ArmarXManager.h

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/*
 * This file is part of ArmarX.
 *
 * Copyright (C) 2011-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX 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.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @package    ArmarXCore::core
 * @author    Kai Welke (kai dot welke at kit dot edu)
 * @date       2012
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <ArmarXCore/core/ArmarXObjectObserver.h>
#include <ArmarXCore/core/ManagedIceObjectRegistryInterface.h>
#include <ArmarXCore/core/logging/Logging.h>         // for Logging
#include <ArmarXCore/core/RemoteReferenceCount.h>
#include <ArmarXCore/interface/core/ArmarXManagerInterface.h>
#include <ArmarXCore/interface/core/BasicTypes.h>
//#include <ArmarXCore/interface/core/ManagedIceObjectDefinitions.h>
 
#include <Ice/BuiltinSequences.h>       // for StringSeq
#include <Ice/CommunicatorF.h>          // for CommunicatorPtr
#include <Ice/Current.h>                // for Current
#include <Ice/ObjectAdapterF.h>         // for ObjectAdapterPtr
#include <Ice/Properties.h>
#include <IceUtil/Handle.h>             // for Handle
 
#include <condition_variable>
#include <cstddef>                      // for size_t
#include <string>                       // for string
#include <vector>                       // for vector
#include <mutex>
#include <map>                          // for map, map<>::value_compare
 
namespace armarx
{
    // forward declaration
    class ArmarXObjectScheduler;
 
    using ArmarXObjectSchedulerPtr = IceUtil::Handle<ArmarXObjectScheduler>;
 
    class IceManager;
 
    using IceManagerPtr = IceUtil::Handle<IceManager>;
 
    class ArmarXMultipleObjectsScheduler;
    using ArmarXMultipleObjectsSchedulerPtr = IceUtil::Handle<ArmarXMultipleObjectsScheduler>;
 
    class ArmarXManager;
    template <class T>
    class PeriodicTask;
 
    using ArmarXManagerPtr = IceUtil::Handle<ArmarXManager>;
 
 
    struct SharedRemoteHandleState;
 
    class ArmarXManager:
        virtual public Logging,
        virtual public ArmarXManagerInterface,
        public ManagedIceObjectRegistryInterface
    {
        friend class PeriodicTask<ArmarXManager>;
        friend class ArmarXObjectObserver;
 
        enum ArmarXManagerState
        {
            eCreated,
            eRunning,
            eShutdownInProgress,
            eShutdown
        };
 
    public:
        ArmarXManager(std::string applicationName, int port = 4061, std::string host = "localhost", std::string locatorName = "IceGrid/Locator", Ice::StringSeq args = Ice::StringSeq());
 
        ArmarXManager(std::string applicationName, const Ice::CommunicatorPtr& communicator);
 
        ~ArmarXManager() override;
 
        bool checkIceConnection(bool printHint = true) const;
        static bool CheckIceConnection(const Ice::CommunicatorPtr& communicator, bool printHint);
 
        void enableLogging(bool enable);
 
        void enableProfiling(bool enable);
 
        void setGlobalMinimumLoggingLevel(MessageTypeT minimumLoggingLevel);
 
        void setDataPaths(std::string dataPaths);
 
        void addObject(const ManagedIceObjectPtr& object, bool addWithOwnAdapter = true, const std::string& objectName = "",  bool useOwnScheduleThread = true) override;
        virtual void addObject(const ManagedIceObjectPtr& object, const std::string& objectName, bool addWithOwnAdapter = true,  bool useOwnScheduleThread = true);
 
        virtual void addObject(const ManagedIceObjectPtr& object, Ice::ObjectAdapterPtr objectAdapterToAddTo, const std::string& objectName = "",  bool useOwnScheduleThread = true);
 
        virtual void addObjectAsync(const ManagedIceObjectPtr& object, const std::string& objectName, bool addWithOwnAdapter = true,  bool useOwnScheduleThread = true);
 
        void removeObjectBlocking(const ManagedIceObjectPtr& object) override;
 
        void removeObjectBlocking(const std::string& objectName) override;
 
        void removeObjectNonBlocking(const ManagedIceObjectPtr& object) override;
 
        void removeObjectNonBlocking(const std::string& objectName) override;
 
        void waitForShutdown();
 
        void shutdown();
 
        void asyncShutdown(std::size_t timeoutMs = 0);
 
        bool isShutdown();
 
        std::vector<ManagedIceObjectPtr> getManagedObjects() override;
 
