLPTR)
{
UAVCAN_ASSERT(0); // pickNextNodeID() returned a node ID that is not present in the map
return;
}
protocol::file::BeginFirmwareUpdate::Request req;
req.source_node_id = getNode().getNodeID().get();
if (!common_path_prefix_.empty())
{
req.image_file_remote_path.path += common_path_prefix_.c_str();
req.image_file_remote_path.path.push_back(protocol::file::Path::SEPARATOR);
}
req.image_file_remote_path.path += path->c_str();
UAVCAN_TRACE("FirmwareUpdateTrigger", "Request to %d with path: %s",
int(node_id.get()), req.image_file_remote_path.path.c_str());
const int call_res = begin_fw_update_client_.call(node_id, req);
if (call_res < 0)
{
getNode().registerInternalFailure("FirmwareUpdateTrigger call");
}
}
OutgoingTransferRegistryKey(DataTypeID data_type_id, TransferType transfer_type, NodeID destination_node_id)
: data_type_id_(data_type_id)
, transfer_type_(transfer_type)
, destination_node_id_(destination_node_id)
{
UAVCAN_ASSERT((transfer_type == TransferTypeMessageBroadcast) == destination_node_id.isBroadcast());
/*
* Service response transfers must use the same Transfer ID as matching service request transfer,
* so this registry is not applicable for service response transfers at all.
*/
UAVCAN_ASSERT(transfer_type != TransferTypeServiceResponse);
}
void findPred(NodeID& _return, const std::string& key) {
string left = current.id;
string middle = key;
string right = successor.id;
/*
bool flag;
flag = right > left ? (middle > left && middle <= right)
: ((middle > left && middle > right) ||
(middle < left && middle <= right));
**/
if (keyCompare(current.id, key, successor.id)) {
_return = current;
_return.__set_count(0);
return ;
}
for(int i = 255; i >= 0; i--) {
if (ftable[i].id.empty()) continue;
if (keyCompare(current.id, ftable[i].id, key)) {
boost::shared_ptr<TSocket> socket(new TSocket(ftable[i].ip.c_str(),
ftable[i].port));
boost::shared_ptr<TTransport> transport(new TBufferedTransport(socket));
boost::shared_ptr<TProtocol> protocol(new TBinaryProtocol(transport));
boost::shared_ptr<DHTNodeClient> client(new DHTNodeClient(protocol));
transport->open();
try {
client->findPred(_return, key);
} catch (...) {
client = boost::shared_ptr<DHTNodeClient>();
transport->close();
}
transport->close();
_return.__set_count(_return.count + 1);
return ;
}
}
assert(false);
}
int broadcastAllocationResponse(const UniqueID& unique_id, NodeID allocated_node_id)
{
Allocation msg;
msg.unique_id.resize(msg.unique_id.capacity());
copy(unique_id.begin(), unique_id.end(), msg.unique_id.begin());
msg.node_id = allocated_node_id.get();
trace(TraceAllocationResponse, msg.node_id);
return allocation_pub_.broadcast(msg);
}
bool needToQuery(NodeID node_id)
{
UAVCAN_ASSERT(node_id.isUnicast());
/*
* Fast check
*/
if (committed_node_mask_[node_id.get()])
{
return false;
}
/*
* Slow check - may involve full log search
*/
const INodeDiscoveryHandler::NodeAwareness awareness = handler_.checkNodeAwareness(node_id);
if (awareness == INodeDiscoveryHandler::NodeAwarenessUnknown)
{
return true;
}
else if (awareness == INodeDiscoveryHandler::NodeAwarenessKnownButNotCommitted)
{
removeNode(node_id);
return false;
}
else if (awareness == INodeDiscoveryHandler::NodeAwarenessKnownAndCommitted)
{
trace(TraceDiscoveryCommitCacheUpdated, node_id.get());
committed_node_mask_[node_id.get()] = true;
removeNode(node_id);
return false;
}
else
{
UAVCAN_ASSERT(0);
return false;
}
}
void finalizeNodeDiscovery(const UniqueID* unique_id_or_null, NodeID node_id)
{
trace(TraceDiscoveryNodeFinalized, node_id.get() | ((unique_id_or_null == NULL) ? 0U : 0x100U));
removeNode(node_id);
/*
* It is paramount to check if the server is still interested to receive this data.
