liftof_rb/threads/cmd_responder.rs
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use std::time::{
//Instant,
Duration,
};
use std::thread;
use std::sync::{
Arc,
Mutex,
};
use crossbeam_channel::Sender;
use tof_control::helper::pa_type::PASetBias;
use tof_dataclasses::commands::{
TofCommand,
TofCommandV2,
TofCommandCode,
TofResponse,
TofResponseCode,
};
use tof_dataclasses::commands::config::{
PreampBiasConfig,
RunConfig,
};
use tof_dataclasses::errors::CmdError;
use tof_dataclasses::packets::{TofPacket,
PacketType};
use tof_dataclasses::heartbeats::RBPing;
use tof_dataclasses::serialization::Serialization;
use tof_dataclasses::serialization::Packable;
use liftof_lib::{
//build_tcp_from_ip,
TofComponent,
LTBThresholdName
};
use tof_dataclasses::constants::{MASK_CMD_8BIT,
MASK_CMD_16BIT};
use crate::api::{rb_calibration,
//set_preamp_biases,
//send_preamp_bias_set,
send_ltb_threshold_set,
};
use crate::threads::monitoring::{
get_ltb_moni,
get_pb_moni,
get_rb_moni
};
use liftof_lib::constants::DEFAULT_RB_ID;
use liftof_lib::thread_control::ThreadControl;
//use tof_dataclasses::threading::ThreadControl;
use crate::control::{get_board_id_string,
get_board_id};
/// Centrailized command management
///
/// Maintain 0MQ command connection and faciliate
/// forwarding of commands and responses
///
/// # Arguments
///
/// * cmd_server_address : The full address string e.g. tcp://1.1.1.1:12345
/// where the command server is publishing commands..
/// * run_config : The default runconfig. Defined by reading in the
/// config file when the code boots up.
/// When we receive a simple DataRunStartCommand,
/// we will run this configuration
/// * run_config_sender : A sender to send the dedicated run config to the
/// runner
/// * tp_to_pub : Send TofPackets to the data pub.
/// Some TOF commands might trigger
/// additional information to get
/// send.
/// * address_for_cali : The local (self) PUB address, so that the rb_calibratoin,
/// can subscribe to it to loop itself the event packets
/// * thread_control : Manage thread control signals, e.g. stop
pub fn cmd_responder(cmd_server_address : String,
run_config : &RunConfig,
run_config_sender : &Sender<RunConfig>,
tp_to_pub : &Sender<TofPacket>,
address_for_cali : String,
thread_control : Arc<Mutex<ThreadControl>>) {
// create 0MQ sockedts
//let one_milli = time::Duration::from_millis(1);
//let port = DATAPORT.to_string();
//let cmd_address = build_tcp_from_ip(cmd_server_ip,port);
//// we will subscribe to two types of messages, BRCT and RB + 2 digits
//// of board id
let topic_board = get_board_id_string().expect("Can not get board id!");
let topic_broadcast = String::from("BRCT");
let ctx = zmq::Context::new();
// I guess expect is fine here, see above
let cmd_socket = ctx.socket(zmq::SUB).expect("Unable to create 0MQ SUB socket!");
info!("Will set up 0MQ SUB socket to listen for commands at address {cmd_server_address}");
let mut is_connected = false;
match cmd_socket.connect(&cmd_server_address) {
Err(err) => warn!("Not able to connect to {}, Error {err}", cmd_server_address),
Ok(_) => {
info!("Connected to CnC server at {}", cmd_server_address);
match cmd_socket.set_subscribe(&topic_broadcast.as_bytes()) {
Err(err) => error!("Can not subscribe to {topic_broadcast}, err {err}"),
Ok(_) => ()
}
match cmd_socket.set_subscribe(&topic_board.as_bytes()) {
Err(err) => error!("Can not subscribe to {topic_board}, err {err}"),
Ok(_) => ()
}
is_connected = true;
}
}
//let mut heartbeat = Instant::now();
// I don't know if we need this, maybe the whole block can go away.
