org.yamcs.tctm.AbstractTcDataLink Maven / Gradle / Ivy

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package org.yamcs.tctm;

import static org.yamcs.cmdhistory.CommandHistoryPublisher.AcknowledgeSent_KEY;

import org.yamcs.ConfigurationException;
import org.yamcs.Spec;
import org.yamcs.Spec.OptionType;
import org.yamcs.YConfiguration;
import org.yamcs.cmdhistory.CommandHistoryPublisher;
import org.yamcs.cmdhistory.CommandHistoryPublisher.AckStatus;
import org.yamcs.commanding.PreparedCommand;
import org.yamcs.protobuf.Commanding.CommandId;
import org.yamcs.utils.YObjectLoader;

/**
 * Base implementation for a TC data link that initialises a post processor and implements basic methods.
 * 
 */
public abstract class AbstractTcDataLink extends AbstractLink implements TcDataLink {

    protected CommandHistoryPublisher commandHistoryPublisher;

    protected CommandPostprocessor cmdPostProcessor;
    static final PreparedCommand SIGNAL_QUIT = new PreparedCommand(new byte[0]);

    protected long housekeepingInterval = 10000;
    

    @Override
    public Spec getDefaultSpec() {
        var spec = super.getDefaultSpec();
        spec.addOption("commandPostprocessorClassName", OptionType.STRING);
        spec.addOption("commandPostprocessorArgs", OptionType.MAP).withSpec(Spec.ANY);
        return spec;
    }

    @Override
    public void init(String yamcsInstance, String linkName, YConfiguration config) throws ConfigurationException {
        super.init(yamcsInstance, linkName, config);

        initPostprocessor(yamcsInstance, config);
    }

    protected void initPostprocessor(String instance, YConfiguration config) {
        String commandPostprocessorClassName = GenericCommandPostprocessor.class.getName();
        YConfiguration commandPostprocessorArgs = null;

        if (config != null) {
            commandPostprocessorClassName = config.getString("commandPostprocessorClassName",
                    GenericCommandPostprocessor.class.getName());
            if (config.containsKey("commandPostprocessorArgs")) {
                commandPostprocessorArgs = config.getConfig("commandPostprocessorArgs");
            }
        }

        try {
            boolean initRequired = false;
            try {
                cmdPostProcessor = YObjectLoader.loadObject(commandPostprocessorClassName);
                initRequired = true;
            } catch (ConfigurationException e) {
                // Fallback to the current behaviour if no default constructor is found.
                // TODO: remove after all postprocessors have been migrated to the init method
                if (commandPostprocessorArgs != null) {
                    cmdPostProcessor = YObjectLoader.loadObject(commandPostprocessorClassName, instance,
                            commandPostprocessorArgs);
                } else {
                    cmdPostProcessor = YObjectLoader.loadObject(commandPostprocessorClassName, instance);
                }
            }

            if (initRequired) {
                if (commandPostprocessorArgs == null) {
                    commandPostprocessorArgs = YConfiguration.emptyConfig();
                }
                cmdPostProcessor.init(instance, commandPostprocessorArgs);
            }
        } catch (Exception e) {
            log.error("Cannot instantiate the command postprocessor", e);
            throw new ConfigurationException("Failed to initialize postprocessor", e);
        }
    }

    protected void initPostprocessor2(String instance, YConfiguration config) {
        String commandPostprocessorClassName = GenericCommandPostprocessor.class.getName();
        YConfiguration commandPostprocessorArgs = null;

        if (config != null) {
            commandPostprocessorClassName = config.getString("commandPostprocessorClassName",
                    GenericCommandPostprocessor.class.getName());
            if (config.containsKey("commandPostprocessorArgs")) {
                commandPostprocessorArgs = config.getConfig("commandPostprocessorArgs");
            }
        }

        try {
            if (commandPostprocessorArgs != null) {
                cmdPostProcessor = YObjectLoader.loadObject(commandPostprocessorClassName, instance,
                        commandPostprocessorArgs);
            } else {
                cmdPostProcessor = YObjectLoader.loadObject(commandPostprocessorClassName, instance);
            }
        } catch (ConfigurationException e) {
            log.error("Cannot instantiate the command postprocessor", e);
            throw e;
        }
    }

    @Override
    public void setCommandHistoryPublisher(CommandHistoryPublisher commandHistoryListener) {
        this.commandHistoryPublisher = commandHistoryListener;
        cmdPostProcessor.setCommandHistoryPublisher(commandHistoryListener);
    }

    /**
     * Postprocesses the command, unless postprocessing is disabled.
     * 
     * @return potentially modified binary, or {@code null} to indicate that the command should not be handled further.
     */
    protected byte[] postprocess(PreparedCommand pc) {
        byte[] binary = pc.getBinary();
        if (!pc.disablePostprocessing()) {
            binary = cmdPostProcessor.process(pc);
            if (binary == null) {
                log.warn("command postprocessor did not process the command");
            }
        }
        return binary;
    }

    @Override
    public long getDataInCount() {
        return 0;
    }

    /** Send to command history the failed command */
    protected void failedCommand(CommandId commandId, String reason) {
        log.debug("Failing command {}: {}", commandId, reason);
        long currentTime = getCurrentTime();
        commandHistoryPublisher.publishAck(commandId, AcknowledgeSent_KEY,
                currentTime, AckStatus.NOK, reason);
        commandHistoryPublisher.commandFailed(commandId, currentTime, reason);
    }

    /**
     * send an ack in the command history that the command has been sent out of the link
     * 
     * @param commandId
     */
    protected void ackCommand(CommandId commandId) {
        commandHistoryPublisher.publishAck(commandId, AcknowledgeSent_KEY, getCurrentTime(),
                AckStatus.OK);
    }
}