ethResource.cpp

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// -*- Mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
 
/*
 * Copyright (C) 2012 iCub Facility, Istituto Italiano di Tecnologia
 * Author:  Alberto Cardellino, Marco Accame
 * email:   alberto.cardellino@iit.it, marco.accame@iit.it
 * CopyPolicy: Released under the terms of the LGPLv2.1 or later, see LGPL.TXT
 *
 */
 
#include "ethResource.h"
#include <ethManager.h>
#include <yarp/os/Time.h>
#include <yarp/os/Network.h>
#include <yarp/conf/environment.h>
#include <yarp/os/NetType.h>
 
// embobj
#include "EOropframe_hid.h"
#include "EOarray.h"
#include "EoProtocol.h"
#include "EoManagement.h"
#include "EoProtocolMN.h"
#include "can_string_eth.h"
 
using namespace yarp::os;
using namespace yarp::os::impl;
 
#include <theNVmanager.h>
#include "ethParser.h"
using namespace eth;
 
 
 
 
 
// - class EthResource
 
EthResource::EthResource()
{
    ethManager                  = NULL;
    isInRunningMode             = false;
 
    verifiedBoardPresence       = false;
    askedBoardVersion           = false;
    verifiedBoardTransceiver    = false;
    txrateISset                 = false;
    cleanedBoardBehaviour       = false;
 
    boardMNprotocolversion.major = boardMNprotocolversion.minor;
 
    txconfig.runnermode = eomn_appl_runnermode_synchronized;
    txconfig.safetygap = 0;
    txconfig.cycletime = defcycletime;
    txconfig.txratedivider = defTXrateOfRegularROPs;
    txconfig.maxtimeRX = defmaxtimeRX;
    txconfig.maxtimeDO = defmaxtimeDO;
    txconfig.maxtimeTX = defmaxtimeTX;
    txconfig.logging.flags = (0x0001 << eomn_appl_log_asynchro_exectime_rxdotx_overflow);
    txconfig.logging.period10ms = 0;
 
    memset(verifiedEPprotocol, 0, sizeof(verifiedEPprotocol));
 
    usedNumberOfRegularROPs = 0;
 
    for(int i = 0; i<16; i++)
    {
        c_string_handler[i] = NULL;
    }
 
    std::string tmp = yarp::conf::environment::get_string("ETH_VERBOSEWHENOK");
    if (tmp != "")
    {
        verbosewhenok = (bool)(yarp::conf::numeric::from_string(tmp, 0U));
    }
    else
    {
        verbosewhenok = false;
    }
 
    verbosewhenok = true;
 
    regularsAreSet = false;
}
 
 
EthResource::~EthResource()
{
    ethManager = NULL;
 
    // Delete every initialized can_string_eth object
    for(int i=0; i<16; i++)
    {
        if (c_string_handler[i] != NULL)
        {
            delete c_string_handler[i];
            c_string_handler[i] = NULL;
        }
    }
}
 
bool EthResource::lock(bool on)
{
    if(true == on)
        objLock.lock();
    else
        objLock.unlock();
 
    return true;
}
 
 
bool EthResource::open2(eOipv4addr_t remIP, yarp::os::Searchable &cfgtotal)
{
    ethManager = eth::TheEthManager::instance();
 
    eth::parser::pc104Data pc104data;
    eth::parser::read(cfgtotal, pc104data);
//    eth::parser::print(pc104data);
 
 
    eth::parser::boardData brddata;
    eth::parser::read(cfgtotal, brddata);
    eth::parser::print(brddata);
 
    txconfig = brddata.settings.txconfig;
 
    properties.ipv4addr = remIP;
    properties.ipv4addressing = brddata.properties.ipv4addressing;
    properties.boardtype = brddata.properties.type;
    properties.ipv4addrString = brddata.properties.ipv4string;
    properties.ipv4addressingString = brddata.properties.ipv4addressingstring;
    properties.boardtypeString = brddata.properties.typestring;
    properties.boardnameString = brddata.settings.name;
    properties.txROPratedivider = txconfig.txratedivider;
 
 
    eth::EthMonitorPresence::Config mpConfig;
 
    // default values ...
    mpConfig.enabled = brddata.actions.monitorpresence_enabled;
    mpConfig.timeout = brddata.actions.monitorpresence_timeout;
    mpConfig.periodmissingreport = brddata.actions.monitorpresence_periodofmissingreport;
    mpConfig.name = brddata.properties.ipv4string + " (" + brddata.settings.name + ")";
 
 
 
    // now i init objects
 
    lock(true);
 
    // 1. init transceiver
 
    eOipv4addressing_t localIPv4 = ethManager->getLocalIPV4addressing();
 
 
    if(false == transceiver.init2(this, cfgtotal, localIPv4, remIP))
    {
        yError() << "EthResource::open2() cannot init transceiver w/ HostTransceiver::init2() for BOARD" << properties.boardnameString << "IP" << properties.ipv4addrString;
        lock(false);
        return false;
    }
 
