amr_logical_agent.h

// Copyright 2023 The SOLA authors
//
// This file is part of DAISI.
//
// DAISI is free software: you can redistribute it and/or modify it under the terms of the GNU
// General Public License as published by the Free Software Foundation; version 2.
//
// DAISI 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 DAISI. If not, see
// <https://www.gnu.org/licenses/>.
//
// SPDX-License-Identifier: GPL-2.0-only
 
#ifndef DAISI_CPPS_LOGICAL_AMR_AMR_LOGICAL_AGENT_H_
#define DAISI_CPPS_LOGICAL_AMR_AMR_LOGICAL_AGENT_H_
 
#include <memory>
#include <string>
 
#include "amr_logical_execution_state.h"
#include "cpps/amr/amr_description.h"
#include "cpps/amr/amr_topology.h"
#include "cpps/amr/message/amr_state.h"
#include "cpps/amr/message/serializer.h"
#include "cpps/logical/logical_agent.h"
#include "cpps/logical/task_management/task_management.h"
#include "ns3/socket.h"
#include "solanet/network_udp/message.h"
#include "utils/structure_helpers.h"
 
namespace daisi::cpps::logical {
 
class AmrLogicalAgent : public LogicalAgent {
public:
  AmrLogicalAgent(const AlgorithmConfig &config, bool first_node);
 
  ~AmrLogicalAgent() override = default;
 
  virtual void init();
 
  void start() override;
 
  void notifyTaskAssigned();
 
  ns3::InetSocketAddress getServerAddress() const {
    ns3::Address addr;
    server_socket_->GetSockName(addr);
    return ns3::InetSocketAddress::ConvertFrom(addr);
  }
 
private:
  void initAlgorithms() override;
 
  void messageReceiveFunction(const solanet::Message &msg) override;
 
  void topicMessageReceiveFunction(const sola::TopicMessage &msg) override;
 
  bool connectionRequest(ns3::Ptr<ns3::Socket> socket, const ns3::Address &addr);
 
  void newConnectionCreated(ns3::Ptr<ns3::Socket> socket, const ns3::Address &addr);
 
  void readFromPhysicalSocket(ns3::Ptr<ns3::Socket> socket);
 
  void processMessageAmrDescription(const AmrDescription &description);
  void processMessageAmrStatusUpdate(const AmrStatusUpdate &status_update);
  void processMessageAmrOrderUpdate(const AmrOrderUpdate &order_update);
 
  void sendTopologyToPhysical();
  void sendTaskToPhysical();
 
  void checkSendingNextTaskToPhysical();
 
  void logAmrInfos();
  void logPositionUpdate();
  void forwardOrderUpdate();
 
  void sendToPhysical(std::string payload);
 
  void setServices();
 
  AmrDescription description_;
  bool description_set_ = false;  // to avoid overriding
 
  Topology topology_;
 
  AmrLogicalExecutionState execution_state_;
 
  ns3::Ptr<ns3::Socket> server_socket_;
 
  ns3::Ptr<ns3::Socket> physical_socket_;
 
  ns3::Address physical_address_;
 
  std::shared_ptr<TaskManagement> task_management_;
};
}  // namespace daisi::cpps::logical
 
#endif