diff --git a/applications/gui/src/main.cpp b/applications/gui/src/main.cpp
index 5ebc552fa0ee0664c7a0b7898a723b90bf87f29c..99af829eb646f20f1e0f680837e8855739fa6be1 100644
--- a/applications/gui/src/main.cpp
+++ b/applications/gui/src/main.cpp
@@ -23,32 +23,6 @@ int main(int argc, char **argv) {
}
});
- std::map<ftl::UUID, std::vector<ftl::NetConfigurable*>> peerConfigurables;
-
- // FIXME: Move this elsewhere, it is not just for GUI
- net->onConnect([&controller, &peerConfigurables](ftl::net::Peer *p) {
- ftl::UUID peer = p->id();
- auto cs = controller->getConfigurables(peer);
- for (auto c : cs) {
- //LOG(INFO) << "NET CONFIG: " << c;
- ftl::config::json_t *configuration = new ftl::config::json_t;
- *configuration = controller->get(peer, c);
- if (!configuration->empty()) {
- ftl::NetConfigurable *nc = new ftl::NetConfigurable(peer, c, *controller, *configuration);
- peerConfigurables[peer].push_back(nc);
- }
- }
- });
-
- net->onDisconnect([&peerConfigurables](ftl::net::Peer *p) {
- ftl::UUID peer = p->id();
- for (ftl::NetConfigurable *nc : peerConfigurables[peer]) {
- ftl::config::json_t *configuration = &(nc->getConfig());
- delete nc;
- delete configuration;
- }
- });
-
net->start();
net->waitConnections();
diff --git a/applications/reconstruct/src/main.cpp b/applications/reconstruct/src/main.cpp
index 33db96ae046a1ee5c29898a503d0c483446e7f91..ce571918c28a237cb962bd263dbe5ace6b903655 100644
--- a/applications/reconstruct/src/main.cpp
+++ b/applications/reconstruct/src/main.cpp
@@ -12,7 +12,7 @@
#include <ftl/rgbd.hpp>
#include <ftl/rgbd/virtual.hpp>
#include <ftl/rgbd/streamer.hpp>
-#include <ftl/slave.hpp>
+#include <ftl/master.hpp>
#include <ftl/rgbd/group.hpp>
#include <ftl/threads.hpp>
#include <ftl/codecs/writer.hpp>
@@ -82,58 +82,9 @@ static Eigen::Affine3d create_rotation_matrix(float ax, float ay, float az) {
return rz * rx * ry;
}
-// TODO: * Remove this class (requires more general solution). Also does not
-// process disconnections/reconnections/types etc. correctly.
-// * Update when new options become available.
-
-class ConfigProxy {
- private:
- vector<ftl::UUID> peers_;
- vector<std::string> uris_;
- ftl::net::Universe *net_;
-
- public:
- ConfigProxy(ftl::net::Universe *net) {
- net_ = net;
-
- auto response = net_->findAll<std::string>("node_details");
- for (auto &r : response) {
- auto r_json = json_t::parse(r);
- peers_.push_back(ftl::UUID(r_json["id"].get<std::string>()));
- uris_.push_back(r_json["title"].get<std::string>());
- }
- }
-
- void add(ftl::Configurable *root, const std::string &uri, const std::string &name) {
- auto config = json_t::parse(net_->call<string>(peers_[0], "get_cfg", uris_[0] + "/" + uri));
- auto *proxy = ftl::create<ftl::Configurable>(root, name);
-
- try {
- for (auto &itm : config.get<json::object_t>()) {
- auto key = itm.first;
- auto value = itm.second;
- if (*key.begin() == '$') { continue; }
-
- proxy->set(key, value);
- proxy->on(key, [this, uri, key, value, proxy](const ftl::config::Event&) {
- for (size_t i = 0; i < uris_.size(); i++) {
- // TODO: check that config exists?
