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isobus_task_controller_client.cpp
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//================================================================================================
/// @file isobus_task_controller_client.cpp
///
/// @brief A class to manage a client connection to a ISOBUS field computer's task controller
/// @author Adrian Del Grosso
///
/// @copyright 2023 The Open-Agriculture Developers
//================================================================================================
#include "isobus_task_controller_client.hpp"
#include "can_general_parameter_group_numbers.hpp"
#include "can_network_manager.hpp"
#include "can_stack_logger.hpp"
#include "system_timing.hpp"
#include "to_string.hpp"
#include <algorithm>
#include <array>
#include <cassert>
#include <cstring>
#if !defined CAN_STACK_DISABLE_THREADS && !defined ARDUINO
#include <thread>
#endif
namespace isobus
{
TaskControllerClient::TaskControllerClient(std::shared_ptr<PartneredControlFunction> partner, std::shared_ptr<InternalControlFunction> clientSource, std::shared_ptr<PartneredControlFunction> primaryVT) :
languageCommandInterface(clientSource, partner),
partnerControlFunction(partner),
myControlFunction(clientSource),
primaryVirtualTerminal(primaryVT)
{
}
TaskControllerClient::~TaskControllerClient()
{
terminate();
}
void TaskControllerClient::initialize(bool spawnThread)
{
// You cannot use this interface without having valid control functions.
assert(nullptr != myControlFunction);
assert(nullptr != partnerControlFunction);
partnerControlFunction->add_parameter_group_number_callback(static_cast<std::uint32_t>(CANLibParameterGroupNumber::ProcessData), process_rx_message, this);
partnerControlFunction->add_parameter_group_number_callback(static_cast<std::uint32_t>(CANLibParameterGroupNumber::Acknowledge), process_rx_message, this);
CANNetworkManager::CANNetwork.add_global_parameter_group_number_callback(static_cast<std::uint32_t>(CANLibParameterGroupNumber::ProcessData), process_rx_message, this);
if (!languageCommandInterface.get_initialized())
{
languageCommandInterface.initialize();
}
if (shouldTerminate)
{
shouldTerminate = false;
initialized = false;
}
if (!initialized)
{
#if !defined CAN_STACK_DISABLE_THREADS && !defined ARDUINO
if (spawnThread)
{
workerThread = new std::thread([this]() { worker_thread_function(); });
}
#endif
initialized = true;
}
}
void TaskControllerClient::add_request_value_callback(RequestValueCommandCallback callback, void *parentPointer)
{
LOCK_GUARD(Mutex, clientMutex);
RequestValueCommandCallbackInfo callbackData = { callback, parentPointer };
requestValueCallbacks.push_back(callbackData);
}
void TaskControllerClient::add_value_command_callback(ValueCommandCallback callback, void *parentPointer)
{
LOCK_GUARD(Mutex, clientMutex);
ValueCommandCallbackInfo callbackData = { callback, parentPointer };
valueCommandsCallbacks.push_back(callbackData);
}
void TaskControllerClient::remove_request_value_callback(RequestValueCommandCallback callback, void *parentPointer)
{
LOCK_GUARD(Mutex, clientMutex);
RequestValueCommandCallbackInfo callbackData = { callback, parentPointer };
auto callbackLocation = std::find(requestValueCallbacks.begin(), requestValueCallbacks.end(), callbackData);
if (requestValueCallbacks.end() != callbackLocation)
{
requestValueCallbacks.erase(callbackLocation);
}
}
void TaskControllerClient::remove_value_command_callback(ValueCommandCallback callback, void *parentPointer)
{
LOCK_GUARD(Mutex, clientMutex);
ValueCommandCallbackInfo callbackData = { callback, parentPointer };
auto callbackLocation = std::find(valueCommandsCallbacks.begin(), valueCommandsCallbacks.end(), callbackData);
if (valueCommandsCallbacks.end() != callbackLocation)
{
valueCommandsCallbacks.erase(callbackLocation);
}
}
void TaskControllerClient::configure(std::shared_ptr<DeviceDescriptorObjectPool> DDOP,
std::uint8_t maxNumberBoomsSupported,
std::uint8_t maxNumberSectionsSupported,
std::uint8_t maxNumberChannelsSupportedForPositionBasedControl,
bool reportToTCSupportsDocumentation,
bool reportToTCSupportsTCGEOWithoutPositionBasedControl,
bool reportToTCSupportsTCGEOWithPositionBasedControl,
bool reportToTCSupportsPeerControlAssignment,
bool reportToTCSupportsImplementSectionControl)
{
if (StateMachineState::Disconnected == get_state())
{
assert(nullptr != DDOP); // Client will not work without a DDOP.