* Otherwise, if the node appeared in the log while we were waiting for response, we'd end up with
* duplicate node ID in the log.
*/
if (needToQuery(node_id))
{
handler_.handleNewNodeDiscovery(unique_id_or_null, node_id);
}
}
virtual void handleTimerEvent(const TimerEvent&)
{
bool at_least_one_request_needed = false;
const NodeID next = pickNextNodeToQuery(at_least_one_request_needed);
if (next.isUnicast())
{
UAVCAN_ASSERT(at_least_one_request_needed);
getEntry(next).updated_since_last_attempt = false;
const int res = get_node_info_client_.call(next, protocol::GetNodeInfo::Request());
if (res < 0)
{
get_node_info_client_.getNode().registerInternalFailure("NodeInfoRetriever GetNodeInfo call");
}
}
else
{
if (!at_least_one_request_needed)
{
TimerBase::stop();
UAVCAN_TRACE("NodeInfoRetriever", "Timer stopped");
}
}
}
virtual void handleNodeInfoRetrieved(const NodeID node_id, const protocol::GetNodeInfo::Response& node_info)
{
FirmwareFilePath firmware_file_path;
const bool update_needed = checker_.shouldRequestFirmwareUpdate(node_id, node_info, firmware_file_path);
if (update_needed)
{
UAVCAN_TRACE("FirmwareUpdateTrigger", "Node ID %d requires update; file path: %s",
int(node_id.get()), firmware_file_path.c_str());
trySetPendingNode(node_id, firmware_file_path);
}
else
{
UAVCAN_TRACE("FirmwareUpdateTrigger", "Node ID %d does not need update", int(node_id.get()));
pending_nodes_.remove(node_id);
}
}
/*
* Methods of INodeInfoListener
*/
virtual void handleNodeInfoUnavailable(NodeID node_id)
{
UAVCAN_TRACE("FirmwareUpdateTrigger", "Node ID %d could not provide GetNodeInfo response", int(node_id.get()));
pending_nodes_.remove(node_id); // For extra paranoia
}
bool isVotedForSet() const { return voted_for_.isUnicast(); }
/**
* Initialization is performed as follows (every step may fail and return an error):
* 1. Log is restored or initialized.
* 2. Current term is restored. If there was no current term stored and the log is empty, it will be initialized
* with zero.
* 3. VotedFor value is restored. If there was no VotedFor value stored, the log is empty, and the current term is
* zero, the value will be initialized with zero.
*/
int init()
{
/*
* Reading log
*/
int res = log_.init();
if (res < 0)
{
UAVCAN_TRACE("dynamic_node_id_server::distributed::PersistentState", "Log init failed: %d", res);
return res;
}
const Entry* const last_entry = log_.getEntryAtIndex(log_.getLastIndex());
if (last_entry == UAVCAN_NULLPTR)
{
UAVCAN_ASSERT(0);
return -ErrLogic;
}
const bool log_is_empty = (log_.getLastIndex() == 0) && (last_entry->term == 0);
StorageMarshaller io(storage_);
/*
* Reading currentTerm
*/
if (storage_.get(getCurrentTermKey()).empty() && log_is_empty)
{
// First initialization
current_term_ = 0;
res = io.setAndGetBack(getCurrentTermKey(), current_term_);
if (res < 0)
{
UAVCAN_TRACE("dynamic_node_id_server::distributed::PersistentState",
"Failed to init current term: %d", res);
return res;
}
if (current_term_ != 0)
{
return -ErrFailure;
}
}
else
{
// Restoring
res = io.get(getCurrentTermKey(), current_term_);
if (res < 0)
{
UAVCAN_TRACE("dynamic_node_id_server::distributed::PersistentState",
"Failed to read current term: %d", res);
return res;
}
}
tracer_.onEvent(TraceRaftCurrentTermRestored, current_term_);
if (current_term_ < last_entry->term)
{
UAVCAN_TRACE("dynamic_node_id_server::distributed::PersistentState",
"Persistent storage is damaged: current term is less than term of the last log entry (%u < %u)",
unsigned(current_term_), unsigned(last_entry->term));
return -ErrLogic;
}
/*
* Reading votedFor
*/