- auto peer = peers_[i];
- std::string name = uris_[i] + "/" + uri + "/" + key;
- net_->send(peer, "update_cfg", name, proxy->getConfig()[key].dump());
- }
- });
- }
- }
- catch (nlohmann::detail::type_error) {
- LOG(ERROR) << "Failed to add config proxy for: " << uri << "/" << name;
- }
- }
-};
-
static void run(ftl::Configurable *root) {
Universe *net = ftl::create<Universe>(root, "net");
- ftl::ctrl::Slave slave(net, root);
+ ftl::ctrl::Master ctrl(root, net);
// Controls
auto *controls = ftl::create<ftl::Configurable>(root, "controls");
@@ -192,17 +143,6 @@ static void run(ftl::Configurable *root) {
return;
}
- ConfigProxy *configproxy = nullptr;
- if (net->numberOfPeers() > 0) {
- configproxy = new ConfigProxy(net); // TODO delete
- auto *disparity = ftl::create<ftl::Configurable>(root, "disparity");
- configproxy->add(disparity, "source/disparity/algorithm", "algorithm");
- configproxy->add(disparity, "source/disparity/bilateral_filter", "bilateral_filter");
- configproxy->add(disparity, "source/disparity/optflow_filter", "optflow_filter");
- configproxy->add(disparity, "source/disparity/mls", "mls");
- configproxy->add(disparity, "source/disparity/cross", "cross");
- }
-
// Must find pose for each source...
if (sources.size() > 1) {
std::map<std::string, Eigen::Matrix4d> transformations;
@@ -382,7 +322,7 @@ static void run(ftl::Configurable *root) {
LOG(INFO) << "Shutting down...";
ftl::timer::stop();
- slave.stop();
+ ctrl.stop();
net->shutdown();
ftl::pool.stop();
diff --git a/applications/recorder/src/main.cpp b/applications/recorder/src/main.cpp
index 58966e176846367f232b9d214e0e5bd68064dede..d2001114f8f98c4bf35630c9676651bf6e91fae3 100644
--- a/applications/recorder/src/main.cpp
+++ b/applications/recorder/src/main.cpp
@@ -11,7 +11,7 @@
#include <ftl/rgbd.hpp>
#include <ftl/rgbd/virtual.hpp>
#include <ftl/rgbd/streamer.hpp>
-#include <ftl/slave.hpp>
+#include <ftl/master.hpp>
#include <ftl/rgbd/group.hpp>
#include <ftl/threads.hpp>
#include <ftl/codecs/writer.hpp>
@@ -64,7 +64,7 @@ static Eigen::Affine3d create_rotation_matrix(float ax, float ay, float az) {
static void run(ftl::Configurable *root) {
Universe *net = ftl::create<Universe>(root, "net");
- ftl::ctrl::Slave slave(net, root);
+ ftl::ctrl::Master ctrl(root, net);
// Controls
auto *controls = ftl::create<ftl::Configurable>(root, "controls");
@@ -202,7 +202,7 @@ static void run(ftl::Configurable *root) {
LOG(INFO) << "Shutting down...";
ftl::timer::stop();
- slave.stop();
+ ctrl.stop();
net->shutdown();
ftl::pool.stop();
diff --git a/applications/vision/src/main.cpp b/applications/vision/src/main.cpp
index f99754cbf558bb3d0f53fde37763855fac7af128..4f245a07705331324e3a2730411bec992f404dce 100644
--- a/applications/vision/src/main.cpp
+++ b/applications/vision/src/main.cpp
@@ -22,7 +22,7 @@
//#include <ftl/display.hpp>
#include <ftl/rgbd/streamer.hpp>
#include <ftl/net/universe.hpp>
-#include <ftl/slave.hpp>
+#include <ftl/master.hpp>
#include <nlohmann/json.hpp>
#include "opencv2/imgproc.hpp"
@@ -50,7 +50,7 @@ using json = nlohmann::json;
static void run(ftl::Configurable *root) {
Universe *net = ftl::create<Universe>(root, "net");
- ftl::ctrl::Slave slave(net, root);
+ ftl::ctrl::Master ctrl(root, net);
auto paths = root->get<vector<string>>("paths");
string file = "";
@@ -84,7 +84,7 @@ static void run(ftl::Configurable *root) {
ftl::timer::start(true);
LOG(INFO) << "Stopping...";
- slave.stop();
+ ctrl.stop();
stream->stop();
net->shutdown();
diff --git a/components/control/cpp/CMakeLists.txt b/components/control/cpp/CMakeLists.txt
index f55ec9c19f0e6c30c3eafbaf203ee6a2e49b4ceb..3f6d4a29932ccd0cdadca61227de914d55d0f4b0 100644
--- a/components/control/cpp/CMakeLists.txt
+++ b/components/control/cpp/CMakeLists.txt
@@ -1,5 +1,4 @@
add_library(ftlctrl
- src/slave.cpp
src/master.cpp
)
diff --git a/components/control/cpp/include/ftl/master.hpp b/components/control/cpp/include/ftl/master.hpp
index 9b658aaadbedccdd86c452318ef1832230836ef7..15d27ab95c4846cc1c19a496a64db06c30c43ef5 100644
--- a/components/control/cpp/include/ftl/master.hpp
+++ b/components/control/cpp/include/ftl/master.hpp
@@ -10,8 +10,15 @@
#include <Eigen/Eigen>
namespace ftl {
+
+class NetConfigurable;
+
namespace ctrl {
+struct SystemState {
+ bool paused;
+};
+
struct LogEvent {
int verbosity;
std::string preamble;
@@ -57,6 +64,18 @@ class Master {
void setPose(const std::string &uri, const Eigen::Matrix4d &pose);
+ /**
+ * Clean up to remove log and status forwarding over the network.