generatedBinaryDDOP.clear();
ddopStructureLabel.clear();
userSuppliedVectorDDOP = nullptr;
ddopLocalizationLabel.fill(0x00);
ddopUploadMode = DDOPUploadType::ProgramaticallyGenerated;
clientDDOP = DDOP;
userSuppliedBinaryDDOP = nullptr;
userSuppliedBinaryDDOPSize_bytes = 0;
set_common_config_items(maxNumberBoomsSupported,
maxNumberSectionsSupported,
maxNumberChannelsSupportedForPositionBasedControl,
reportToTCSupportsDocumentation,
reportToTCSupportsTCGEOWithoutPositionBasedControl,
reportToTCSupportsTCGEOWithPositionBasedControl,
reportToTCSupportsPeerControlAssignment,
reportToTCSupportsImplementSectionControl);
}
else
{
// We don't want someone to erase our object pool or something while it is being used.
LOG_ERROR("[TC]: Cannot reconfigure TC client while it is running!");
}
}
void TaskControllerClient::configure(const std::uint8_t *binaryDDOP,
std::uint32_t DDOPSize,
std::uint8_t maxNumberBoomsSupported,
std::uint8_t maxNumberSectionsSupported,
std::uint8_t maxNumberChannelsSupportedForPositionBasedControl,
bool reportToTCSupportsDocumentation,
bool reportToTCSupportsTCGEOWithoutPositionBasedControl,
bool reportToTCSupportsTCGEOWithPositionBasedControl,
bool reportToTCSupportsPeerControlAssignment,
bool reportToTCSupportsImplementSectionControl)
{
if (StateMachineState::Disconnected == get_state())
{
assert(nullptr != binaryDDOP); // Client will not work without a DDOP.
assert(0 != DDOPSize);
generatedBinaryDDOP.clear();
ddopStructureLabel.clear();
userSuppliedVectorDDOP = nullptr;
ddopLocalizationLabel.fill(0x00);
ddopUploadMode = DDOPUploadType::UserProvidedBinaryPointer;
userSuppliedBinaryDDOP = binaryDDOP;
userSuppliedBinaryDDOPSize_bytes = DDOPSize;
set_common_config_items(maxNumberBoomsSupported,
maxNumberSectionsSupported,
maxNumberChannelsSupportedForPositionBasedControl,
reportToTCSupportsDocumentation,
reportToTCSupportsTCGEOWithoutPositionBasedControl,
reportToTCSupportsTCGEOWithPositionBasedControl,
reportToTCSupportsPeerControlAssignment,
reportToTCSupportsImplementSectionControl);
}
else
{
// We don't want someone to erase our object pool or something while it is being used.
LOG_ERROR("[TC]: Cannot reconfigure TC client while it is running!");
}
}
void TaskControllerClient::configure(std::shared_ptr<std::vector<std::uint8_t>> binaryDDOP,
std::uint8_t maxNumberBoomsSupported,
std::uint8_t maxNumberSectionsSupported,
std::uint8_t maxNumberChannelsSupportedForPositionBasedControl,
bool reportToTCSupportsDocumentation,
bool reportToTCSupportsTCGEOWithoutPositionBasedControl,
bool reportToTCSupportsTCGEOWithPositionBasedControl,
bool reportToTCSupportsPeerControlAssignment,
bool reportToTCSupportsImplementSectionControl)
{
if (StateMachineState::Disconnected == get_state())
{
assert(nullptr != binaryDDOP); // Client will not work without a DDOP.
ddopStructureLabel.clear();
generatedBinaryDDOP.clear();
ddopLocalizationLabel.fill(0x00);
userSuppliedVectorDDOP = binaryDDOP;
ddopUploadMode = DDOPUploadType::UserProvidedVector;
userSuppliedBinaryDDOP = nullptr;
userSuppliedBinaryDDOPSize_bytes = 0;
set_common_config_items(maxNumberBoomsSupported,
maxNumberSectionsSupported,
maxNumberChannelsSupportedForPositionBasedControl,
reportToTCSupportsDocumentation,
reportToTCSupportsTCGEOWithoutPositionBasedControl,
reportToTCSupportsTCGEOWithPositionBasedControl,
reportToTCSupportsPeerControlAssignment,
reportToTCSupportsImplementSectionControl);
}
else
{
// We don't want someone to erase our object pool or something while it is being used.