    // 2. init monitor presence
 
    monitorpresence.config(mpConfig);
    monitorpresence.tick();
 
 
    lock(false);
 
    return true;
}
 
 
 
bool EthResource::close()
{
    yTrace();
    posServiceConfiguration.clearOnStop(eomn_serv_category_all);
    return false;
}
 
 
const void * EthResource::getUDPtransmit(eOipv4addressing_t &destination, size_t &sizeofpacket, uint16_t &numofrops)
{
    destination = properties.ipv4addressing;
    const void * udp = transceiver.getUDP(sizeofpacket, numofrops);
 
//    const EOropframeHeader_t * header = reinterpret_cast<const EOropframeHeader_t *>(udp);
 
//    if(nullptr != header)
//    {
//        yDebug() << "EthResource::getUDPtransmit(): the header has: sequencenumber = " << header->sequencenumber << "numofrops = " << header->ropsnumberof << "sizeofrops = " << header->ropssizeof;
//    }
//    else
//    {
 
//    }
 
    return udp;
}
 
 
bool EthResource::Tick()
{
    monitorpresence.tick();
    return true;
}
 
 
bool EthResource::Check()
{
    if(false == regularsAreSet)
    {   // we dont comply if the regulars are not set because ... poor board: it does not regularly transmit
        return true;
    }
 
    return monitorpresence.check();
}
 
 
 
bool EthResource::processRXpacket(const void *data, const size_t size)
{
    return transceiver.parseUDP(data, size);
}
 
 
const AbstractEthResource::Properties & EthResource::getProperties()
{
    return properties;
}
 
 
 
//bool EthResource::isID32supported(eOprotID32_t id32)
//{
//    return transceiver.isID32supported(id32);
//}
 
 
 
bool EthResource::isRunning(void)
{
    return(isInRunningMode);
}
 
 
 
bool EthResource::verifyBoardTransceiver()
{
    // the transceiver is verified if we have the same mn protocol version inside eOmn_comm_status_t::managementprotocolversion
 
    if(verifiedBoardTransceiver)
    {
        return(true);
    }
 
    // we dont ask anything to the board ...
#define DONT_ASK_COMM_STATUS
 
#if defined(DONT_ASK_COMM_STATUS)
 
    const eoprot_version_t * pc104versionMN = eoprot_version_of_endpoint_get(eoprot_endpoint_management);
    const eoprot_version_t * brdversionMN = &boardMNprotocolversion;
 
#else
 
    theNVmanager& nvman = theNVmanager::getInstance();
 
 
    // step 1: we ask the remote board the eoprot_tag_mn_comm_status variable and then we verify vs mn protocol version
 
    const eoprot_version_t * pc104versionMN = eoprot_version_of_endpoint_get(eoprot_endpoint_management);
    const double timeout = 0.100;   // now the timeout can be reduced because the board is already connected.
 
    eOprotID32_t id32 = eoprot_ID_get(eoprot_endpoint_management, eoprot_entity_mn_comm, 0, eoprot_tag_mn_comm_status);
    eOmn_comm_status_t brdstatus = {0};
    uint16_t size = 0;
 
    bool rr = nvman.ask(ipv4addr, id32, &brdstatus, timeout);
 
    if(false == rr)
    {
        yError() << "EthResource::verifyBoardTransceiver() cannot read brdstatus w/ theNVmanager for BOARD" << getProperties().boardnameString << "with IP" << getProperties().ipv4addrString << ": cannot proceed any further";
        return(false);
    }
 
    eoprot_version_t * brdversionMN = (eoprot_version_t*)&brdstatus.managementprotocolversion;
 
#endif
 
    if(pc104versionMN->major != brdversionMN->major)
    {
        yError() << "EthResource::verifyBoardTransceiver() detected different mn protocol major versions: local =" << pc104versionMN->major << ", remote =" << brdversionMN->major << ": cannot proceed any further";
        yError() << "ACTION REQUIRED: BOARD" << getProperties().boardnameString << "with IP" << getProperties().ipv4addrString << "needs a FW update.";
        return(false);
    }
 
    if(pc104versionMN->minor != brdversionMN->minor)
    {
        yError() << "EthResource::verifyBoardTransceiver() detected different mn protocol minor versions: local =" << pc104versionMN->minor << ", remote =" << brdversionMN->minor << ": cannot proceed any further.";
        yError() << "ACTION REQUIRED: BOARD" << getProperties().boardnameString << "with IP" << getProperties().ipv4addrString << "needs a FW update.";
        return(false);
    }
 
 
    if(verbosewhenok)
    {
        yDebug() << "EthResource::verifyBoardTransceiver() has validated the transceiver of BOARD" << getProperties().boardnameString << "with IP" << getProperties().ipv4addrString;
    }
 
    verifiedBoardTransceiver = true;
 
    return(true);
}
 
 
 
bool EthResource::setTimingOfRunningCycle()
{
 
    if(txrateISset)
    {
        return(true);
    }
 
    // step 1: we send the remote board a message of type eoprot_tag_mn_appl_config with the value read from the proper section
    //         if does find the section we use default values
 