+ */
+ void stop();
+
+ /**
+ * Do not call! Automatically called from logging subsystem.
+ */
+ void sendLog(const loguru::Message& message);
+
+ bool isPaused() const { return state_.paused; }
+
// Events
//void onError();
@@ -72,6 +91,12 @@ class Master {
std::vector<std::function<void(const LogEvent&)>> log_handlers_;
ftl::Configurable *root_;
ftl::net::Universe *net_;
+ std::map<ftl::UUID, std::vector<ftl::NetConfigurable*>> peerConfigurables_;
+ std::vector<ftl::UUID> log_peers_;
+ RECURSIVE_MUTEX mutex_;
+ bool in_log_;
+ bool active_;
+ SystemState state_;
};
}
diff --git a/components/control/cpp/include/ftl/slave.hpp b/components/control/cpp/include/ftl/slave.hpp
deleted file mode 100644
index e3ebd69e46fa5177eebbcc2d8d6b2f2cce70f204..0000000000000000000000000000000000000000
--- a/components/control/cpp/include/ftl/slave.hpp
+++ /dev/null
@@ -1,50 +0,0 @@
-#ifndef _FTL_CTRL_SLAVE_HPP_
-#define _FTL_CTRL_SLAVE_HPP_
-
-#include <ftl/net/universe.hpp>
-#include <ftl/configurable.hpp>
-#include <loguru.hpp>
-#include <ftl/threads.hpp>
-
-namespace ftl {
-namespace ctrl {
-
-struct SystemState {
- bool paused;
-};
-
-/**
- * Allows a node to be remote controlled and observed over the network. All
- * such nodes should create a single instance of this class, but must call
- * "stop()" before terminating the network.
- */
-class Slave {
- public:
- Slave(ftl::net::Universe *, ftl::Configurable *);
- ~Slave();
-
- /**
- * Clean up to remove log and status forwarding over the network.
- */
- void stop();
-
- /**
- * Do not call! Automatically called from logging subsystem.
