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gex-core/framework/unit_registry.c

579 lines
16 KiB

//
// Created by MightyPork on 2017/11/26.
//
#include "platform.h"
#include "utils/hexdump.h"
#include "utils/avrlibc.h"
#include "comm/messages.h"
#include "utils/ini_writer.h"
#include "utils/str_utils.h"
#include "utils/malloc_safe.h"
#include "unit_registry.h"
#include "system_settings.h"
#include "resources.h"
// ** Unit repository **
typedef struct ureg_entry UregEntry;
typedef struct ulist_entry UlistEntry;
struct ureg_entry {
const UnitDriver *driver;
UregEntry *next;
};
static UregEntry *ureg_head = NULL;
static UregEntry *ureg_tail = NULL;
// ---
struct ulist_entry {
Unit unit;
UlistEntry *next;
};
static UlistEntry *ulist_head = NULL;
static UlistEntry *ulist_tail = NULL;
static int32_t unit_count = -1;
// ---
void ureg_add_type(const UnitDriver *driver)
{
bool suc = true;
assert_param(driver != NULL);
assert_param(driver->name != NULL);
dbg("Loading driver %s", driver->name);
assert_param(driver->description != NULL);
assert_param(driver->preInit != NULL);
assert_param(driver->cfgLoadBinary != NULL);
assert_param(driver->cfgLoadIni != NULL);
assert_param(driver->cfgWriteBinary != NULL);
assert_param(driver->cfgWriteIni != NULL);
assert_param(driver->init != NULL);
assert_param(driver->deInit != NULL);
assert_param(driver->handleRequest != NULL);
UregEntry *re = calloc_ck(1, sizeof(UregEntry));
assert_param(re != NULL);
re->driver = driver;
re->next = NULL;
if (ureg_head == NULL) {
ureg_head = re;
} else {
ureg_tail->next = re;
}
ureg_tail = re;
}
/** Free unit in a list entry (do not free the list entry itself!) */
static void free_le_unit(UlistEntry *le)
{
Unit *const pUnit = &le->unit;
assert_param(pUnit->data);
pUnit->driver->deInit(pUnit);
// Name is not expected to be freed by the deInit() function
// - was alloc'd in the settings load loop
free_ck(pUnit->name);
}
/** Add unit to the list, updating references as needed */
static void add_unit_to_list(UlistEntry *le)
{
// Attach to the list
if (ulist_head == NULL) {
ulist_head = le;
} else {
ulist_tail->next = le;
}
ulist_tail = le;
}
// create a unit instance (not yet loading or initing - just pre-init)
Unit *ureg_instantiate(const char *driver_name)
{
error_t rv;
// Find type in the repository
UregEntry *re = ureg_head;
while (re != NULL) {
if (streq(re->driver->name, driver_name)) {
// Create new list entry
UlistEntry *le = calloc_ck(1, sizeof(UlistEntry));
if (le == NULL) return NULL;
le->next = NULL;
Unit *pUnit = &le->unit;
pUnit->driver = re->driver;
pUnit->status = E_LOADING; // indeterminate default state
pUnit->data = NULL;
pUnit->callsign = 0;
rv = pUnit->driver->preInit(pUnit);
if (rv != E_SUCCESS) {
// tear down what we already allocated and abort
// If it failed this early, the only plausible explanation is failed malloc,
// in which case the data structure is not populated and keeping the
// broken unit doesn't serve any purpose. Just ditch it...
