ethManager.h

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// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
 
/*
 * Copyright (C) 2017 iCub Facility - Istituto Italiano di Tecnologia
 * Author:  Alberto Cardellino, Marco Accame
 * email:   alberto.cardellino@iit.it, marco.accame@iit.it
 * website: www.robotcub.org
 * Permission is granted to copy, distribute, and/or modify this program
 * under the terms of the GNU General Public License, version 2 or any
 * later version published by the Free Software Foundation.
 *
 * A copy of the license can be found at
 * http://www.robotcub.org/icub/license/gpl.txt
 *
 * This program is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
 * Public License for more details
*/
 
// - include guard ----------------------------------------------------------------------------------------------------
 
#ifndef _THEETHMANAGER_H_
#define _THEETHMANAGER_H_
 
// Standard includes
#include <iostream>
#include <vector>
#include <list>
#include <string>
#include <stdio.h>
#include <mutex>
//#include <map>
 
 
// ACE includes
#include <ace/ACE.h>
#include <ace/config.h>
#include <ace/Thread.h>
#include <ace/SOCK_Dgram_Bcast.h>
#include "ace/OS_main.h"
#include "ace/OS_NS_string.h"
#include "ace/OS_NS_sys_socket.h"
 
// YARP includes
#include <yarp/os/Bottle.h>
#include <yarp/os/Time.h>
#include <yarp/os/Port.h>
 
// embobjlib includes
#include "hostTransceiver.hpp"
#include "FeatureInterface.h"
#include "IethResource.h"
#include "abstractEthResource.h"
 
// embobj includes
#include "EoProtocol.h"
#include "EoBoards.h"
 
// others
#include <yarp/os/LogStream.h>              // iCub debug class include
 
 
using namespace yarp::os;
using namespace std;
 
 
 
 
#include <ethBoards.h>
#include <ethSender.h>
#include <ethReceiver.h>
 
 
// -- class TheEthManager
// -- it is the main singleton which delas with eth communication.
// -- it holds the two tx and rx threads (classes EthSender and EthReceiver)
// -- it holds class EthBoards which stores references to EthResource (what is used to form / parse UDP packets for the eth board)
// -- and to the interfaces which use the EthResource of a given board.
 
namespace eth {
 
    class TheEthManager
    {
 
    public:
        // this is the maximum number of boards that the singleton can manage.
        enum { maxBoards = eth::EthBoards::maxEthBoards };
 
        enum { maxRXpacketsize = 1496, maxTXpacketsize = 1496 };
 
        // these are the boards, their use is protected by txSem or rxSem or both of them.
        eth::EthBoards* ethBoards;
 
    private:
 
        // singletons have private constructor / destructor
        TheEthManager();
        ~TheEthManager();
 
    public:
 
        // singletons use this method to retrieve an handle to the object
        static TheEthManager* instance();
 
        // we use this method to for a destruction of the object.
        static bool killYourself();
 
 
        // useful for printing times relative to start of the object
        double getLifeTime(void);
 
        bool verifyEthBoardInfo(yarp::os::Searchable &cfgtotal, eOipv4addr_t &boardipv4, string boardipv4string, string boardname);
 
 
        eth::AbstractEthResource* requestResource2(IethResource *interface, yarp::os::Searchable &cfgtotal);
 
        int releaseResource2(eth::AbstractEthResource* ethresource, IethResource* interface);
 
        const eOipv4addressing_t& getLocalIPV4addressing(void);
 
        bool Transmission(void);
 
        bool CheckPresence(void);
 
        bool Reception(eOipv4addr_t from, uint64_t* data, ssize_t size);
 
        eth::AbstractEthResource* getEthResource(eOipv4addr_t ipv4);
 
        IethResource* getInterface(eOipv4addr_t ipv4, eOprotID32_t id32);
 
        int getNumberOfResources(void);
 
        const string & getName(eOipv4addr_t ipv4);
 
        int sendPacket(const void *udpframe, size_t len, const eOipv4addressing_t &toaddressing);
 
        eOipv4addr_t toipv4addr(const ACE_INET_Addr &aceinetaddr);
 
        ACE_INET_Addr toaceinet(const eOipv4addressing_t &ipv4addressing);
 
    private:
 
 
        bool isCommunicationInitted(void);
 
        bool createCommunicationObjects(const eOipv4addressing_t &localaddress, int txrate, int rxrate);
 
        bool initCommunication(yarp::os::Searchable &cfgtotal);
 
        bool stopCommunicationThreads(void);
 
        bool lock(bool on);
 
        bool lockTX(bool on);
        bool lockRX(bool on);
        bool lockTXRX(bool on);
 
 
    private:
 
        void initEOYsystem(void);
 
        // this semaphore is used to ....
        static std::mutex managerSem;
        // the following two semaphore are used separately or together to stop tx and rx if a change is done on ethboards (in startup and shutdown phases)
        static std::mutex txSem;
        static std::mutex rxSem;
 
        static eth::TheEthManager* handle;
 
        // contains the start-up time of the system so that time measures / prints can be done relative.
        double startUpTime;
 
        eOipv4addressing_t ipv4local;
 
        bool communicationIsInitted;
 
        // periodic threads which use methods of class TheEthManager to transmit / receive + the udp socket
        eth::EthSender* sender;
        eth::EthReceiver* receiver;
        ACE_SOCK_Dgram* UDP_socket;
        bool embBoardsConnected;
 
    };
 
} // namespace eth
 
 
#endif  // include-guard
 
 
// - end-of-file (leave a blank line after)----------------------------------------------------------------------------