    // call a set until verified
 
    eOprotID32_t id32 = eoprot_ID_get(eoprot_endpoint_management, eoprot_entity_mn_appl, 0, eoprot_tag_mn_appl_config);
 
    theNVmanager& nvman = theNVmanager::getInstance();
 
    if(false == nvman.setcheck(properties.ipv4addr, id32, &txconfig, 5, 0.010, 2.0))
    {
        yWarning() << "EthResource::setTimingOfRunningCycle() for BOARD" << getProperties().boardnameString << "with IP" << getProperties().ipv4addrString << "could not configure: cycletime =" << txconfig.cycletime << "usec, RX DO TX = (" << txconfig.maxtimeRX << txconfig.maxtimeDO << txconfig.maxtimeTX << ") usec and TX rate =" << txconfig.txratedivider << " every cycle";
        return false;
    }
    else
    {
        if(verbosewhenok)
        {
            yDebug() << "EthResource::setTimingOfRunningCycle() for BOARD" << getProperties().boardnameString << "with IP" << getProperties().ipv4addrString << "has succesfully set: cycletime =" << txconfig.cycletime << "usec, RX DO TX = (" << txconfig.maxtimeRX << txconfig.maxtimeDO << txconfig.maxtimeTX << ") usec and TX rate =" << txconfig.txratedivider << " every cycle";
        }
    }
 
    txrateISset = true;
 
 
    return(true);
}
 
 
bool EthResource::cleanBoardBehaviour(void)
{
    if(cleanedBoardBehaviour)
    {
        return(true);
    }
 
    // send a ...
    if(false == serviceStop(eomn_serv_category_all))
    {
        yError() << "EthResource::cleanBoardBehaviour() cannot stop services for BOARD" << getProperties().boardnameString << "with IP" << getProperties().ipv4addrString << ": cannot proceed any further";
        return(false);
    }
 
    regularsAreSet = false;
 
 
    if(verbosewhenok)
    {
        yDebug() << "EthResource::cleanBoardBehaviour() has cleaned the application in BOARD" << getProperties().boardnameString << "with IP" << getProperties().ipv4addrString << ": config mode + cleared all its regulars";
    }
 
    cleanedBoardBehaviour = true;
 
    return(true);
 
}
 
bool EthResource::testMultipleASK()
{
#if 1
    return true;
#else
 
 
    // i ask multiple values such as:
    eOprotID32_t id32_commstatus = eoprot_ID_get(eoprot_endpoint_management, eoprot_entity_mn_comm, 0, eoprot_tag_mn_comm_status);
    eOmn_comm_status_t value_commstatus = {0};
 
    eOprotID32_t id32_applconfig = eoprot_ID_get(eoprot_endpoint_management, eoprot_entity_mn_appl, 0, eoprot_tag_mn_appl_config);
    eOmn_appl_config_t value_applconfig = {0};
 
    eOprotID32_t id32_applconfig_txratedivider = eoprot_ID_get(eoprot_endpoint_management, eoprot_entity_mn_appl, 0, eoprot_tag_mn_appl_config_txratedivider);
    uint8_t txratedivider = 0;
 
    std::vector<eOprotID32_t> id32s;
    std::vector<void*> values;
 
    id32s.push_back(id32_commstatus);
    values.push_back(&value_commstatus);
 
    id32s.push_back(id32_applconfig);
    values.push_back(&value_applconfig);
 
    id32s.push_back(id32_applconfig_txratedivider);
    values.push_back(&txratedivider);
 
    id32s.push_back(id32_applconfig_txratedivider);
    values.push_back(&txratedivider);
 
    id32s.push_back(id32_applconfig_txratedivider);
    values.push_back(&txratedivider);
 
    id32s.push_back(id32_applconfig_txratedivider);
    values.push_back(&txratedivider);
 
    id32s.push_back(id32_applconfig_txratedivider);
    values.push_back(&txratedivider);
 
    id32s.push_back(id32_applconfig_txratedivider);
    values.push_back(&txratedivider);
 
    id32s.push_back(id32_applconfig_txratedivider);
    values.push_back(&txratedivider);
 
    id32s.push_back(id32_applconfig_txratedivider);
    values.push_back(&txratedivider);
 
    theNVmanager& nvman = theNVmanager::getInstance();
 
    double tprev = SystemClock::nowSystem();
    double tcurr = SystemClock::nowSystem();
 
    double delta = tcurr - tprev;
 