LOG_ERROR("[TC]: Cannot reconfigure TC client while it is running!");
}
}
void TaskControllerClient::restart()
{
if (initialized)
{
LOCK_GUARD(Mutex, clientMutex);
set_state(StateMachineState::Disconnected);
}
}
void TaskControllerClient::terminate()
{
if (initialized)
{
if (nullptr != partnerControlFunction)
{
partnerControlFunction->remove_parameter_group_number_callback(static_cast<std::uint32_t>(CANLibParameterGroupNumber::ProcessData), process_rx_message, this);
partnerControlFunction->remove_parameter_group_number_callback(static_cast<std::uint32_t>(CANLibParameterGroupNumber::Acknowledge), process_rx_message, this);
CANNetworkManager::CANNetwork.remove_global_parameter_group_number_callback(static_cast<std::uint32_t>(CANLibParameterGroupNumber::ProcessData), process_rx_message, this);
}
shouldTerminate = true;
#if !defined CAN_STACK_DISABLE_THREADS && !defined ARDUINO
if ((nullptr != workerThread) && (workerThread->get_id() != std::this_thread::get_id()))
{
workerThread->join();
delete workerThread;
workerThread = nullptr;
}
#endif
}
}
std::shared_ptr<InternalControlFunction> TaskControllerClient::get_internal_control_function() const
{
return myControlFunction;
}
std::shared_ptr<PartneredControlFunction> TaskControllerClient::get_partner_control_function() const
{
return partnerControlFunction;
}
std::uint8_t TaskControllerClient::get_number_booms_supported() const
{
return numberBoomsSupported;
}
std::uint8_t TaskControllerClient::get_number_sections_supported() const
{
return numberSectionsSupported;
}
std::uint8_t TaskControllerClient::get_number_channels_supported_for_position_based_control() const
{
return numberChannelsSupportedForPositionBasedControl;
}
bool TaskControllerClient::get_supports_documentation() const
{
return supportsDocumentation;
}
bool TaskControllerClient::get_supports_tcgeo_without_position_based_control() const
{
return supportsTCGEOWithoutPositionBasedControl;
}
bool TaskControllerClient::get_supports_tcgeo_with_position_based_control() const
{
return supportsTCGEOWithPositionBasedControl;
}
bool TaskControllerClient::get_supports_peer_control_assignment() const
{
return supportsPeerControlAssignment;
}
bool TaskControllerClient::get_supports_implement_section_control() const
{
return supportsImplementSectionControl;
}
bool TaskControllerClient::get_is_initialized() const
{
return initialized;
}
bool TaskControllerClient::get_is_connected() const
{
return (StateMachineState::Connected == currentState);
}
bool TaskControllerClient::get_is_task_active() const
{
return (get_is_connected() && (0 != (0x01 & tcStatusBitfield)));
}
bool TaskControllerClient::reupload_device_descriptor_object_pool(std::shared_ptr<std::vector<std::uint8_t>> binaryDDOP)
{
bool retVal = false;
LOCK_GUARD(Mutex, clientMutex);
if (StateMachineState::Connected == get_state())
{
assert(nullptr != binaryDDOP); // Client will not work without a DDOP.
assert(!binaryDDOP->empty()); // Client will not work without a DDOP.
ddopStructureLabel.clear();
generatedBinaryDDOP.clear();
ddopLocalizationLabel.fill(0x00);
userSuppliedVectorDDOP = binaryDDOP;
ddopUploadMode = DDOPUploadType::UserProvidedVector;
userSuppliedBinaryDDOP = nullptr;
userSuppliedBinaryDDOPSize_bytes = 0;
shouldReuploadAfterDDOPDeletion = true;
set_state(StateMachineState::DeactivateObjectPool);
clear_queues();
retVal = true;
LOG_INFO("[TC]: Requested to change the DDOP. Object pool will be deactivated for a little while.");
}
return retVal;
}
bool TaskControllerClient::reupload_device_descriptor_object_pool(std::uint8_t const *binaryDDOP, std::uint32_t DDOPSize)
{
bool retVal = false;
LOCK_GUARD(Mutex, clientMutex);
if (StateMachineState::Connected == get_state())
{
assert(nullptr != binaryDDOP); // Client will not work without a DDOP.