dbg("!! Unit type %s failed to pre-init! %s", driver_name, error_get_message(rv));
clean_failed_unit(pUnit);
free_ck(le);
return NULL;
}
add_unit_to_list(le);
return pUnit;
}
re = re->next;
}
dbg("!! Did not find unit type %s", driver_name);
return NULL;
}
void ureg_save_units(PayloadBuilder *pb)
{
assert_param(pb->ok);
uint32_t count = ureg_get_num_units();
pb_char(pb, 'U');
pb_u8(pb, 0); // Format version
{ // Units list
pb_u16(pb, (uint16_t) count);
UlistEntry *le = ulist_head;
while (le != NULL) {
Unit *const pUnit = &le->unit;
pb_char(pb, 'u'); // marker
{ // Single unit
pb_string(pb, pUnit->driver->name);
pb_string(pb, pUnit->name);
pb_u8(pb, pUnit->callsign);
// Now all the rest, unit-specific
pUnit->driver->cfgWriteBinary(pUnit, pb);
assert_param(pb->ok);
} // end single unit
le = le->next;
}
} // end units list
}
bool ureg_load_units(PayloadParser *pp)
{
bool suc;
char typebuf[16];
assert_param(pp->ok);
unit_count = -1; // reset the counter
// Check units list marker byte
if (pp_char(pp) != 'U') return false;
uint8_t version = pp_u8(pp); // units list format version
(void)version; // version can affect the format
{ // units list
uint16_t count = pp_u16(pp);
dbg("Units to load: %d", (int) count);
for (uint32_t j = 0; j < count; j++) {
// We're now unpacking a single unit
// Marker that this is a unit - it could get out of alignment if structure changed
if (pp_char(pp) != 'u') return false;
{ // Single unit
// TYPE
pp_string(pp, typebuf, 16);
Unit *const pUnit = ureg_instantiate(typebuf);
if (!pUnit) {
dbg("!! Unknown unit type %s, aborting load.", typebuf);
break;
}
// NAME
pp_string(pp, typebuf, 16);
pUnit->name = strdup_ck(typebuf);
assert_param(pUnit->name);
// callsign
pUnit->callsign = pp_u8(pp);
assert_param(pUnit->callsign != 0);
// Load the rest of the unit
pUnit->driver->cfgLoadBinary(pUnit, pp);
assert_param(pp->ok);
dbg("Adding unit \"%s\" of type %s", pUnit->name, pUnit->driver->name);
pUnit->status = pUnit->driver->init(pUnit); // finalize the load and init the unit
if (pUnit->status != E_SUCCESS) {
dbg("!!! error initing unit %s: %s", pUnit->name, error_get_message(pUnit->status));
}
} // end unit
}
} // end units list
return pp->ok;
}
void ureg_remove_all_units(void)
{
UlistEntry *le = ulist_head;
UlistEntry *next;
dbg("Removing all units");
while (le != NULL) {
next = le->next;
free_le_unit(le);
free_ck(le);
le = next;
}
ulist_head = ulist_tail = NULL;
unit_count = -1;
}
/** Create unit instances from the [UNITS] overview section */
bool ureg_instantiate_by_ini(const char *restrict driver_name, const char *restrict names)
{
unit_count = -1; // reset the counter
UregEntry *re = ureg_head;
while (re != NULL) {
if (streq(re->driver->name, driver_name)) {
const char *p = names;
while (p != NULL) { // we use this to indicate we're done
// skip leading whitespace (assume there's never whitespace before a comma)
while (*p == ' ' || *p == '\t') p++;
if (*p == 0) break; // out of characters
const char *delim = strchr(p, ',');
char *name = NULL;
if (delim != NULL) {
// not last
name = strndup_ck(p, delim - p);
p = delim + 1;
} else {
// last name
name = strdup_ck(p);
p = NULL; // quit after this loop ends
}
assert_param(name);
Unit *pUnit = ureg_instantiate(driver_name);
if (!pUnit) {
free_ck(name);
return false;
}
pUnit->name = name;
// don't init yet - leave that for when we're done with the INI
}
return true;
}
re = re->next;
}
dbg("! ureg instantiate - bad type");
return false;
}
/** Load unit key-value */
error_t ureg_load_unit_ini_key(const char *restrict name,
const char *restrict key,
const char *restrict value,
uint8_t callsign)
{
UlistEntry *li = ulist_head;
while (li != NULL) {
Unit *const pUnit = &li->unit;
if (streq(pUnit->name, name)) {
pUnit->callsign = callsign;
return pUnit->driver->cfgLoadIni(pUnit, key, value);
