cm_groupmanager.h

/*
 * Developer : Alexey Zakharov (alexey.zakharov@vectioneer.com)
 * All rights reserved. Copyright (c) 2016 VECTIONEER.
 */
 
#ifndef CM_GROUPMANAGER_H
#define CM_GROUPMANAGER_H
 
#include "motorcortex.pb.h"
 
#include <atomic>
#include <ctime>
#include <map>
#include <mutex>
#include <set>
#include <string>
#include <vector>
 
#include "utl_timer.h"
 
namespace mcx {
 
namespace parameter_server {
class Parameter;
}
 
namespace comm {
 
constexpr auto MAX_PARAM_NUMBER_IN_GROUP = 512;
constexpr auto TIMESTAMP_SIZE = sizeof(utils::Timespec64);
 
struct ParameterContainer {
  uint32_t id;
  parameter_server::Parameter* ptr;
  uint32_t data_type;
  uint32_t index;
  uint32_t offset;
  uint64_t size;
  uint32_t status;
  uint32_t frame_counter;
};
 
typedef std::vector<ParameterContainer> ParameterMap;
 
struct GroupContainer {
  uint32_t id;
  uint32_t counter;
  uint32_t frq_divider;
  uint32_t total_size;
  ParameterMap params;
  std::set<uint32_t> subs;
};
typedef std::map<std::string, GroupContainer> GroupMap;
 
class GroupManager {
public:
  GroupManager();
 
  void init(parameter_server::Parameter* root);
 
  GroupManager(const GroupManager& orig) = delete;
 
  virtual ~GroupManager();
 
  bool createGroup(const motorcortex_CreateGroupMsg& create_group_msg, uint32_t client_id,
                   motorcortex_GroupStatusMsg& group_status);
 
  bool removeGroup(const char* alias, uint32_t client_id);
 
  bool removeSubscriber(uint32_t client_id);
 
  bool getGroupMap(long& old_counter_value, GroupMap& groups) const;
 
  void setExtraSize(unsigned int n_bytes);
 
  unsigned int getExtraSize() const;
 
private:
  bool removeGroupRoutine(GroupMap::iterator& group_itr, uint32_t client_id);
 
  parameter_server::Parameter* ps_{};
  GroupMap groups_;
  uint32_t groups_running_counter_;
  mutable std::mutex groups_access_mutex_;
  std::atomic<long> groups_update_counter_{};
  unsigned int extra_size_bytes_;
};
 
} // namespace comm
 
} // namespace mcx
 
#endif /*CM_GROUPMANAGER_H*/