assert(0 != DDOPSize);
generatedBinaryDDOP.clear();
ddopStructureLabel.clear();
userSuppliedVectorDDOP = nullptr;
ddopLocalizationLabel.fill(0x00);
ddopUploadMode = DDOPUploadType::UserProvidedBinaryPointer;
userSuppliedBinaryDDOP = binaryDDOP;
userSuppliedBinaryDDOPSize_bytes = DDOPSize;
shouldReuploadAfterDDOPDeletion = true;
set_state(StateMachineState::DeactivateObjectPool);
clear_queues();
retVal = true;
LOG_INFO("[TC]: Requested to change the DDOP. Object pool will be deactivated for a little while.");
}
return retVal;
}
bool TaskControllerClient::reupload_device_descriptor_object_pool(std::shared_ptr<DeviceDescriptorObjectPool> DDOP)
{
bool retVal = false;
LOCK_GUARD(Mutex, clientMutex);
if (StateMachineState::Connected == get_state())
{
assert(nullptr != DDOP); // Client will not work without a DDOP.
generatedBinaryDDOP.clear();
ddopStructureLabel.clear();
userSuppliedVectorDDOP = nullptr;
ddopLocalizationLabel.fill(0x00);
ddopUploadMode = DDOPUploadType::ProgramaticallyGenerated;
clientDDOP = DDOP;
userSuppliedBinaryDDOP = nullptr;
userSuppliedBinaryDDOPSize_bytes = 0;
shouldReuploadAfterDDOPDeletion = true;
set_state(StateMachineState::DeactivateObjectPool);
clear_queues();
retVal = true;
LOG_INFO("[TC]: Requested to change the DDOP. Object pool will be deactivated for a little while.");
}
return retVal;
}
void TaskControllerClient::update()
{
switch (currentState)
{
case StateMachineState::Disconnected:
{
enableStatusMessage = false;
shouldReuploadAfterDDOPDeletion = false;
if (get_was_ddop_supplied())
{
set_state(StateMachineState::WaitForStartUpDelay);
}
}
break;
case StateMachineState::WaitForStartUpDelay:
{
if (SystemTiming::time_expired_ms(stateMachineTimestamp_ms, SIX_SECOND_TIMEOUT_MS))
{
LOG_DEBUG("[TC]: Startup delay complete, waiting for TC server status message.");
set_state(StateMachineState::WaitForServerStatusMessage);
}
}
break;
case StateMachineState::SendWorkingSetMaster:
{
if (send_working_set_master())
{
set_state(StateMachineState::SendStatusMessage);
}
else if (SystemTiming::time_expired_ms(stateMachineTimestamp_ms, TWO_SECOND_TIMEOUT_MS))
{
LOG_ERROR("[TC]: Timeout sending working set master message. Resetting client connection.");
set_state(StateMachineState::Disconnected);
}
}
break;
case StateMachineState::SendStatusMessage:
{
// Start sending the status message
if (send_status())
{
enableStatusMessage = true;
statusMessageTimestamp_ms = SystemTiming::get_timestamp_ms();
set_state(StateMachineState::RequestVersion);
}
else if (SystemTiming::time_expired_ms(stateMachineTimestamp_ms, TWO_SECOND_TIMEOUT_MS))
{
LOG_ERROR("[TC]: Timeout sending first status message. Resetting client connection.");
set_state(StateMachineState::Disconnected);
}
}
break;
case StateMachineState::RequestVersion:
{
if (send_version_request())
{
set_state(StateMachineState::WaitForRequestVersionResponse);
}
else if (SystemTiming::time_expired_ms(stateMachineTimestamp_ms, TWO_SECOND_TIMEOUT_MS))
{
LOG_ERROR("[TC]: Timeout sending version request message. Resetting client connection.");
set_state(StateMachineState::Disconnected);
}
}
break;
case StateMachineState::WaitForRequestVersionResponse:
{
if (SystemTiming::time_expired_ms(stateMachineTimestamp_ms, TWO_SECOND_TIMEOUT_MS))
{
LOG_ERROR("[TC]: Timeout waiting for version request response. Resetting client connection.");