- */
- void sendLog(const loguru::Message& message);
-
- bool isPaused() const { return state_.paused; }
-
- private:
- std::vector<ftl::UUID> log_peers_;
- ftl::net::Universe *net_;
- RECURSIVE_MUTEX mutex_;
- bool in_log_;
- bool active_;
- SystemState state_;
-};
-
-}
-}
-
-#endif // _FTL_CTRL_SLAVE_HPP_
diff --git a/components/control/cpp/src/master.cpp b/components/control/cpp/src/master.cpp
index a13a67a90b4bc7ccc1bd2c893580fc286dfb330a..d59b61b8544ac21567d7b6cddfcc6bba90ed76b4 100644
--- a/components/control/cpp/src/master.cpp
+++ b/components/control/cpp/src/master.cpp
@@ -1,4 +1,5 @@
#include <ftl/master.hpp>
+#include <ftl/net_configurable.hpp>
using ftl::ctrl::Master;
using ftl::net::Universe;
@@ -11,6 +12,47 @@ using ftl::ctrl::LogEvent;
Master::Master(Configurable *root, Universe *net)
: root_(root), net_(net) {
+ // Init system state
+ state_.paused = false;
+
+ net->bind("restart", []() {
+ LOG(WARNING) << "Remote restart...";
+ //exit(1);
+ ftl::exit_code = 1;
+ ftl::running = false;
+ });
+
+ net->bind("shutdown", []() {
+ LOG(WARNING) << "Remote shutdown...";
+ //exit(0);
+ ftl::running = false;
+ });
+
+ net->bind("pause", [this]() {
+ state_.paused = !state_.paused;
+ });
+
+ net->bind("update_cfg", [](const std::string &uri, const std::string &value) {
+ ftl::config::update(uri, nlohmann::json::parse(value));
+ });
+
+ net->bind("get_cfg", [](const std::string &uri) -> std::string {
+ return ftl::config::resolve(uri, false).dump();
+ });
+
+ net->bind("list_configurables", []() {
+ return ftl::config::list();
+ });
+
+ net->bind("log_subscribe", [this](const ftl::UUID &peer) {
+ UNIQUE_LOCK(mutex_, lk);
+ log_peers_.push_back(peer);
+ });
+
+ net->bind("connect", [this](const std::string &url) {
+ net_->connect(url);
+ });
+
net->bind("log", [this](int v, const std::string &pre, const std::string &msg) {
for (auto f : log_handlers_) {
f({v,pre,msg});
@@ -20,16 +62,35 @@ Master::Master(Configurable *root, Universe *net)
net->bind("node_details", [net,root]() -> std::vector<std::string> {
ftl::config::json_t json {
{"id", net->id().to_string()},
- {"title", root->value("title", *root->get<string>("$id"))},
- {"kind", "master"}
+ {"title", root->value("title", *root->get<string>("$id"))}
};
return {json.dump()};
});
//net->broadcast("log_subscribe", net->id());
- net->onConnect([this](ftl::net::Peer*) {
+ net->onConnect([this](ftl::net::Peer *p) {
//net_->broadcast("log_subscribe", net_->id());
+ ftl::UUID peer = p->id();
+ auto cs = getConfigurables(peer);
+ for (auto c : cs) {
+ //LOG(INFO) << "NET CONFIG: " << c;
+ ftl::config::json_t *configuration = new ftl::config::json_t;
+ *configuration = get(peer, c);
+ if (!configuration->empty()) {
+ ftl::NetConfigurable *nc = new ftl::NetConfigurable(peer, c, *this, *configuration);
+ peerConfigurables_[peer].push_back(nc);
+ }
+ }
+ });
+
+ net->onDisconnect([this](ftl::net::Peer *p) {
+ ftl::UUID peer = p->id();
+ for (ftl::NetConfigurable *nc : peerConfigurables_[peer]) {
+ ftl::config::json_t *configuration = &(nc->getConfig());
+ delete nc;
+ delete configuration;
+ }
});
}
@@ -133,4 +194,34 @@ void Master::setPose(const std::string &uri, const Eigen::Matrix4d &pose) {
//void onError();
void Master::onLog(function<void(const LogEvent &)> h) {
log_handlers_.push_back(h);
+}
+
+void Master::stop() {
+ if (!active_) return;
+ active_ = false;
+ loguru::remove_all_callbacks();
+ net_->unbind("restart");
+ net_->unbind("shutdown");
+ net_->unbind("update_cfg");
+ net_->unbind("get_cfg");
+ net_->unbind("slave_details"); // TODO: Remove
+ net_->unbind("log_subscribe");
+}
+
+void Master::sendLog(const loguru::Message& message) {
+ UNIQUE_LOCK(mutex_, lk);
+ if (in_log_) return;
+ in_log_ = true;
+
+ for (auto &p : log_peers_) {
+ auto peer = net_->getPeer(p);
+ if (!peer || !peer->isConnected()) continue;
+
+ std::cout << "sending log to master..." << std::endl;
+ if (!net_->send(p, "log", message.verbosity, message.preamble, message.message)) {
+ // TODO(Nick) Remove peer from loggers list...
