From c31ae9bc5baaae69d23b6c5209a8712ae7b18ede Mon Sep 17 00:00:00 2001
From: Iiro Rastas <iitara@utu.fi>
Date: Mon, 16 Dec 2019 15:24:02 +0200
Subject: [PATCH] Combine Master and Slave and remove ConfigProxy
The functionality of Master and Slave is now in a single class, which is
currently named Master. NetConfigurables are added and removed in this
class instead of the GUI, so that all applications can now access
NetConfigurables. Due to this change, ConfigProxy has been removed from
reconstruction.
---
applications/gui/src/main.cpp | 26 -----
applications/reconstruct/src/main.cpp | 66 +----------
applications/recorder/src/main.cpp | 6 +-
applications/vision/src/main.cpp | 6 +-
components/control/cpp/CMakeLists.txt | 1 -
components/control/cpp/include/ftl/master.hpp | 25 +++++
components/control/cpp/include/ftl/slave.hpp | 50 ---------
components/control/cpp/src/master.cpp | 97 +++++++++++++++-
components/control/cpp/src/slave.cpp | 106 ------------------
.../net/cpp/test/net_configurable_unit.cpp | 4 +-
10 files changed, 130 insertions(+), 257 deletions(-)
delete mode 100644 components/control/cpp/include/ftl/slave.hpp
delete mode 100644 components/control/cpp/src/slave.cpp
diff --git a/applications/gui/src/main.cpp b/applications/gui/src/main.cpp
index 5ebc552fa..99af829eb 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 33db96ae0..ce571918c 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 58966e176..d2001114f 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 f99754cbf..4f245a077 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 f55ec9c19..3f6d4a299 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 9b658aaad..15d27ab95 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 e3ebd69e4..000000000
--- 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 a13a67a90..d59b61b85 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 cd2d0f1ff..000000000
--- 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 c8bf42247..9452f7cea 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();
--
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