set_state(StateMachineState::Disconnected);
}
}
break;
case StateMachineState::WaitForRequestVersionFromServer:
{
if (SystemTiming::time_expired_ms(stateMachineTimestamp_ms, SIX_SECOND_TIMEOUT_MS))
{
LOG_WARNING("[TC]: Timeout waiting for version request from TC. This is not required, so proceeding anways.");
select_language_command_partner();
set_state(StateMachineState::RequestLanguage);
}
}
break;
case StateMachineState::SendRequestVersionResponse:
{
if (send_request_version_response())
{
select_language_command_partner();
set_state(StateMachineState::RequestLanguage);
}
else if (SystemTiming::time_expired_ms(stateMachineTimestamp_ms, TWO_SECOND_TIMEOUT_MS))
{
LOG_ERROR("[TC]: Timeout sending version request response. Resetting client connection.");
set_state(StateMachineState::Disconnected);
}
}
break;
case StateMachineState::RequestLanguage:
{
if (languageCommandInterface.send_request_language_command())
{
set_state(StateMachineState::WaitForLanguageResponse);
languageCommandWaitingTimestamp_ms = SystemTiming::get_timestamp_ms();
}
else if (SystemTiming::time_expired_ms(stateMachineTimestamp_ms, SIX_SECOND_TIMEOUT_MS))
{
LOG_ERROR("[TC]: Timeout trying to send request for language command message. Resetting client connection.");
set_state(StateMachineState::Disconnected);
}
}
break;
case StateMachineState::WaitForLanguageResponse:
{
if ((SystemTiming::get_time_elapsed_ms(languageCommandInterface.get_language_command_timestamp()) < TWO_SECOND_TIMEOUT_MS) &&
("" != languageCommandInterface.get_language_code()))
{
set_state(StateMachineState::ProcessDDOP);
}
else if (SystemTiming::time_expired_ms(languageCommandWaitingTimestamp_ms, SIX_SECOND_TIMEOUT_MS))
{
LOG_WARNING("[TC]: Timeout waiting for language response. Moving on to processing the DDOP anyways.");
set_state(StateMachineState::ProcessDDOP);
}
else if ((SystemTiming::time_expired_ms(stateMachineTimestamp_ms, TWO_SECOND_TIMEOUT_MS)) &&
(nullptr != languageCommandInterface.get_partner()))
{
LOG_WARNING("[TC]: No response to our request for the language command data, which is unusual.");
if (nullptr != primaryVirtualTerminal)
{
LOG_WARNING("[TC]: Falling back to VT for language data.");
languageCommandInterface.set_partner(primaryVirtualTerminal);
languageCommandInterface.send_request_language_command();
stateMachineTimestamp_ms = SystemTiming::get_timestamp_ms();
}
else
{
LOG_WARNING("[TC]: Since no VT was specified, falling back to a global request for language data.");
languageCommandInterface.set_partner(nullptr);
languageCommandInterface.send_request_language_command();
stateMachineTimestamp_ms = SystemTiming::get_timestamp_ms();
}
}
}
break;
case StateMachineState::ProcessDDOP:
{
if (DDOPUploadType::ProgramaticallyGenerated == ddopUploadMode)
{
assert(0 != clientDDOP->size()); // Need to have a valid object pool!
if (serverVersion < clientDDOP->get_task_controller_compatibility_level())
{
clientDDOP->set_task_controller_compatibility_level(serverVersion); // Manipulate the DDOP slightly if needed to upload a version compatible DDOP
LOG_INFO("[TC]: DDOP will be generated using the server's version instead of the specified version. New version: " +
isobus::to_string(static_cast<int>(serverVersion)));
}
if (generatedBinaryDDOP.empty())
{
// Binary DDOP has not been generated before.
