add new interface: getSensors()

IDL/Processes/IOController_i.idl

@@ -194,6 +194,18 @@ interface IOController_i : ObjectsManager_i
 
 	ShortIOInfo getChangedTime(in SensorInfo si) raises(NameNotFound);
 
+
+	/*!     */
+	struct ShortMap
+	{
+		UniversalIO::IOTypes type;
+		long value;
+		long id;
+	};
+
+	typedef sequence<ShortMap> ShortMapSeq;
+
+	ShortMapSeq getSensors();
 };
 
 // --------------------------------------------------------------------------------------------------------------

conf/test.xml

@@ -53,6 +53,11 @@
 		</History>
 	</SharedMemory>
 
+	<UniExchange name="UniExchange">
+		<item name="UniExchange2" node_id="Node2" sid_connection=""/>
+		<item id="3001" node_id="Node2" sid_connection=""/>
+	</UniExchange>
+
 	<MBMaster1 name="MBMaster1" iaddr="127.0.0.1" addr="0x31" port="30000" 
 			 levels="info,warn,crit" poll_time="200" reply_timeout="60"
 	/>
@@ -156,6 +161,8 @@
 
 	<controllers name="Controllers">
 		<item name="SharedMemory"/>
+		<item name="UniExchange"/>
+		<item name="UniExchange2"/>
 	</controllers>
 
 	<!-- *******************   ***************** -->

extensions/UniNetwork/UniExchange.cc

@@ -9,10 +9,21 @@ using namespace std;
 using namespace UniSetTypes;
 using namespace UniSetExtensions;
 // --------------------------------------------------------------------------
+UniExchange::NetNodeInfo::NetNodeInfo():
+	oref(CORBA::Object::_nil()),
+	id(DefaultObjectId),
+	node(conf->getLocalNode()),
+	sidConnection(DefaultObjectId),
+	smap(1)
+{
+
+}
+// --------------------------------------------------------------------------
 UniExchange::UniExchange( UniSetTypes::ObjectId id, UniSetTypes::ObjectId shmID, 
 							SharedMemory* ic, const std::string prefix ):
 IOController(id),
-shm(0)
+shm(0),
+polltime(200)
 {
 	cnode = conf->getNode(myname);
 	if( cnode == NULL )
@@ -29,8 +40,6 @@ shm(0)
 
 	if( it.goChildren() )
 	{
-		UniSetTypes::ObjectId l_id = getSharedMemoryID();
-	
 		for( ; it.getCurrent(); it.goNext() )
 		{
 			UniSetTypes::ObjectId id;
@@ -39,10 +48,14 @@ shm(0)
 			if( !n.empty() )
 				id = it.getIntProp("id");
 			else
-				id = conf->getControllerID(n);
+				id = conf->getControllerID( it.getProp("name") );
 				
 			if( id == DefaultObjectId )
+			{
+				if( n.empty() )
+					n = it.getProp("name");
 				throw SystemError("(UniExchange): Uknown ID for " + n );
+			}
 
 			UniSetTypes::ObjectId node;
 