        ManagedIceObjectState getObjectState(const std::string& objectName, const Ice::Current& c = Ice::emptyCurrent) override;
 
        ManagedIceObjectConnectivity getObjectConnectivity(const std::string& objectName, const Ice::Current& c = Ice::emptyCurrent) override;
 
        ::armarx::StringStringDictionary getObjectProperties(const ::std::string& objectName, const ::Ice::Current& = Ice::emptyCurrent) override;
        ObjectPropertyInfos getObjectPropertyInfos(const::std::string& objectName, const::Ice::Current&) override;
        ObjectPropertyInfos getApplicationPropertyInfos(const::Ice::Current&) override;
 
 
        Ice::PropertiesAdminPrx getPropertiesAdmin(const Ice::Current& = Ice::emptyCurrent) override;
 
        void setComponentIceProperties(const Ice::PropertiesPtr& properties);
 
        void updateComponentIceProperties(const Ice::PropertyDict& properties);
 
        Ice::StringSeq getManagedObjectNames(const Ice::Current& c = Ice::emptyCurrent) override;
 
        const IceManagerPtr& getIceManager() const;
        const Ice::CommunicatorPtr& getCommunicator() const;
 
        static void RegisterKnownObjectFactoriesWithIce(const Ice::CommunicatorPtr& ic);
 
        void registerKnownObjectFactoriesWithIce();
 
        const Ice::ObjectAdapterPtr& getAdapter() const;
 
        const std::shared_ptr<SharedRemoteHandleState>& getSharedRemoteHandleState() const;
 
        void increaseSchedulers(int increaseBy);
 
        template<class Function, class Data>
        RemoteReferenceCountControlBlockPtr<Function, Data> createRemoteReferenceCount(
            Function f, Data d, const std::string& id = "",
            IceUtil::Time deletionDelay = IceUtil::Time::seconds(3),
            IceUtil::Time orphantDeletionDelay = IceUtil::Time::seconds(6),
            long heartBeatMs = 1000)
        {
            RemoteReferenceCountControlBlockPtr<Function, Data> ptr =
                new RemoteReferenceCountControlBlock<Function, Data>
            (
                this, id, std::forward<decltype(f)>(f), std::forward<decltype(d)>(d),
                deletionDelay, orphantDeletionDelay, heartBeatMs
            );
            remoteReferenceCountControlBlockManager->add(ptr);
            return ptr;
        }
        template<class Function>
        RemoteReferenceCountControlBlockPtr<Function> createRemoteReferenceCount(
            Function f, const std::string& id = "",
            IceUtil::Time deletionDelay = IceUtil::Time::seconds(3),
            IceUtil::Time orphantDeletionDelay = IceUtil::Time::seconds(6),
            long heartBeatMs = 1000)
        {
            RemoteReferenceCountControlBlockPtr<Function> ptr =
                new RemoteReferenceCountControlBlock<Function>
            (
                this, id, std::forward<decltype(f)>(f),
                deletionDelay, orphantDeletionDelay, heartBeatMs
            );
            remoteReferenceCountControlBlockManager->add(ptr);
            return ptr;
        }
 