if (clientDDOP->generate_binary_object_pool(generatedBinaryDDOP))
{
process_labels_from_ddop();
LOG_DEBUG("[TC]: DDOP Generated, size: " + isobus::to_string(static_cast<int>(generatedBinaryDDOP.size())));
if ((!previousStructureLabel.empty()) && (ddopStructureLabel == previousStructureLabel))
{
LOG_ERROR("[TC]: You didn't properly update your new DDOP's structure label. ISO11783-10 states that an update to an object pool must include an updated structure label.");
}
previousStructureLabel = ddopStructureLabel;
set_state(StateMachineState::RequestStructureLabel);
}
else
{
LOG_ERROR("[TC]: Cannot proceed with connection to TC due to invalid DDOP. Check log for [DDOP] events. TC client will now terminate.");
terminate();
}
}
else
{
LOG_DEBUG("[TC]: Using previously generated DDOP binary");
set_state(StateMachineState::RequestStructureLabel);
}
}
else
{
if ((ddopLocalizationLabel.empty()) ||
(ddopStructureLabel.empty()))
{
LOG_DEBUG("[TC]: Beginning a search of pre-serialized DDOP for device structure and localization labels.");
process_labels_from_ddop();
if ((ddopLocalizationLabel.empty()) ||
(ddopStructureLabel.empty()))
{
LOG_ERROR("[TC]: Failed to parse the DDOP. Ensure you provided a valid device object. TC client will now terminate.");
terminate();
}
}
else
{
LOG_DEBUG("[TC]: Reusing previously located device labels.");
}
set_state(StateMachineState::RequestStructureLabel);
}
}
break;
case StateMachineState::RequestStructureLabel:
{
if (send_request_structure_label())
{
set_state(StateMachineState::WaitForStructureLabelResponse);
}
else if (SystemTiming::time_expired_ms(stateMachineTimestamp_ms, TWO_SECOND_TIMEOUT_MS))
{
LOG_ERROR("[TC]: Timeout trying to send request for TC structure label. Resetting client connection.");
set_state(StateMachineState::Disconnected);
}
}
break;
case StateMachineState::WaitForStructureLabelResponse:
{
if (SystemTiming::time_expired_ms(stateMachineTimestamp_ms, TWO_SECOND_TIMEOUT_MS))
{
LOG_ERROR("[TC]: Timeout waiting for TC structure label. Resetting client connection.");
set_state(StateMachineState::Disconnected);
}
}
break;
case StateMachineState::RequestLocalizationLabel:
{
if (send_request_localization_label())
{
set_state(StateMachineState::WaitForLocalizationLabelResponse);
}
else if (SystemTiming::time_expired_ms(stateMachineTimestamp_ms, TWO_SECOND_TIMEOUT_MS))
{
LOG_ERROR("[TC]: Timeout trying to send request for TC localization label. Resetting client connection.");
set_state(StateMachineState::Disconnected);
}
}
break;
case StateMachineState::WaitForLocalizationLabelResponse:
{
if (SystemTiming::time_expired_ms(stateMachineTimestamp_ms, TWO_SECOND_TIMEOUT_MS))
{
LOG_ERROR("[TC]: Timeout waiting for TC localization label. Resetting client connection.");
set_state(StateMachineState::Disconnected);
}
}
break;
case StateMachineState::SendDeleteObjectPool:
{
if (send_delete_object_pool())
{
set_state(StateMachineState::WaitForDeleteObjectPoolResponse);
}
else if (SystemTiming::time_expired_ms(stateMachineTimestamp_ms, TWO_SECOND_TIMEOUT_MS))
{
LOG_ERROR("[TC]: Timeout trying to send delete object pool message. Resetting client connection.");
set_state(StateMachineState::Disconnected);
}
}
break;
case StateMachineState::WaitForDeleteObjectPoolResponse:
{
if (SystemTiming::time_expired_ms(stateMachineTimestamp_ms, TWO_SECOND_TIMEOUT_MS))
{
LOG_ERROR("[TC]: Timeout waiting for delete object pool response. Resetting client connection.");
set_state(StateMachineState::Disconnected);
}
}
break;
case StateMachineState::SendRequestTransferObjectPool:
{
if (send_request_object_pool_transfer())
{
set_state(StateMachineState::WaitForRequestTransferObjectPoolResponse);
}
else if (SystemTiming::time_expired_ms(stateMachineTimestamp_ms, TWO_SECOND_TIMEOUT_MS))
{
LOG_ERROR("[TC]: Timeout trying to send request to transfer object pool. Resetting client connection.");
set_state(StateMachineState::Disconnected);
}
}
break;
case StateMachineState::WaitForRequestTransferObjectPoolResponse:
{
if (SystemTiming::time_expired_ms(stateMachineTimestamp_ms, TWO_SECOND_TIMEOUT_MS))
{
LOG_ERROR("[TC]: Timeout waiting for request transfer object pool response. Resetting client connection.");
set_state(StateMachineState::Disconnected);
}
}
break;
case StateMachineState::BeginTransferDDOP:
{
bool transmitSuccessful = false;
std::uint32_t dataLength = 0;
switch (ddopUploadMode)
{
case DDOPUploadType::ProgramaticallyGenerated:
{
dataLength = static_cast<std::uint32_t>(generatedBinaryDDOP.size() + 1); // Account for Mux byte
}
break;
case DDOPUploadType::UserProvidedBinaryPointer:
{
dataLength = static_cast<std::uint32_t>(userSuppliedBinaryDDOPSize_bytes + 1);
}
break;
case DDOPUploadType::UserProvidedVector:
{
dataLength = static_cast<std::uint32_t>(userSuppliedVectorDDOP->size() + 1);
}
break;
default:
break;
}
assert(0 != dataLength);
transmitSuccessful = CANNetworkManager::CANNetwork.send_can_message(static_cast<std::uint32_t>(CANLibParameterGroupNumber::ProcessData),
nullptr,
dataLength,
myControlFunction,
partnerControlFunction,
CANIdentifier::CANPriority::PriorityLowest7,
process_tx_callback,
this,
process_internal_object_pool_upload_callback);
if (transmitSuccessful)
{
set_state(StateMachineState::WaitForDDOPTransfer);
}
else if (SystemTiming::time_expired_ms(stateMachineTimestamp_ms, TWO_SECOND_TIMEOUT_MS))
{
LOG_ERROR("[TC]: Timeout trying to begin the object pool upload. Resetting client connection.");
set_state(StateMachineState::Disconnected);
}
}
break;
case StateMachineState::WaitForDDOPTransfer:
case StateMachineState::WaitForServerStatusMessage:
{
// Waiting...
