RemoteAuthority.h

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/*
 * Copyright (C) 2012 by
 *   MetraLabs GmbH (MLAB), GERMANY
 * and
 *   Neuroinformatics and Cognitive Robotics Labs (NICR) at TU Ilmenau, GERMANY
 * All rights reserved.
 *
 * Contact: info@mira-project.org
 *
 * Commercial Usage:
 *   Licensees holding valid commercial licenses may use this file in
 *   accordance with the commercial license agreement provided with the
 *   software or, alternatively, in accordance with the terms contained in
 *   a written agreement between you and MLAB or NICR.
 *
 * GNU General Public License Usage:
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 *   General Public License version 3.0 as published by the Free Software
 *   Foundation and appearing in the file LICENSE.GPL3 included in the
 *   packaging of this file. Please review the following information to
 *   ensure the GNU General Public License version 3.0 requirements will be
 *   met: http://www.gnu.org/copyleft/gpl.html.
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 */

#ifndef _MIRA_REMOTEAUTHORITY_H_
#define _MIRA_REMOTEAUTHORITY_H_

#include <fw/AbstractAuthority.h>
#include <fw/FrameworkDefines.h>

namespace mira {


class RemoteAuthority;
class RemoteAuthorityPropertyNode;

class PropertyTree;

class RemoteAuthorityPropertyUpdater : public LazySingleton<RemoteAuthorityPropertyUpdater>
{
public:

    RemoteAuthorityPropertyUpdater();
    ~RemoteAuthorityPropertyUpdater();

    // destroy instance to stop all updates and prevent further access to RPCs
    using LazySingleton<RemoteAuthorityPropertyUpdater>::destroyInstance;

    void scheduleUpdate(const std::string& authorityID, RemoteAuthorityPropertyNode* property);

    void removeScheduledUpdates(RemoteAuthorityPropertyNode* property);

private:
    void process();

private:
    boost::thread mThread;
    boost::mutex mMutex;
    boost::condition_variable mSignal;
    // queue with pairs of (Authority ID,PropertyNode)
    std::deque<std::pair<std::string,RemoteAuthorityPropertyNode*>> mPendingProperties;
};

class RemoteAuthorityRootPropertyNode : public RootPropertyNode
{
public:

    RemoteAuthorityRootPropertyNode(RemoteAuthority* iAuthority,
                                    RemoteAuthorityPropertyUpdater& iUpdater)
        : authority(iAuthority), updater(iUpdater)
    {}

public:

    const PropertyNode* getRootProperty() const
    {
        if (children().empty())
            return NULL;

        return children().front();
    }

    PropertyNode* getRootProperty()
    {
        const RemoteAuthorityRootPropertyNode* This = this;
        return const_cast<PropertyNode*>(This->getRootProperty());
    }

    const RemoteAuthority* getAuthority() const { return authority; }
    RemoteAuthority* getAuthority() { return authority; }

    RemoteAuthorityPropertyUpdater& getUpdater() const { return updater; }

protected:
    RemoteAuthority* authority;
    RemoteAuthorityPropertyUpdater& updater;
};


class RemoteAuthority : public AbstractAuthority
{
public:

    RemoteAuthority(const AuthorityDescription& desc);

    virtual ~RemoteAuthority();

public:


    virtual StatusManager::StatusMap getStatusMap();

    virtual boost::shared_ptr<PropertyNode> getProperties();

    virtual std::set<std::string> getPublishedChannels();

    virtual std::set<std::string> getSubscribedChannels();

    virtual std::set<std::string> getServiceInterfaces();

    virtual ChannelNameMapping getPublishedChannelNames();

    virtual ChannelNameMapping getSubscribedChannelNames();
    
    virtual ChannelStatusMap getSubscribedChannelStatus();

    virtual void start();

    virtual void stop();

    virtual bool hasUnrecoverableFailure() const;

    virtual bool isStarted() const;

    virtual bool isRunning() const;


    bool needSynchronizeProperties();
    void synchronizeProperties();

private:

    PropertyTree fetchProperties();

private:

    friend class RemoteAuthorityPropertyUpdater;

    boost::shared_ptr<RemoteAuthorityPropertyNode> mRemoteProperties;
    RemoteAuthorityRootPropertyNode mRemotePropertiesRoot;
    Time mRemotePropertiesTimestamp;
    bool mRemotePropertyValuesQueried;

    bool mHasServiceInterfaceQueryMethod;
    bool mHasExtendedPropertyJSONBatchQueryMethod;

    boost::mutex mMutex;
};


} // namespace

#endif