@@ -86,87 +99,88 @@ void UniExchange::execute()
 	{
 		for( NetNodeList::iterator it=nlst.begin(); it!=nlst.end(); ++it )
 		{
+			bool ok = false;
 			try
 			{
-				bool ok = false;;
-/*
-				dlog[Debug::INFO] << myname << ": resolve id=" << it->id
-											<< " name="        << conf->oind->getNameById(it->id)
-											<< " node="        << it->node
-											<< endl;
-*/
-				for( 
-				unsigned int i=0; i<conf->getRepeatCount(); i++)
-				{
-					try
-					{
-						if( CORBA::is_nil(it->oref) )
-						{
-							it->oref = ui.resolve( it->id, it->node );
-						}
-
-						if( CORBA::is_nil(it->oref) ) 
-							continue;
-
-						it->shm = IONotifyController_i::_narrow(it->oref);
-						if( CORBA::is_nil(it->shm) )
-						{ 
-							it->oref = CORBA::Object::_nil();
-							msleep(conf->getRepeatTimeout());
-							continue;
-						}
-						
-						if ( it->shm->exist() )
-						{
-							dlog[Debug::INFO] << " node=" << it->node << ": resolve OK ***" << endl;
-							ok = true;
-							break;
-						}
-						
-					}
-					catch(CORBA::TRANSIENT){}
-					catch(CORBA::OBJECT_NOT_EXIST){}
-					catch(CORBA::SystemException& ex){}
-					catch(...){}
-
-					it->oref = CORBA::Object::_nil();
-					msleep(conf->getRepeatTimeout());
-				}
-
-				if( it->sidConnection != DefaultObjectId )
-				{
-					try
-					{
-//						shm->saveLocalState( it->sidConnection, ok );
-						ui.saveState(it->sidConnection, ok, UniversalIO::DigitalInput,conf->getLocalNode());
-					}
-					catch(...){dlog[Debug::CRIT]<< myname << "(execute): sensor not avalible "<< conf->oind->getNameById( it->sidConnection) <<endl; }
-				}
-
-				if( !ok )
-				{
-					dlog[Debug::INFO] << "****** cannot connect with node=" << it->node << endl;
-					continue;
-				}
+				IOController_i::ShortMapSeq_var sseq = ui.getSensors( it->id, it->node );
+				ok = true;
+				it->update(sseq,shm);
 			}
-			
 			catch( Exception& ex )
 			{
-				cout  << myname << "(execute): " << ex << endl;
+				dlog[Debug::INFO]  << myname << "(execute): " << ex << endl;
 			}
 			catch( ... )
 			{
-				cout  << myname << "(execute): catch ..." << endl;
+				dlog[Debug::INFO]  << myname << "(execute): catch ..." << endl;
 			}
-			
+	
+			if( it->sidConnection != DefaultObjectId )
+			{
+				try
+				{
+					shm->localSaveState(it->conn_dit,it->sidConnection,ok,getId());
+				}
+				catch(...)
+				{
+					dlog[Debug::CRIT]<< myname << "(execute): sensor not avalible "
+							<< conf->oind->getNameById( it->sidConnection) 
+							<< endl; 
+				}
+			}
+
+			if( !ok )
+				dlog[Debug::INFO] << "****** cannot connect with node=" << it->node << endl;
 		}
 	
-		msleep(200);
+		msleep(polltime);
 	}
 }
 // -----------------------------------------------------------------------------
+void UniExchange::NetNodeInfo::update( IOController_i::ShortMapSeq_var& map, SMInterface* shm  )
+{
+	bool reinit = false;
+	if( smap.size() != map->length() )
+	{
+		reinit = true;
+		// init new map...
+		smap.resize(map->length());
+	}
+	
+	int size = map->length();
+	for( int i=0; i<size; i++ )
+	{
+		if( reinit )
+		{
+			shm->initDIterator(smap[i].dit);
+			shm->initAIterator(smap[i].ait);
+		}
+		
+		try
+		{
+			if( map[i].type == UniversalIO::DigitalInput )
+				shm->localSaveState( smap[i].dit, map[i].id, (map[i].value ? true : false ), shm->ID() );
+			else if( map[i].type == UniversalIO::DigitalOutput )
+				shm->localSetState( smap[i].dit, map[i].id, (map[i].value ? true : false ), shm->ID() );
+			else if( map[i].type == UniversalIO::AnalogInput )
+				shm->localSaveValue( smap[i].ait, map[i].id, map[i].value, shm->ID() );
+			else if( map[i].type == UniversalIO::AnalogOutput )
+				shm->localSetValue( smap[i].ait, map[i].id, map[i].value, shm->ID() );
+		}
+		catch( Exception& ex )
+		{
+			dlog[Debug::INFO]  << "(update): " << ex << endl;
+		}
+		catch( ... )
+		{
+			dlog[Debug::INFO]  << "(update): catch ..." << endl;
+		}
+	}
+}
+// --------------------------------------------------------------------------
 void UniExchange::askSensors( UniversalIO::UIOCommand cmd )
 {
+
 }
 // -----------------------------------------------------------------------------
 void UniExchange::processingMessage( UniSetTypes::VoidMessage* msg )
@@ -248,7 +262,9 @@ UniExchange* UniExchange::init_exchange( int argc, const char* const* argv,
 										UniSetTypes::ObjectId icID, SharedMemory* ic, 
 											const std::string prefix )
 {
-	string nm(conf->getArgParam("--uniexchange-id","UniExchange"));
+	string p("--" + prefix + "-id");
+	string nm(UniSetTypes::getArgParam(p,argc,argv,"UniExchange"));
+
 	UniSetTypes::ObjectId ID = conf->getControllerID(nm);
 	if( ID == UniSetTypes::DefaultObjectId )
 	{
@@ -259,16 +275,6 @@ UniExchange* UniExchange::init_exchange( int argc, const char* const* argv,
 	return new UniExchange(ID,icID,ic,prefix);
 }
 // -----------------------------------------------------------------------------
-IOController_i::ASensorInfoSeq* UniExchange::getAnalogSensorsMap()
-{
-
-}
-// -----------------------------------------------------------------------------
-IOController_i::DSensorInfoSeq* UniExchange::getDigitalSensorsMap()
-{
-
-}
-// -----------------------------------------------------------------------------
 void UniExchange::readConfiguration()
 {
 #warning     !!!