}
break;
case StateMachineState::WaitForObjectPoolTransferResponse:
{
if (SystemTiming::time_expired_ms(stateMachineTimestamp_ms, TWO_SECOND_TIMEOUT_MS))
{
LOG_ERROR("[TC]: Timeout waiting for object pool transfer response. Resetting client connection.");
set_state(StateMachineState::Disconnected);
}
}
break;
case StateMachineState::SendObjectPoolActivate:
{
if (send_object_pool_activate())
{
set_state(StateMachineState::WaitForObjectPoolActivateResponse);
}
else if (SystemTiming::time_expired_ms(stateMachineTimestamp_ms, TWO_SECOND_TIMEOUT_MS))
{
LOG_ERROR("[TC]: Timeout trying to activate object pool. Resetting client connection.");
set_state(StateMachineState::Disconnected);
}
}
break;
case StateMachineState::WaitForObjectPoolActivateResponse:
{
if (SystemTiming::time_expired_ms(stateMachineTimestamp_ms, TWO_SECOND_TIMEOUT_MS))
{
LOG_ERROR("[TC]: Timeout waiting for activate object pool response. Resetting client connection.");
set_state(StateMachineState::Disconnected);
}
}
break;
case StateMachineState::Connected:
{
if (SystemTiming::time_expired_ms(serverStatusMessageTimestamp_ms, SIX_SECOND_TIMEOUT_MS))
{
LOG_ERROR("[TC]: Server Status Message Timeout. The TC may be offline.");
set_state(StateMachineState::Disconnected);
}
else
{
process_queued_commands();
process_queued_threshold_commands();
}
}
break;
case StateMachineState::DeactivateObjectPool:
{
if (send_object_pool_deactivate())
{
set_state(StateMachineState::WaitForObjectPoolDeactivateResponse);
}
else if (SystemTiming::time_expired_ms(stateMachineTimestamp_ms, TWO_SECOND_TIMEOUT_MS))
{
LOG_ERROR("[TC]: Timeout sending object pool deactivate. Client terminated.");
set_state(StateMachineState::Disconnected);
terminate();
}
}
break;
case StateMachineState::WaitForObjectPoolDeactivateResponse:
{
if (SystemTiming::time_expired_ms(stateMachineTimestamp_ms, TWO_SECOND_TIMEOUT_MS))
{
if (shouldReuploadAfterDDOPDeletion)
{
LOG_WARNING("[TC]: Timeout waiting for deactivate object pool response. This is unusual, but we're just going to reconnect anyways.");
shouldReuploadAfterDDOPDeletion = false;
set_state(StateMachineState::ProcessDDOP);
}
else
{
LOG_ERROR("[TC]: Timeout waiting for deactivate object pool response. Client terminated.");
set_state(StateMachineState::Disconnected);
terminate();
}
}
}
break;
default:
{
assert(false); // Unknown state? File a bug on GitHub if you see this happen.