}
li = li->next;
}
return E_NO_SUCH_UNIT;
}
/** Finalize units init. Returns true if all inited OK. */
bool ureg_finalize_all_init(void)
{
dbg("Finalizing units init...");
bool suc = true;
UlistEntry *li = ulist_head;
uint8_t callsign = 1;
while (li != NULL) {
Unit *const pUnit = &li->unit;
pUnit->status = pUnit->driver->init(pUnit);
if (pUnit->status != E_SUCCESS) {
dbg("!!! error initing unit %s: %s", pUnit->name, error_get_message(pUnit->status));
}
// try to assign unique callsigns
// FIXME this is wrong, sometimes leads to duplicate CS
if (pUnit->callsign == 0) {
pUnit->callsign = callsign++;
} else {
if (pUnit->callsign >= callsign) {
callsign = (uint8_t) (pUnit->callsign + 1);
}
}
suc &= (pUnit->status == E_SUCCESS);
li = li->next;
}
return suc;
}
static void export_unit_do(UlistEntry *li, IniWriter *iw)
{
Unit *const pUnit = &li->unit;
iw_section(iw, "%s:%s@%d", pUnit->driver->name, pUnit->name, (int)pUnit->callsign);
if (pUnit->status != E_SUCCESS) {
// temporarily force comments ON
bool sc = SystemSettings.ini_comments;
SystemSettings.ini_comments = true;
{
// special message for failed unit die to resource
if (pUnit->status == E_RESOURCE_NOT_AVAILABLE) {
iw_commentf(iw, "!!! %s not available, already held by %s",
rsc_get_name(pUnit->failed_rsc),
rsc_get_owner_name(pUnit->failed_rsc));
}
else {
iw_commentf(iw, "!!! %s", error_get_message(pUnit->status));
}
iw_cmt_newline(iw);
}
SystemSettings.ini_comments = sc;
}
pUnit->driver->cfgWriteIni(pUnit, iw);
}
// unit to INI
void ureg_build_ini(IniWriter *iw)
{
UlistEntry *li;
UregEntry *re;
// Unit list
iw_section(iw, "UNITS");
iw_comment(iw, "Create units by adding their names next to a type (e.g. PIN=A,B),");
iw_comment(iw, "remove the same way. Reload to update the unit sections below.");
// This could certainly be done in some more efficient way ...
re = ureg_head;
while (re != NULL) {
// Should produce something like:
// # Description string here
// TYPE_ID=NAME1,NAME2
//
const UnitDriver *const pDriver = re->driver;
iw_cmt_newline(iw);
iw_comment(iw, pDriver->description);
iw_string(iw, pDriver->name);
iw_string(iw, "=");
li = ulist_head;
uint32_t count = 0;
while (li != NULL) {
Unit *const pUnit = &li->unit;
if (streq(pUnit->driver->name, pDriver->name)) {
if (count > 0) iw_string(iw, ",");
iw_string(iw, pUnit->name);
count++;
}
li = li->next;
if (iw->count == 0) return; // avoid printing discarded tail
}
re = re->next;
iw_newline(iw);
}
// Now we dump all the units
li = ulist_head;
while (li != NULL) {
export_unit_do(li, iw);
li = li->next;
if (iw->count == 0) return; // avoid printing discarded tail
}
}
// count units
uint32_t ureg_get_num_units(void)
{
if (unit_count == -1) {
// TODO keep this in a variable
UlistEntry *li = ulist_head;
uint32_t count = 0;
while (li != NULL) {
count++;
li = li->next;
}
unit_count = count;
}
return (uint32_t) unit_count;
}
extern osMutexId mutScratchBufferHandle;
/** Deliver message to it's destination unit */
void ureg_deliver_unit_request(TF_Msg *msg)
{
// we must claim the scratch buffer because it's used by many units internally
assert_param(osOK == osMutexWait(mutScratchBufferHandle, 5000));
{
PayloadParser pp = pp_start(msg->data, msg->len, NULL);
uint8_t callsign = pp_u8(&pp);
uint8_t command = pp_u8(&pp);
// highest bit indicates user wants an extra confirmation on success
bool confirmed = (bool) (command & 0x80);
command &= 0x7F;
if (callsign == 0 || !pp.ok) {
com_respond_error(msg->frame_id, E_MALFORMED_COMMAND);
goto quit;
}
UlistEntry *li = ulist_head;
while (li != NULL) {
Unit *const pUnit = &li->unit;
if (pUnit->callsign == callsign && pUnit->status == E_SUCCESS) {
error_t rv = pUnit->driver->handleRequest(pUnit, msg->frame_id, command, &pp);
// send extra SUCCESS confirmation message.
