////////////////////////////////////////////////////////////////////////////////////
///
/// \brief Creates a multicast listening socket to try and discover
/// subsystems on the network for dynamic selection of a component
/// ID.
///
/// \param[in] discovered List of discovered components performing Discovery.
/// \param[in] waitTimeMs How long to listen for.
/// \param[in] multicastGroup Multicast group to listen on.
///
/// \return True if was able to listen, false on failure to listen.
///
////////////////////////////////////////////////////////////////////////////////////
bool JUDP::ListenForSubsystems(Address::Set& discovered,
const unsigned int waitTimeMs,
const CxUtils::IP4Address& multicastGroup)
{
discovered.clear();
CxUtils::UdpSharedServer listen;
if(listen.InitializeSocket(JUDP::Port, multicastGroup))
{
Packet packet;
Header header;
UShort messageCode;
CxUtils::IP4Address ip;
Time::Stamp start = Time::GetUtcTimeMs();
while(Time::GetUtcTimeMs() - start < waitTimeMs)
{
if(listen.Recv(packet, ip))
{
packet.SetReadPos(1);
if(header.Read(packet) &&
packet.Read(messageCode))
{
discovered.insert(header.mSourceID);
}
}
}
return true;
}
return false;
}
////////////////////////////////////////////////////////////////////////////////////
///
/// \brief Prints status info about the Service to the console.
///
////////////////////////////////////////////////////////////////////////////////////
void AccessControl::PrintStatus() const
{
//Mutex::ScopedLock lock(&mControlMutex);
std::cout << "[" << GetServiceID().ToString() << "] - " << GetComponentID().ToString() << "\n";
Address controller;
Byte authority;
Address::Set controlled;
std::map<Address, bool> flags;
mControlMutex.Lock();
controller = mControllerID;
authority = mControllerAuthorityCode;
controlled = mControlledComponents;
flags = mControlFlags;
mControlMutex.Unlock();
if(controller.IsValid())
{
std::cout << "Controlled by: "
<< controller.ToString()
<< " Authority Code: "
<< (int)authority << std::endl;
}
if(controlled.size() > 0)
{
Address::Set::const_iterator c;
std::cout << "In Control of the Following:\n";
for(c = controlled.begin();
c != controlled.end();
c++)
{
if(flags.find(*c)->second)
{
std::cout << " - " << c->ToString() << std::endl;
}
}
}
}
////////////////////////////////////////////////////////////////////////////////////
///
/// \brief Method to release exclusive control of a component.
///
/// \param[in] id The ID of the component to request control of. If ID is
/// invalid (all zeros), then control is released to all
/// components.
/// \param[in] waitTimeMs How long to wait for a response in milliseconds
/// from the component being requested.
///
/// \return True if control is established, otherwise false.
///
////////////////////////////////////////////////////////////////////////////////////
bool AccessControl::ReleaseComponentControl(const Address& id,
const unsigned int waitTimeMs)
{
bool result = false;
if(id.IsValid() == false)
{
result = true;
Address::Set controlled;
mControlMutex.Lock();
controlled = mControlledComponents;
mControlMutex.Unlock();
Address::Set::iterator component;
for(component = controlled.begin();
component != controlled.end();
component++)
{
result &= ReleaseComponentControl(*component, waitTimeMs);
}
}
else
{
std::map<Address, bool>::iterator flag;
mControlMutex.Lock();
flag = mControlFlags.find(id);
if(flag != mControlFlags.end())
{
// If we lost control at some point, then
// we don't need to release it, just remove
// the component from our lists.
if(flag->second == false)
{
result = true;
// Remove the component from our lists.
EraseComponentControlInfo(id);
}
}
else
{
// Can't release control of a component
// we never requested control from.
result = true;
EraseComponentControlInfo(id);
}
mControlMutex.Unlock();
if(!result)
{
// Signal control routines to not
// try and maintain control for this component anymore.
mControlMutex.Lock();
mToReleaseControl.insert(id);
mControlMutex.Unlock();
// Send request to release control, and verify response.
ReleaseControl release(id, GetComponentID());
RejectControl reject;
if(Send(&release, &reject, waitTimeMs))
{
if(reject.GetResponseCode() == RejectControl::ControlReleased)
{
result = true;
Mutex::ScopedLock lock(&mControlMutex);
EraseComponentControlInfo(id);
}
}
// Remove ID.
mControlMutex.Lock();
mToReleaseControl.erase(mToReleaseControl.find(id));
mControlMutex.Unlock();
}
}
return result;
}
////////////////////////////////////////////////////////////////////////////////////
///
/// \brief Method called periodically by external classes and is used to
/// verify control of components.