+ }
+ }
+
+ in_log_ = false;
}
\ No newline at end of file
diff --git a/components/control/cpp/src/slave.cpp b/components/control/cpp/src/slave.cpp
deleted file mode 100644
index cd2d0f1ff03fa3aa88d94420a6811aac63c9c7b9..0000000000000000000000000000000000000000
--- a/components/control/cpp/src/slave.cpp
+++ /dev/null
@@ -1,106 +0,0 @@
-#include <ftl/slave.hpp>
-
-#include <ftl/threads.hpp>
-
-using ftl::Configurable;
-using ftl::net::Universe;
-using ftl::ctrl::Slave;
-using std::string;
-
-// static void netLog(void* user_data, const loguru::Message& message) {
-// Slave *slave = static_cast<Slave*>(user_data);
-// slave->sendLog(message);
-// }
-
-Slave::Slave(Universe *net, ftl::Configurable *root) : net_(net), in_log_(false), active_(true) {
-
- // Init system state
- state_.paused = false;
-
- net->bind("restart", []() {
- LOG(WARNING) << "Remote restart...";
- //exit(1);
- ftl::exit_code = 1;
- ftl::running = false;
- });
-
- net->bind("shutdown", []() {
- LOG(WARNING) << "Remote shutdown...";
- //exit(0);
- ftl::running = false;
- });
-
- net->bind("pause", [this]() {
- state_.paused = !state_.paused;
- });
-
- net->bind("update_cfg", [](const std::string &uri, const std::string &value) {
- ftl::config::update(uri, nlohmann::json::parse(value));
- });
-
- net->bind("get_cfg", [](const std::string &uri) -> std::string {
- return ftl::config::resolve(uri, false).dump();
- });
-
- net->bind("list_configurables", []() {
- return ftl::config::list();
- });
-
- net->bind("node_details", [net,root]() -> std::vector<std::string> {
- ftl::config::json_t json {
- {"id", net->id().to_string()},
- {"title", root->value("title", *root->get<string>("$id"))},
- {"kind", "slave"}
- };
- return {json.dump()};
- });
-
- net->bind("log_subscribe", [this](const ftl::UUID &peer) {
- UNIQUE_LOCK(mutex_, lk);
- log_peers_.push_back(peer);
- });
-
- net->bind("connect", [this](const std::string &url) {
- net_->connect(url);
- });
-
- //net->onConnect([this](ftl::net::Peer *peer) {
- // net_->broadcast("new_peer", peer->id());
- //});
-
- //loguru::add_callback("net_log", netLog, this, loguru::Verbosity_INFO);
-}
-
-Slave::~Slave() {
- stop();
-}
-
-void Slave::stop() {
- if (!active_) return;
- active_ = false;
- loguru::remove_all_callbacks();
- net_->unbind("restart");
- net_->unbind("shutdown");
- net_->unbind("update_cfg");
- net_->unbind("get_cfg");
- net_->unbind("slave_details");
- net_->unbind("log_subscribe");
-}
-
-void Slave::sendLog(const loguru::Message& message) {
- UNIQUE_LOCK(mutex_, lk);
- if (in_log_) return;
- in_log_ = true;
-
- for (auto &p : log_peers_) {
- auto peer = net_->getPeer(p);
- if (!peer || !peer->isConnected()) continue;
-
- std::cout << "sending log to master..." << std::endl;
- if (!net_->send(p, "log", message.verbosity, message.preamble, message.message)) {
- // TODO(Nick) Remove peer from loggers list...
- }
- }
-
- in_log_ = false;
-}
diff --git a/components/net/cpp/test/net_configurable_unit.cpp b/components/net/cpp/test/net_configurable_unit.cpp
index c8bf42247ef3f23023b25c159a968deda1fd419b..9452f7cea40b43d2f09917c046f5b6acd5f184cc 100644
--- a/components/net/cpp/test/net_configurable_unit.cpp
+++ b/components/net/cpp/test/net_configurable_unit.cpp
@@ -1,6 +1,6 @@
#include "catch.hpp"
#include <ftl/net_configurable.hpp>
-#include <ftl/slave.hpp>
+#include <ftl/master.hpp>
using ftl::NetConfigurable;
@@ -19,7 +19,7 @@ SCENARIO( "NetConfigurable::set()" ) {
ftl::Configurable *rootSlave;
rootSlave = new ftl::Configurable(jsonSlave);
ftl::net::Universe *netSlave = ftl::config::create<ftl::net::Universe>(rootSlave, std::string("test"));
- ftl::ctrl::Slave slave(netSlave, rootSlave);
+ ftl::ctrl::Master ctrl(rootSlave, netSlave);
netSlave->start();
netSlave->waitConnections();
net->waitConnections();