    yDebug() << "before";
    yDebug() << "value_commstatus.managementprotocolversion.major = " << value_commstatus.managementprotocolversion.major << "value_commstatus.managementprotocolversion.minor = " << value_commstatus.managementprotocolversion.minor;
    yDebug() << "value_applconfig.cycletime = " << value_applconfig.cycletime << "value_applconfig.txratedivider" << value_applconfig.txratedivider << "etc";
    yDebug() << "txratedivider = " << txratedivider;
 
    tprev = SystemClock::nowSystem();
    //bool ok = nvman.ask(&transceiver, id32s, values, 3.0);
    bool ok = getRemoteValues(id32s, values, 3.0);
    delta = SystemClock::nowSystem() - tprev;
 
    yDebug() << "parallel mode: after" << delta << "seconds";
    yDebug() << "value_commstatus.managementprotocolversion.major = " << value_commstatus.managementprotocolversion.major << "value_commstatus.managementprotocolversion.minor = " << value_commstatus.managementprotocolversion.minor;
    yDebug() << "value_applconfig.cycletime = " << value_applconfig.cycletime << "value_applconfig.txratedivider" << value_applconfig.txratedivider << "etc";
    yDebug() << "txratedivider = " << txratedivider;
 
    memset(&value_commstatus, 0, sizeof(value_commstatus));
    memset(&value_applconfig, 0, sizeof(value_applconfig));
    txratedivider = 0;
 
 
    tprev = SystemClock::nowSystem();
    nvman.ask(&transceiver, id32_commstatus, &value_commstatus, 3.0);
    nvman.ask(&transceiver, id32_applconfig, &value_applconfig, 3.0);
    nvman.ask(&transceiver, id32_applconfig_txratedivider, &txratedivider, 3.0);
    nvman.ask(&transceiver, id32_applconfig_txratedivider, &txratedivider, 3.0);
    nvman.ask(&transceiver, id32_applconfig_txratedivider, &txratedivider, 3.0);
    nvman.ask(&transceiver, id32_applconfig_txratedivider, &txratedivider, 3.0);
    nvman.ask(&transceiver, id32_applconfig_txratedivider, &txratedivider, 3.0);
    nvman.ask(&transceiver, id32_applconfig_txratedivider, &txratedivider, 3.0);
    nvman.ask(&transceiver, id32_applconfig_txratedivider, &txratedivider, 3.0);
    nvman.ask(&transceiver, id32_applconfig_txratedivider, &txratedivider, 3.0);
    delta = SystemClock::nowSystem() - tprev;
 
    yDebug() << "serial mode: after" << delta << "seconds";
    yDebug() << "value_commstatus.managementprotocolversion.major = " << value_commstatus.managementprotocolversion.major << "value_commstatus.managementprotocolversion.minor = " << value_commstatus.managementprotocolversion.minor;
    yDebug() << "value_applconfig.cycletime = " << value_applconfig.cycletime << "value_applconfig.txratedivider" << value_applconfig.txratedivider << "etc";
    yDebug() << "txratedivider = " << txratedivider;
 
    for(;;);
 
 
    return true;
 
#endif
}
 
bool EthResource::verifyEPprotocol(eOprot_endpoint_t ep)
{
    if((uint8_t)ep >= eoprot_endpoints_numberof)
    {
        yError() << "EthResource::verifyEPprotocol() called with wrong ep = " << ep << ": cannot proceed any further";
        return(false);
    }
 
    if(true == verifiedEPprotocol[ep])
    {
        return(true);
    }
 
    if(false == verifyBoard())
    {
        yError() << "EthResource::verifyEPprotocol() cannot verify BOARD" << getProperties().boardnameString << "with IP" << getProperties().ipv4addrString << ": cannot proceed any further";
        return(false);
    }
 
    if(false == askBoardVersion())
    {
        yError() << "EthResource::verifyEPprotocol() cannot ask the version to BOARD" << getProperties().boardnameString << "with IP" << getProperties().ipv4addrString << ": cannot proceed any further";
        return(false);
    }
 
    testMultipleASK();
 
 
    // 1. send a set<eoprot_tag_mn_comm_cmmnds_command_queryarray> and wait for the arrival of a sig<eoprot_tag_mn_comm_cmmnds_command_replyarray>
    //    the opc to send is eomn_opc_query_array_EPdes which will trigger a opc in reception eomn_opc_reply_array_EPdes
    // 2. the resulting array will contains a eoprot_endpoint_descriptor_t item for the specifeid ep with the protocol version of the ems.
 