}
break;
}
if ((enableStatusMessage) &&
(SystemTiming::time_expired_ms(statusMessageTimestamp_ms, TWO_SECOND_TIMEOUT_MS)) &&
(send_status()))
{
statusMessageTimestamp_ms = SystemTiming::get_timestamp_ms();
}
}
bool TaskControllerClient::ProcessDataCallbackInfo::operator==(const ProcessDataCallbackInfo &obj) const
{
return ((obj.ddi == this->ddi) && (obj.elementNumber == this->elementNumber));
}
bool TaskControllerClient::RequestValueCommandCallbackInfo::operator==(const RequestValueCommandCallbackInfo &obj) const
{
return (obj.callback == this->callback) && (obj.parent == this->parent);
}
bool TaskControllerClient::ValueCommandCallbackInfo::operator==(const ValueCommandCallbackInfo &obj) const
{
return (obj.callback == this->callback) && (obj.parent == this->parent);
}
void TaskControllerClient::clear_queues()
{
queuedValueRequests.clear();
queuedValueCommands.clear();
measurementTimeIntervalCommands.clear();
measurementMinimumThresholdCommands.clear();
measurementMaximumThresholdCommands.clear();
measurementOnChangeThresholdCommands.clear();
}
bool TaskControllerClient::get_was_ddop_supplied() const
{
bool retVal = false;
switch (ddopUploadMode)
{
case DDOPUploadType::ProgramaticallyGenerated:
{
retVal = (nullptr != clientDDOP);
}
break;
case DDOPUploadType::UserProvidedBinaryPointer:
{
retVal = (nullptr != userSuppliedBinaryDDOP) &&
(0 != userSuppliedBinaryDDOPSize_bytes);
}
break;
case DDOPUploadType::UserProvidedVector:
{
retVal = (nullptr != userSuppliedVectorDDOP) &&
(!userSuppliedVectorDDOP->empty());
}
break;
default:
break;
}
return retVal;
}
void TaskControllerClient::process_labels_from_ddop()
{
std::uint32_t currentByteIndex = 0;
const std::string DEVICE_TABLE_ID = "DVC";
constexpr std::uint8_t DESIGNATOR_BYTE_OFFSET = 5;
constexpr std::uint8_t CLIENT_NAME_LENGTH = 8;
switch (ddopUploadMode)
{
case DDOPUploadType::ProgramaticallyGenerated:
{
assert(nullptr != clientDDOP); // You need a DDOP
// Does your DDOP have a device object? Device object 0 is required by ISO11783-10
auto deviceObject = clientDDOP->get_object_by_id(0);
assert(nullptr != deviceObject);
assert(task_controller_object::ObjectTypes::Device == deviceObject->get_object_type());
ddopStructureLabel = std::static_pointer_cast<task_controller_object::DeviceObject>(deviceObject)->get_structure_label();
while (ddopStructureLabel.size() < task_controller_object::DeviceObject::MAX_STRUCTURE_AND_LOCALIZATION_LABEL_LENGTH)
{
ddopStructureLabel.push_back(' ');
}
ddopLocalizationLabel = std::static_pointer_cast<task_controller_object::DeviceObject>(deviceObject)->get_localization_label();
}
break;
case DDOPUploadType::UserProvidedBinaryPointer:
case DDOPUploadType::UserProvidedVector:
{
auto getDDOPSize = [this]() {
if (ddopUploadMode == DDOPUploadType::UserProvidedBinaryPointer)
{
return userSuppliedBinaryDDOPSize_bytes;
}
else
{
return static_cast<std::uint32_t>(userSuppliedVectorDDOP->size());
}
};
auto getDDOPByteAt = [this](std::size_t index) {
if (ddopUploadMode == DDOPUploadType::UserProvidedBinaryPointer)
{
return userSuppliedBinaryDDOP[index];
}
else
{
return userSuppliedVectorDDOP->at(index);
}
};
// Searching for "DVC"
while (currentByteIndex < (getDDOPSize() - DEVICE_TABLE_ID.size()))
{
if ((DEVICE_TABLE_ID[0] == getDDOPByteAt(currentByteIndex)) &&
(DEVICE_TABLE_ID[1] == getDDOPByteAt(currentByteIndex + 1)) &&
(DEVICE_TABLE_ID[2] == getDDOPByteAt(currentByteIndex + 2)))
{
// We have to do a lot of error checking on the DDOP length
// This is because we don't control the content of this DDOP, and have no
// assurances that the schema is even valid
assert((currentByteIndex + DESIGNATOR_BYTE_OFFSET) < getDDOPSize()); // Not enough bytes to read the designator length
currentByteIndex += DESIGNATOR_BYTE_OFFSET; // Skip to the next variable length part of the object
const std::uint32_t DESIGNATOR_LENGTH = getDDOPByteAt(currentByteIndex); // "N", See Table A.1
assert(currentByteIndex + DESIGNATOR_LENGTH < getDDOPSize()); // Not enough bytes in your DDOP!
currentByteIndex += DESIGNATOR_LENGTH + 1;