extensions/UniNetwork/UniExchange.h

@@ -19,9 +19,6 @@ class UniExchange:
 
 		void execute();
 
-		virtual IOController_i::ASensorInfoSeq* getAnalogSensorsMap();
-		virtual IOController_i::DSensorInfoSeq* getDigitalSensorsMap();
-
 		static UniExchange* init_exchange( int argc, const char* const* argv,
 									UniSetTypes::ObjectId shmID, SharedMemory* ic=0,
 									const std::string prefix="unet" );
@@ -43,13 +40,27 @@ class UniExchange:
 		std::string s_fvalue;
 		SMInterface* shm;
 		
+		struct SInfo
+		{
+			IOController::DIOStateList::iterator dit;
+			IOController::AIOStateList::iterator ait;
+		};
+		
+		typedef std::vector<SInfo> SList;
+		
 		struct NetNodeInfo
 		{
+			NetNodeInfo();
+		
 			CORBA::Object_var oref;
-			IONotifyController_i_var shm;
+			IOController_i_var shm;
 			UniSetTypes::ObjectId id;
 			UniSetTypes::ObjectId node;
 			UniSetTypes::ObjectId sidConnection; /*!<   */
+			IOController::DIOStateList::iterator conn_dit;
+			SList smap;
+			
+			void update(IOController_i::ShortMapSeq_var& map, SMInterface* shm );
 		};
 		
 		typedef std::list<NetNodeInfo> NetNodeList;
@@ -60,6 +71,8 @@ class UniExchange:
 		bool readItem( UniXML& xml, UniXML_iterator& it, xmlNode* sec );
 		bool initItem( UniXML_iterator& it );
 		
+		int polltime;
+		
 	private:
 };
 // -----------------------------------------------------------------------------

extensions/UniNetwork/create_links.sh

+#!/bin/sh
+
+ln -s -f ../../Utilities/scripts/uniset-start.sh 
+ln -s -f ../../Utilities/scripts/uniset-stop.sh stop.sh
+ln -s -f ../../Utilities/scripts/uniset-functions.sh 
+ln -s -f ../../conf/test.xml test.xml

extensions/UniNetwork/start_fg.sh

@@ -4,7 +4,5 @@ export LD_LIBRARY_PATH="../../lib/.libs;../lib/.libs"
 
 ulimit -Sc 10000000000
 
-./uniset-start.sh -f ./uniset-network --smemory-id SharedMemory \
---unideb-add-levels info,crit,warn,level9,system \
---dlog-add-levels info,crit,warn
+./uniset-start.sh -f ./uniset-network --confile test.xml --unet-id SharedMemory
 

extensions/UniNetwork/uninet.cc

@@ -28,7 +28,6 @@ int main(int argc, const char **argv)
 		unideb.logFile( logname.c_str() );
 		dlog.logFile( logname.c_str() );
 
-
 		ObjectId shmID = DefaultObjectId;
 		string sID = conf->getArgParam("--smemory-id");
 		if( !sID.empty() )
@@ -51,7 +50,8 @@ int main(int argc, const char **argv)
 		act.addObject(static_cast<class UniSetObject*>(shm));
 		SystemMessage sm(SystemMessage::StartUp); 
 		act.broadcast( sm.transport_msg() );
-		act.run(false);
+		act.run(true);
+		shm->execute();
 		return 0;
 	}
 	catch(SystemError& err)

include/IOController.h

@@ -124,6 +124,8 @@ class IOController:
 													
 		virtual IOController_i::ShortIOInfo getChangedTime(const IOController_i::SensorInfo& si);
 
+		virtual IOController_i::ShortMapSeq* getSensors();
+
 	public:
 
 		struct DependsInfo;

include/UniversalInterface.h

@@ -197,7 +197,8 @@ class UniversalInterface
 		UniSetTypes::ObjectType getType(UniSetTypes::ObjectId id);
 
 		IOController_i::ShortIOInfo getChangedTime( UniSetTypes::ObjectId id, UniSetTypes::ObjectId node );
-
+		IOController_i::ShortMapSeq* getSensors( UniSetTypes::ObjectId id, 
+													UniSetTypes::ObjectId node=UniSetTypes::conf->getLocalNode() );
 