///
/// \param[in] timeSinceLastCheckMs Number of milliseconds since the last time
/// this method was called.
///
////////////////////////////////////////////////////////////////////////////////////
void AccessControl::CheckServiceStatus(const unsigned int timeSinceLastCheckMs)
{
RequestControl request;
Address::Set lostComponents;
Time currentTime;
// Upgrade/Read lock
{
#ifdef JAUS_USE_UPGRADE_LOCKS
UpgradeLock uLock(mControlMutex);
#else
WriteLock wLock(mControlMutex);
#endif
request.SetSourceID(GetComponentID());
request.SetAuthorityCode(mAuthorityCode);
Address::Set::iterator component;
currentTime.SetCurrentTime();
for(component = mControlledComponents.begin();
component != mControlledComponents.end();
component++)
{
// If we are releasing control, do not check.
if(mToReleaseControl.find(*component) != mToReleaseControl.end())
{
continue;
}
// If we have not checked within timeout - .x seconds, then re-acquire control to
// maintain constant control of component.
double thresh = mTimeoutPeriods[*component]*mTimeoutThreshold/100.0;
double checkTimeDiff = currentTime.ToSeconds() - mControlCheckTimes[*component].ToSeconds();
double timeThresh = (mTimeoutPeriods[*component] - thresh);
bool checkConfirmation = true;
if(mTimeoutPeriods[*component] > 0 && checkTimeDiff >= thresh)
{
request.SetDestinationID(*component);
if(Send(&request))
{
// Update the check time.
#ifdef JAUS_USE_UPGRADE_LOCKS
UpgradeToUniqueLock upLock(uLock);
#endif
mControlCheckTimes[*component].SetCurrentTime();
checkConfirmation = false;
}
}
double confirmTimeDiff = currentTime.ToSeconds() - mControlConfirmTimes[*component].ToSeconds();
timeThresh = (mTimeoutPeriods[*component] + thresh);
// If we haven't been confirmed in this time, then we have lost control.
if(checkConfirmation && confirmTimeDiff > timeThresh)
{
mControlFlags[*component] = false;
lostComponents.insert(*component);
}
}
}
// Notify subscribers of any lost control events.
{
Address::Set::iterator lost;
for(lost = lostComponents.begin();
lost != lostComponents.end();
lost++)
{
// Generate events and callbacks.
ReadLock cbrLock(mCallbacksMutex);
Callback::Set::iterator cb;
for(cb = mCallbacks.begin();
cb != mCallbacks.end();
cb++)
{
(*cb)->ProcessLossOfControl(*lost);
}
}
}
Address controller; // Current controlling component.
bool timeout = false;
{
#ifdef JAUS_USE_UPGRADE_LOCKS
UpgradeLock uLock(mControlMutex);
#else
WriteLock wLock(mControlMutex);
#endif
controller = mControllerID;
currentTime.SetCurrentTime();
double timeSinceRequest = currentTime - mControllerCheckTime;
if(mTimeoutPeriod > 0 &&
controller.IsValid() &&
timeSinceRequest >= (double)mTimeoutPeriod + mTimeoutPeriod*mTimeoutThreshold/100.0)
{
timeout = true;
// Release control due to timeout.
RejectControl reject(controller, GetComponentID());
reject.SetResponseCode(RejectControl::ControlReleased);
Send(&reject);
if(DebugMessagesEnabled())
{
std::stringstream dMessage;
dMessage << "[" << GetServiceID().ToString() << "-" << mComponentID.ToString()
<< "] - Control Time from " << controller.ToString() << " at " << Time::GetUtcTime().ToString();
PrintDebugMessage(dMessage.str());
}
{
#ifdef JAUS_USE_UPGRADE_LOCKS
UpgradeToUniqueLock upLock(uLock);
#endif
// Clear values.
mControllerID.Clear();
mControllerAuthorityCode = 0;
mControllerCheckTime.Clear();
mControllerUpdateTime.Clear();
}
}
}
if(timeout)
{
{
ReadLock cbrLock(mCallbacksMutex);
Callback::Set::iterator cb;
for(cb = mCallbacks.begin();
cb != mCallbacks.end();
cb++)
{
(*cb)->ProcessReleaseOfControl(controller);
}
}
Service::Map children = GetChildServices();
Service::Map::iterator child;
for(child = children.begin();
child != children.end();
child++)
{
Child* controlChild = dynamic_cast<Child *>(child->second);
if(controlChild)
{
controlChild->ReleaseControl();
}
}
SignalEvent(REPORT_CONTROL);
}
}