 
 
    const double timeout = 0.100;
 
    eOprotID32_t id2send = eo_prot_ID32dummy;
    eOprotID32_t id2wait = eo_prot_ID32dummy;
    eOmn_command_t command = {0};
 
 
    // step 1: ask all the EP descriptors. from them we can extract protocol version of MN and of the target ep
    id2send = eoprot_ID_get(eoprot_endpoint_management, eoprot_entity_mn_comm, 0, eoprot_tag_mn_comm_cmmnds_command_queryarray);
    memset(&command, 0, sizeof(command));
    command.cmd.opc                             = eomn_opc_query_array_EPdes;
    command.cmd.queryarray.opcpar.opc           = eomn_opc_query_array_EPdes;
    command.cmd.queryarray.opcpar.endpoint      = eoprot_endpoint_all;
    command.cmd.queryarray.opcpar.setnumber     = 0;
    command.cmd.queryarray.opcpar.setsize       = 0;
 
    // the semaphore must be retrieved using the id of the variable which is waited. in this case, it is the array of descriptors
    id2wait = eoprot_ID_get(eoprot_endpoint_management, eoprot_entity_mn_comm, 0, eoprot_tag_mn_comm_cmmnds_command_replyarray);
 
    theNVmanager& nvman = theNVmanager::getInstance();
 
    if(false == nvman.command(properties.ipv4addr, id2send, &command, id2wait, &command, timeout))
    {
        yError() << "EthResource::verifyEPprotocol() retrieve the endpoint descriptors from BOARD" << getProperties().boardnameString << "with IP" << getProperties().ipv4addrString << ": cannot proceed any further";
        return(false);
    }
 
    // the array is ...
    eOmn_cmd_replyarray_t* cmdreplyarray = (eOmn_cmd_replyarray_t*)&command.cmd.replyarray;
    EOarray* array = (EOarray*)cmdreplyarray->array;
 
 
    uint8_t sizeofarray = eo_array_Size(array);
 
 
    for(int i=0; i<sizeofarray; i++)
    {
        eoprot_endpoint_descriptor_t *epd = (eoprot_endpoint_descriptor_t*)eo_array_At(array, i);
 
        if(epd->endpoint == eoprot_endpoint_management)
        {
            const eoprot_version_t * pc104versionMN = eoprot_version_of_endpoint_get(eoprot_endpoint_management);
            if(pc104versionMN->major != epd->version.major)
            {
                yError() << "EthResource::verifyEPprotocol() for ep =" << eoprot_EP2string(epd->endpoint) << "detected: pc104.version.major =" << pc104versionMN->major << "and board.version.major =" << epd->version.major;
                yError() << "EthResource::verifyEPprotocol() detected mismatching protocol version.major in BOARD" << getProperties().boardnameString << "with IP" << getProperties().ipv4addrString << "for eoprot_endpoint_management: cannot proceed any further.";
                yError() << "ACTION REQUIRED: BOARD" << getProperties().boardnameString << "with IP" << getProperties().ipv4addrString << "needs a FW update.";
                return(false);
            }
            if(pc104versionMN->minor != epd->version.minor)
            {
                yError() << "EthResource::verifyEPprotocol() for ep =" << eoprot_EP2string(epd->endpoint) << "detected: pc104.version.minor =" << pc104versionMN->minor << "and board.version.minor =" << epd->version.minor;
                yError() << "EthResource::verifyEPprotocol() detected mismatching protocol version.minor BOARD" << getProperties().boardnameString << "with IP" << getProperties().ipv4addrString << "for eoprot_endpoint_management: cannot proceed any further.";
                yError() << "ACTION REQUIRED: BOARD" << getProperties().boardnameString << "with IP" << getProperties().ipv4addrString << "needs a FW update.";
                return false;
            }
        }
        if(epd->endpoint == ep)
        {
            const eoprot_version_t * pc104versionEP = eoprot_version_of_endpoint_get(ep);
            if(pc104versionEP->major != epd->version.major)
            {
                yError() << "EthResource::verifyEPprotocol() for ep =" << eoprot_EP2string(epd->endpoint) << "detected: pc104.version.major =" << pc104versionEP->major << "and board.version.major =" << epd->version.major;
                yError() << "EthResource::verifyEPprotocol() detected mismatching protocol version.major in BOARD" << getProperties().boardnameString << "with IP" << getProperties().ipv4addrString << " for" << eoprot_EP2string(ep) << ": cannot proceed any further.";
                yError() << "ACTION REQUIRED: BOARD" << getProperties().boardnameString << "with IP" << getProperties().ipv4addrString << "needs a FW update to offer services for" << eoprot_EP2string(ep);
                return(false);
            }
            if(pc104versionEP->minor != epd->version.minor)
            {
                yError() << "EthResource::verifyEPprotocol() for ep =" << eoprot_EP2string(epd->endpoint) << "detected: pc104.version.minor =" << pc104versionEP->minor << "and board.version.minor =" << epd->version.minor;
                yError() << "EthResource::verifyEPprotocol() detected mismatching protocol version.minor in BOARD" << getProperties().boardnameString << "with IP" << getProperties().ipv4addrString << " for" << eoprot_EP2string(ep) << ": annot proceed any further";
                yError() << "ACTION REQUIRED: BOARD" << getProperties().boardnameString << "with IP" << getProperties().ipv4addrString << "needs a FW update to offer services for" << eoprot_EP2string(ep);
                return(false);
            }
        }
    }
 
    verifiedEPprotocol[ep] = true;
 
    return(true);
 