 //		/*!     */
 		void registered(UniSetTypes::ObjectId id, const UniSetTypes::ObjectPtr oRef, bool force=false)throw(UniSetTypes::ORepFailed);

src/Interfaces/UniversalInterface.cc

@@ -2986,6 +2986,69 @@ UniSetTypes::IDSeq_var UniversalInterface::askSensorsSeq( UniSetTypes::IDList& l
 	throw UniSetTypes::TimeOut(set_err("UI(askSensorSeq): TimeOut  ",sid,conf->getLocalNode()));
 }
 // -----------------------------------------------------------------------------
+IOController_i::ShortMapSeq* UniversalInterface::getSensors( UniSetTypes::ObjectId id, UniSetTypes::ObjectId node )
+{
+	try
+	{
+		CORBA::Object_var oref;
+		try
+		{
+			oref = rcache.resolve(id,node);
+		}
+		catch( NameNotFound ){}
+
+		for( unsigned int i=0; i<uconf->getRepeatCount(); i++)
+		{
+			try
+			{
+				if( CORBA::is_nil(oref) )
+					oref = resolve(id,node);
+
+				IOController_i_var iom = IOController_i::_narrow(oref);
+				return iom->getSensors();
+			}
+			catch(CORBA::TRANSIENT){}
+			catch(CORBA::OBJECT_NOT_EXIST){}
+			catch(CORBA::SystemException& ex){}
+			msleep(uconf->getRepeatTimeout());
+			oref = CORBA::Object::_nil();
+		}
+	}
+	catch(UniSetTypes::TimeOut){}
+	catch(IOController_i::NameNotFound &ex)
+	{
+		rcache.erase(id,node);
+		throw NameNotFound("UI(getSensors): "+string(ex.err));
+	}
+	catch(ORepFailed)
+	{
+		rcache.erase(id,node);
+		//      
+		throw IOBadParam(set_err("UI(getSensors):       ",id,node));
+	}	
+	catch(CORBA::NO_IMPLEMENT)
+	{
+		rcache.erase(id,node);
+		throw IOBadParam(set_err("UI(getSensors):   ",id,node));		
+	}	
+	catch(CORBA::OBJECT_NOT_EXIST)
+	{
+		rcache.erase(id,node);
+		throw IOBadParam(set_err("UI(getSensors):     ",id,node));
+	}	
+	catch(CORBA::COMM_FAILURE& ex)
+	{
+		//   
+	}	
+	catch(CORBA::SystemException& ex)
+	{
+		//   
+		// unideb[Debug::WARN] << "UI(getValue): CORBA::SystemException" << endl;
+	}	
+	rcache.erase(id,node);
+	throw UniSetTypes::TimeOut(set_err("UI(getSensors): TimeOut  ",id,node));
+}
+// -----------------------------------------------------------------------------
 bool UniversalInterface::waitReady( UniSetTypes::ObjectId id, int msec, int pmsec, ObjectId node )
 {
 	PassiveTimer ptReady(msec);

src/Processes/IOController.cc

@@ -1411,3 +1411,38 @@ IOController_i::ShortIOInfo IOController::getChangedTime( const IOController_i::
 	throw IOController_i::NameNotFound(err.str().c_str());
 }
 // -----------------------------------------------------------------------------
+IOController_i::ShortMapSeq* IOController::getSensors()
+{
+	//     !!!!!!
+	//       _var-
+	IOController_i::ShortMapSeq* res = new IOController_i::ShortMapSeq();
+	res->length( aioList.size() + dioList.size() );
+
+	int i=0;
+	for( AIOStateList::iterator it=aioList.begin(); it!=aioList.end(); ++it)
+	{	
+		IOController_i::ShortMap m;
+		{
+			uniset_spin_lock lock(it->second.val_lock,checkLockValuePause);
+			m.id 	= it->second.si.id;
+			m.value = it->second.value;
+			m.type = it->second.type;
+		}
+		(*res)[i++] = m;
+	}
+	for( DIOStateList::iterator it=dioList.begin(); it!=dioList.end(); ++it)
+	{	
+		IOController_i::ShortMap m;
+		{
+			uniset_spin_lock lock(it->second.val_lock,checkLockValuePause);
+			m.id 	= it->second.si.id;
+			m.value = it->second.state ? 1 : 0;
+			m.type = it->second.type;
+		}
+
+		(*res)[i++] = m;
+	}
+	
+	return res;
+}
+// -----------------------------------------------------------------------------