if (storage_.get(getVotedForKey()).empty() && log_is_empty && (current_term_ == 0))
{
// First initialization
voted_for_ = NodeID(0);
uint32_t stored_voted_for = 0;
res = io.setAndGetBack(getVotedForKey(), stored_voted_for);
if (res < 0)
{
UAVCAN_TRACE("dynamic_node_id_server::distributed::PersistentState",
"Failed to init votedFor: %d", res);
return res;
}
if (stored_voted_for != 0)
{
return -ErrFailure;
}
}
else
{
// Restoring
uint32_t stored_voted_for = 0;
res = io.get(getVotedForKey(), stored_voted_for);
if (res < 0)
{
UAVCAN_TRACE("dynamic_node_id_server::distributed::PersistentState",
"Failed to read votedFor: %d", res);
return res;
}
if (stored_voted_for > NodeID::Max)
{
return -ErrInvalidConfiguration;
}
voted_for_ = NodeID(uint8_t(stored_voted_for));
}
tracer_.onEvent(TraceRaftVotedForRestored, voted_for_.get());
return 0;
}
NodeHandle FileHandle::get_node_from_id(NodeID id) const {
return NodeHandle(id.get_index(), get_shared_data());
}
void removeNode(const NodeID node_id)
{
node_map_.remove(node_id);
trace(TraceDiscoveryNodeRemoved, node_id.get());
}
// Returns the Unique ID recorded in the given NodeState
int getNodeID(const NodeState& state)
{
ROSE_ASSERT(puids);
NodeID* id = (NodeID*)state.getFact(puids, 0);
return id->getID();
}
NodeID::NodeID(const NodeID &n)
{
idArray = new char[129];
strncpy(idArray, n.toString().c_str(), 128);
idArray[n.toString().size()] = '\0';
};
int DynamicNodeIDClient::start(const protocol::HardwareVersion& hardware_version,
const NodeID preferred_node_id,
const TransferPriority transfer_priority)
{
terminate();
// Allocation is not possible if node ID is already set
if (dnida_pub_.getNode().getNodeID().isUnicast())
{
return -ErrLogic;
}
// Unique ID initialization & validation
copy(hardware_version.unique_id.begin(), hardware_version.unique_id.end(), unique_id_);
bool unique_id_is_zero = true;
for (uint8_t i = 0; i < sizeof(unique_id_); i++)
{
if (unique_id_[i] != 0)
{
unique_id_is_zero = false;
break;
}
}
if (unique_id_is_zero)
{
return -ErrInvalidParam;
}
if (!preferred_node_id.isValid()) // Only broadcast and unicast are allowed
{
return -ErrInvalidParam;
}
// Initializing the fields
preferred_node_id_ = preferred_node_id;
allocated_node_id_ = NodeID();
allocator_node_id_ = NodeID();
UAVCAN_ASSERT(preferred_node_id_.isValid());
UAVCAN_ASSERT(!allocated_node_id_.isValid());
UAVCAN_ASSERT(!allocator_node_id_.isValid());
// Initializing node objects - Rule A
int res = dnida_pub_.init();
if (res < 0)
{
return res;
}
dnida_pub_.allowAnonymousTransfers();
dnida_pub_.setPriority(transfer_priority);
res = dnida_sub_.start(AllocationCallback(this, &DynamicNodeIDClient::handleAllocation));
if (res < 0)
{
return res;
}
dnida_sub_.allowAnonymousTransfers();
startPeriodic(MonotonicDuration::fromMSec(protocol::dynamic_node_id::Allocation::DEFAULT_REQUEST_PERIOD_MS));
return 0;
}
void changeNodeStatus(const NodeID node_id, const Entry new_entry_value)
{
Entry& entry = getEntry(node_id);
if (entry.status != new_entry_value.status)
{
NodeStatusChangeEvent event;
event.node_id = node_id;
event.old_status = entry.status;
event.status = new_entry_value.status;
event.was_known = entry.time_since_last_update_ms100 >= 0;
UAVCAN_TRACE("NodeStatusMonitor", "Node %i [%s] status change: [%s] --> [%s]", int(node_id.get()),
(event.was_known ? "known" : "new"),
event.old_status.toString().c_str(), event.status.toString().c_str());
handleNodeStatusChange(event);
}
entry = new_entry_value;
}
//inline bool NodeID::operator <(const NodeID &nid)const
bool NodeID::operator <(const NodeID &nid)const
{
return this->toString()<nid.toString();
}