}
 
 
 
bool EthResource::verifyBoard(void)
{
    if((true == verifyBoardPresence())      &&
       (true == verifyBoardTransceiver())   &&
       (true == cleanBoardBehaviour())      &&
       (true == setTimingOfRunningCycle()) )
    {
        return(true);
    }
 
    return(false);
}
 
 
bool EthResource::verifyBoardPresence(void)
{
    if(verifiedBoardPresence)
    {
        return(true);
    }
 
    const double timeout = 1.00;    // 1 sec is more than enough if board is present. if link is not on it is a good time to wait
    const int retries = 20;         // the number of retries depends on the above timeout and on link-up time of the EMS.
 
    double start_time = yarp::os::Time::now();
 
    theNVmanager& nvman = theNVmanager::getInstance();
    verifiedBoardPresence = nvman.ping(properties.ipv4addr, boardMNprotocolversion, timeout, retries);
 
    double end_time = yarp::os::Time::now();
 
    if(true == verifiedBoardPresence)
    {
        verifiedBoardPresence = true;
        if(verbosewhenok)
        {
            yDebug() << "EthResource::verifyBoardPresence() found BOARD" << getProperties().boardnameString << "with IP" << getProperties().ipv4addrString << "after" << end_time-start_time << "seconds";
        }
    }
    else
    {
        yError() << "EthResource::verifyBoardPresence() DID NOT have replies from BOARD" << getProperties().boardnameString << "with IP" << getProperties().ipv4addrString << "after" << end_time-start_time << "seconds: CANNOT PROCEED ANY FURTHER";
    }
 
    return(verifiedBoardPresence);
}
 
 
bool EthResource::askBoardVersion(void)
{
 
    if(askedBoardVersion)
    {
        return(true);
    }
 
    const double timeout = 0.500;   // 500 ms is more than enough if board is present. if link is not on it is a good time to wait
 
    eOprotID32_t id32 = eoprot_ID_get(eoprot_endpoint_management, eoprot_entity_mn_appl, 0, eoprot_tag_mn_appl_status);
    eOmn_appl_status_t applstatus = {0};
 
    theNVmanager& nvman = theNVmanager::getInstance();
 
    askedBoardVersion = nvman.ask(properties.ipv4addr, id32, &applstatus, timeout);
 
    if(false == askedBoardVersion)
    {
        yError() << "EthResource::askBoardVersion() cannot reach BOARD" << getProperties().boardnameString << "with IP" << getProperties().ipv4addrString << "w/ timeout of" << timeout << "seconds";
        return false;
    }
 
 
    // now i store the ....
 
    properties.firmwareversion.major = applstatus.version.major;
    properties.firmwareversion.minor = applstatus.version.minor;
 
 
    properties.firmwaredate.year = applstatus.buildate.year;
    properties.firmwaredate.month = applstatus.buildate.month;
    properties.firmwaredate.day = applstatus.buildate.day;
    properties.firmwaredate.hour = applstatus.buildate.hour;
    properties.firmwaredate.min = applstatus.buildate.min;
 
    char versstr[32] = {0};
    snprintf(versstr, sizeof(versstr), "ver %d.%d built on ", properties.firmwareversion.major, properties.firmwareversion.minor);
    char datestr[32] = {0};
    eo_common_date_to_string(properties.firmwaredate, datestr, sizeof(datestr));
 
    properties.firmwareString = string(versstr) + string(datestr);
 
 
    if(eobool_true == eoboards_is_eth((eObrd_type_t)applstatus.boardtype))
    {
        detectedBoardType =  (eObrd_ethtype_t) applstatus.boardtype;
    }
    else
    {
        detectedBoardType = eobrd_ethtype_unknown;
    }
 
    if(detectedBoardType != properties.boardtype)
    {
        yWarning() << "EthResource::askBoardVersion(): detected wrong board. expecting" << properties.boardtypeString << "and detected" << eoboards_type2string2(eoboards_ethtype2type(detectedBoardType), eobool_true);
    }
 
 
    yInfo() << "EthResource::askBoardVersion() found BOARD" << properties.boardnameString << "@ IP" << properties.ipv4addrString << "of type" << properties.boardtypeString<< "with FW =" << properties.firmwareString;
 
 
    return(askedBoardVersion);
}
 
 
bool EthResource::getRemoteValue(const eOprotID32_t id32, void *value, const double timeout, const unsigned int retries)
{
    bool replied = false;
 
    double start_time = yarp::os::Time::now();
 
    theNVmanager& nvman = theNVmanager::getInstance();
 
    for(unsigned int numOfattempts=0; numOfattempts<(retries+1); numOfattempts++)
    {
        if(true == nvman.ask(&transceiver, id32, value, timeout))
        {
            replied = true;
            // stop attempts
            break;
        }
 
        if(!replied)
        {
            yWarning() << "EthResource::getRemoteValue() cannot have a reply from BOARD" << getProperties().boardnameString << "with IP" << getProperties().ipv4addrString << "at attempt #" << numOfattempts+1 << "w/ timeout of" << timeout << "seconds";
        }
 