// error is expected to have already been reported.
if (rv == E_SUCCESS) {
if (confirmed) com_respond_ok(msg->frame_id);
}
else {
com_respond_error(msg->frame_id, rv);
}
goto quit;
}
li = li->next;
}
// Not found
com_respond_error(msg->frame_id, E_NO_SUCH_UNIT);
}
quit:
assert_param(osOK == osMutexRelease(mutScratchBufferHandle));
}
/** Send a response for a unit-list request */
void ureg_report_active_units(TF_ID frame_id)
{
// count bytes needed
uint32_t msglen = 1; // for the count byte
UlistEntry *li = ulist_head;
uint32_t count = 0;
while (li != NULL) {
if (li->unit.status == E_SUCCESS) {
count++;
msglen += strlen(li->unit.name) + 1;
msglen += strlen(li->unit.driver->name) + 1;
}
li = li->next;
}
msglen += count; // one byte per message for the callsign
uint8_t *buff = calloc_ck(1, msglen);
if (buff == NULL) {
com_respond_error(frame_id, E_OUT_OF_MEM);
return;
}
{
PayloadBuilder pb = pb_start(buff, msglen, NULL);
pb_u8(&pb, (uint8_t) count); // assume we don't have more than 255 units
li = ulist_head;
while (li != NULL) {
if (li->unit.status == E_SUCCESS) {
pb_u8(&pb, li->unit.callsign);
pb_string(&pb, li->unit.name);
pb_string(&pb, li->unit.driver->name);
}
li = li->next;
}
assert_param(pb.ok);
com_respond_buf(frame_id, MSG_SUCCESS, buff, msglen);
}
free_ck(buff);
}
Unit *ureg_get_rsc_owner(Resource resource)
{
UlistEntry *li = ulist_head;
while (li != NULL) {
if (RSC_IS_HELD(li->unit.resources, resource)) {
return &li->unit;
}
li = li->next;
}
if (RSC_IS_HELD(UNIT_SYSTEM.resources, resource)) return &UNIT_SYSTEM;
if (RSC_IS_HELD(UNIT_PLATFORM.resources, resource)) return &UNIT_PLATFORM;
return NULL;
}
void ureg_print_unit_resources(IniWriter *iw)
{
if (iw->count == 0) return;
iw_string(iw, "Resources held by units\r\n"
"-----------------------\r\n");
UlistEntry *li = ulist_head;
while (li != NULL) {
iw_string(iw, li->unit.name);
iw_string(iw, ": ");
bool first = true;
for (uint32_t rsc = 0; rsc < RESOURCE_COUNT; rsc++) {
if (!RSC_IS_HELD(li->unit.resources, (Resource)rsc)) continue;
if (!first) iw_string(iw, ", ");
iw_string(iw, rsc_get_name((Resource) rsc));
first = false;
}
if (first) iw_string(iw, "-none-");
iw_newline(iw);
li = li->next;
}
iw_newline(iw);
}