        template<class Function, class Data>
        SimpleRemoteReferenceCountControlBlockPtr<Function, Data>
        createSimpleRemoteReferenceCount(
            Function f, Data d, const std::string& id = "", IceUtil::Time deletionDelay = IceUtil::Time::seconds(3))
        {
            SimpleRemoteReferenceCountControlBlockPtr<Function, Data> ptr =
                new SimpleRemoteReferenceCountControlBlock<Function, Data>
            (
                this, id, std::forward<decltype(f)>(f), std::forward<decltype(d)>(d), deletionDelay
            );
            remoteReferenceCountControlBlockManager->add(ptr);
            return ptr;
        }
        template<class Function>
        SimpleRemoteReferenceCountControlBlockPtr<Function>
        createSimpleRemoteReferenceCount(
            Function f, const std::string& id = "", IceUtil::Time deletionDelay = IceUtil::Time::seconds(3))
        {
            SimpleRemoteReferenceCountControlBlockPtr<Function> ptr =
                new SimpleRemoteReferenceCountControlBlock<Function>
            (
                this, id, std::forward<decltype(f)>(f), deletionDelay
            );
            remoteReferenceCountControlBlockManager->add(ptr);
            return ptr;
        }
 
        StringVariantBaseMap getMetaInfo(const std::string&, const Ice::Current&) override;
 
 
        bool loadLibFromPath(const std::string& path, const Ice::Current& = Ice::emptyCurrent) override;
        bool loadLibFromPackage(const std::string& package, const std::string& lib, const Ice::Current& = Ice::emptyCurrent) override;
    private:
        // typedefs
        using ObjectSchedulerMap = std::map<std::string, ArmarXObjectSchedulerPtr>;
        using ObjectSchedulerList = std::vector<ArmarXObjectSchedulerPtr>;
 
        // internal init used by both constructors
        void init(std::string applicationName, const Ice::CommunicatorPtr& communicator);
 
        // thread method to cleanup terminated schedulers
        void cleanupSchedulers();
 
        void disconnectDependees(const std::string& object);
        void disconnectAllObjects();
        std::vector<std::string> getDependendees(const std::string& removedObject);
 
        void wakeupWaitingSchedulers();
 
        // remove all managed objects
        void removeAllObjects(bool blocking);
 
        // remove specific managed objects
        bool removeObject(const ArmarXObjectSchedulerPtr& objectScheduler, bool blocking);
 
        ArmarXObjectSchedulerPtr findObjectScheduler(const std::string& objectName) const;
 
        void checkDependencies();
 
        // synchronization
        // Ugly: Returing a smart pointer to a lock is just frigging insanity
        //       Why do we even have this weird pattern?
        using ScopedRecursiveLockPtr = std::unique_ptr<std::scoped_lock<std::recursive_mutex>>;
        ScopedRecursiveLockPtr acquireManagedObjectsMutex();
 
        void installProcessFacet();
 
        // name of the application
        std::string applicationName;
 
        // state of the manager
        ArmarXManagerState managerState;
        std::mutex managerStateMutex;
 
        // ice manager
        IceManagerPtr iceManager;
 
        ArmarXObjectObserverPtr objObserver;
 
        // object scheduler registry
        ObjectSchedulerMap managedObjects;
        ObjectSchedulerList terminatingObjects;
        mutable std::recursive_mutex managedObjectsMutex;
        std::mutex terminatingObjectsMutex;
 
        std::mutex schedulerListMutex;
        std::vector<ArmarXMultipleObjectsSchedulerPtr> singleThreadedSchedulers;
 
        // shutdown handling
        std::mutex shutdownMutex;
        std::condition_variable shutdownCondition;
 
        // cleanup task
        IceUtil::Handle<PeriodicTask<ArmarXManager> > cleanupSchedulersTask;
 
        IceUtil::Handle<PeriodicTask<ArmarXManager> > checkDependencyStatusTask;
        Ice::ObjectAdapterPtr armarxManagerAdapter;
 
        //remotehandles
        std::shared_ptr<SharedRemoteHandleState> sharedRemoteHandleState;
        std::shared_ptr<RemoteReferenceCountControlBlockManager> remoteReferenceCountControlBlockManager;
    };
}