    }
 
    double end_time = yarp::os::Time::now();
 
    if(false == replied)
    {
        yError() << "  FATAL: EthResource::getRemoteValue() DID NOT have replies from BOARD" << getProperties().boardnameString << "with IP" << getProperties().ipv4addrString << " even after" << end_time-start_time << "seconds: CANNOT PROCEED ANY FURTHER";
    }
 
    return replied;
}
 
 
bool EthResource::getRemoteValues(const std::vector<eOprotID32_t> &id32s, const std::vector<void*> &values, const double timeout)
{
    theNVmanager& nvman = theNVmanager::getInstance();
 
    double start_time = yarp::os::Time::now();
 
    bool replied = nvman.ask(&transceiver, id32s, values, timeout);
 
    double end_time = yarp::os::Time::now();
 
    if(false == replied)
    {
        yError() << "  FATAL: EthResource::getRemoteValues() DID NOT have replies from BOARD" << getProperties().boardnameString << "with IP" << getProperties().ipv4addrString << " even after" << end_time-start_time << "seconds: CANNOT PROCEED ANY FURTHER";
    }
 
    return replied;
}
 
 
bool EthResource::setRemoteValue(const eOprotID32_t id32, void *value)
{
    theNVmanager& nvman = theNVmanager::getInstance();
    return nvman.set(properties.ipv4addr, id32, value);
}
 
bool EthResource::setcheckRemoteValue(const eOprotID32_t id32, void *value, const unsigned int retries, const double waitbeforecheck, const double timeout)
{
    theNVmanager& nvman = theNVmanager::getInstance();
    return nvman.setcheck(properties.ipv4addr, id32, value, retries, waitbeforecheck, timeout);
}
 
bool EthResource::CANPrintHandler(eOmn_info_basic_t *infobasic)
{
    char str[256];
    char canfullmessage[128];
 
    static const char * sourcestrings[] =
    {
        "LOCAL",
        "CAN1",
        "CAN2",
        "UNKNOWN"
    };
    int source                      = EOMN_INFO_PROPERTIES_FLAGS_get_source(infobasic->properties.flags);
    const char * str_source         = (source > eomn_info_source_can2) ? (sourcestrings[3]) : (sourcestrings[source]);
    uint16_t address                = EOMN_INFO_PROPERTIES_FLAGS_get_address(infobasic->properties.flags);
    uint8_t *p64 = (uint8_t*)&(infobasic->properties.par64);
 
    int msg_id = (p64[1]&0xF0) >> 4;
 
    uint32_t sec = infobasic->timestamp / 1000000;
    uint32_t msec = (infobasic->timestamp % 1000000) / 1000;
    uint32_t usec = infobasic->timestamp % 1000;
 
    const char *boardstr = properties.boardnameString.c_str();
 
    // Validity check
    if(address > 15)
    {
        snprintf(canfullmessage, sizeof(canfullmessage), "Error while parsing the message: CAN address detected is out of allowed range");
        snprintf(str, sizeof(str), "from BOARD %s (%s), src %s, adr %d, time %ds %dm %du: CAN PRINT MESSAGE[id %d] -> %s",
                                    properties.ipv4addrString.c_str(),
                                    boardstr,
                                    str_source,
                                    address,
                                    sec,
                                    msec,
                                    usec,
                                    msg_id,
                                    canfullmessage
                                    );
        feat_PrintError(str);
    }
    else
    {
        // Initialization needed?
        if (c_string_handler[address] == NULL)
            c_string_handler[address] = new can_string_eth();
 
        CanFrame can_msg;
        can_msg.setCanData(infobasic->properties.par64);
        can_msg.setId(msg_id);
        can_msg.setSize(infobasic->properties.par16);
        int ret = c_string_handler[address]->add_string(&can_msg);
 
        // String finished?
        if (ret != -1)
        {
            char* themsg = c_string_handler[address]->get_string(ret);
            memcpy(canfullmessage, themsg, sizeof(canfullmessage));
            canfullmessage[63] = 0;
            c_string_handler[address]->clear_string(ret);
 
            snprintf(str,sizeof(str), "from BOARD %s (%s), src %s, adr %d, time %ds %dm %du: CAN PRINT MESSAGE[id %d] -> %s",
                                        properties.ipv4addrString.c_str(),
                                        boardstr,
                                        str_source,
                                        address,
                                        sec,
                                        msec,
                                        usec,
                                        msg_id,
                                        canfullmessage
                                        );
            feat_PrintInfo(str);
        }
    }
    return true;
}
 
 
bool EthResource::serviceCommand(eOmn_serv_operation_t operation, eOmn_serv_category_t category, const eOmn_serv_parameter_t* param, double timeout, int times)
{
    eOprotID32_t id2send = eoprot_ID_get(eoprot_endpoint_management, eoprot_entity_mn_service, 0, eoprot_tag_mn_service_cmmnds_command);
    eOprotID32_t id2wait = eoprot_ID_get(eoprot_endpoint_management, eoprot_entity_mn_service, 0, eoprot_tag_mn_service_status_commandresult);
 
    eOmn_service_cmmnds_command_t command = {0};
    eOmn_service_command_result_t result = {0};
 
    command.operation = operation;
    command.category = category;
    if(NULL != param)
    {
        memcpy(&command.parameter, param, sizeof(eOmn_serv_parameter_t));
    }
    else
    {
       memset(&command.parameter, 0, sizeof(eOmn_serv_parameter_t));
       if((eomn_serv_operation_regsig_load == operation) || ((eomn_serv_operation_regsig_clear == operation)))
       {    // we send an empty array
            eo_array_New(eOmn_serv_capacity_arrayof_id32, 4, &command.parameter.arrayofid32);
       }
       else
       {
            command.parameter.configuration.type = eomn_serv_NONE;
       }
    }
 
    theNVmanager& nvman = theNVmanager::getInstance();
 
 
    bool replied = false;
    for(int i=0; i<times; i++)
    {
        if(true == nvman.command(properties.ipv4addr, id2send, &command, id2wait, &result, timeout))
        {
            replied = true;
            break;
        }
    }
 
    if(false == replied)
    {
        yError() << "EthResource::serviceCommand() failed an acked activation request to BOARD" << getProperties().boardnameString << "with IP" << getProperties().ipv4addrString << "after" << times << "attempts" << "each with waiting timeout of" << timeout << "seconds";
        return false;
    }
 
    //yDebug() << "result is:" << result.latestcommandisok;
 
    return(result.latestcommandisok);
}
 
 
bool EthResource::serviceVerifyActivate(eOmn_serv_category_t category, const eOmn_serv_parameter_t* param, double timeout)
{
    eOmn_serv_parameter_t prepared {};
    if(!posServiceConfiguration.prepare(category, param, prepared))
    {
        yError() << "EthResource::serviceVerifyActivate(): MC requires"
                 << "standalone POS to be activated first on BOARD" << getProperties().boardnameString;
        return false;
    }
    const auto* request = param ? &prepared : nullptr;
    const bool result = serviceCommand(eomn_serv_operation_verifyactivate, category, request, timeout, 3);
    if(result)
    {
        posServiceConfiguration.rememberActivated(category, request);
    }
    return result;
}
 
 
bool EthResource::serviceSetRegulars(eOmn_serv_category_t category, vector<eOprotID32_t> &id32vector, double timeout)
{
    eOmn_serv_parameter_t param = {0};
    EOarray *array = eo_array_New(eOmn_serv_capacity_arrayof_id32, 4, &param.arrayofid32);
    for(int i=0; i<id32vector.size(); i++)
    {
        eOprotID32_t id32 = id32vector.at(i);
        eo_array_PushBack(array, &id32);
    }
 
    regularsAreSet = serviceCommand(eomn_serv_operation_regsig_load, category, &param, timeout, 3);
 
    return regularsAreSet;
}
 
 
 
bool EthResource::serviceStart(eOmn_serv_category_t category, double timeout)
{
    bool ret = serviceCommand(eomn_serv_operation_start, category, NULL, timeout, 3);
 
    if(ret)
    {
        isInRunningMode = true;
    }
 
    return ret;
}
 
 
bool EthResource::serviceStop(eOmn_serv_category_t category, double timeout)
{
    bool ret = serviceCommand(eomn_serv_operation_stop, category, NULL, timeout, 3);
 
    if(ret)
    {
        posServiceConfiguration.clearOnStop(category);
    }
 
    if(ret && (category == eomn_serv_category_all))
    {
        regularsAreSet = false;
    }
 
    //#warning TODO: the result for command stop shall also tell if the the board is in running mode or not.
    return ret;
}
 
 
// new methods from host transceiver
 
bool EthResource::getLocalValue(const eOprotID32_t id32, void *data)
{
    return transceiver.read(id32, data);
}
 
 
bool EthResource::setLocalValue(eOprotID32_t id32, const void *value, bool overrideROprotection)
{
    return transceiver.write(id32, value, overrideROprotection);
}
 
 
bool EthResource::isFake()
{
    return false;
}
 
HostTransceiver * EthResource::getTransceiver()
{
    return &transceiver;
}
 
// eof