// Originally I thought the RBs get pinged every x seconds and if we
// don't see the ping, we reconnect to the socket. But I don't know
// if that scenario actually occurs.
// Paolo: instead of leaving the connection always open we might
// want to reopen it if its not reachable anymore (so like command-oriented)...
//warn!("TODO: Heartbeat feature not yet implemented on C&C side");
//let heartbeat_received = false;
let mut save_cali_wf = false;
loop {
match thread_control.lock() {
Ok(tc) => {
save_cali_wf = tc.liftof_settings.save_cali_wf;
if tc.stop_flag {
info!("Received stop signal. Will stop thread!");
break;
}
},
Err(err) => {
trace!("Can't acquire lock! {err}");
},
}
// we need to make sure to connect to our server
// The startup is a bit tricky... FIXME
if !is_connected {
match cmd_socket.connect(&cmd_server_address) {
Err(err) => {
debug!("Not able to connect to {}! {err}", cmd_server_address);
thread::sleep(Duration::from_millis(200));
continue;
}
Ok(_) => {
info!("Connected to CnC server at {}", cmd_server_address);
match cmd_socket.set_subscribe(&topic_broadcast.as_bytes()) {
Err(err) => error!("Can not subscribe to {topic_broadcast}, err {err}"),
Ok(_) => ()
}
match cmd_socket.set_subscribe(&topic_board.as_bytes()) {
Err(err) => error!("Can not subscribe to {topic_board}, err {err}"),
Ok(_) => ()
}
is_connected = true;
}
}
}
match cmd_socket.recv_bytes(0) {
//match cmd_socket.recv_bytes(zmq::DONTWAIT) {
Err(err) => trace!("Problem receiving command over 0MQ ! Err {err}"),
Ok(cmd_bytes) => {
debug!("Received bytes {}", cmd_bytes.len());
// it will always be a tof packet
match TofPacket::from_bytestream(&cmd_bytes, &mut 4) {
Err(err) => {
error!("Can not decode TofPacket! bytes {:?}, error {err}", cmd_bytes);
},
Ok(tp) => {
match tp.packet_type {
// Not sure about that yet
//PacketType::BfswAckPacket => {
// // just forward this for now
// match tp_to_pub.send(tp) {
// Err(err) => error!("Unable to forward Bfsw Ack packet! {err}"),
// Ok(_) => ()
// }
// //return_val = Ok(TofCommandCode::Ping);
//}
PacketType::TofCommandV2 => {
let cmd : TofCommandV2;
match tp.unpack::<TofCommandV2>() {
Ok(_cmd) => {cmd = _cmd;}
Err(err) => {
error!("Unable to unpack TofCommand! {err}");
continue;
}
}
match cmd.command_code {
TofCommandCode::DataRunStart => {
let rc = run_config.clone();
match run_config_sender.send(rc) {
Ok(_) => {
info!("Run started successfully!");
//return_val = Ok(TofCommandCode::DataRunStart);
},
Err(err) => {
error!("Error starting run! {err}");
//return_val = Err(CmdError::RunStartError);
}
}
}
TofCommandCode::DataRunStop => {
let rc = RunConfig::new();
match run_config_sender.send(rc) {
Ok(_) => {
info!("Run stopped successfully!");
//return_val = Ok(TofCommandCode::DataRunStop);
},
Err(err) => {
error!("Error stopping run! {err}");
//return_val = Err(CmdError::RunStopError);
}
}
}
TofCommandCode::RBCalibration => {
match rb_calibration(&run_config_sender,
&tp_to_pub,
save_cali_wf,
address_for_cali.clone()) {
Ok(_) => {
println!("== ==> [cmd-responder] Calibration successful!");
info!("Default calibration data taking successful!");
//return_val = Ok(TofCommandCode::RBCalibration);
},
Err(err) => {
error!("Default calibration data taking failed! Error {err}!");
//return_val = Err(CmdError::CalibrationError);
}
}
}
_ => error!("Not able to execute command for command code {}", cmd.command_code)
}
}
PacketType::TofCommand => {
// we have to strip off the topic
match TofCommand::from_bytestream(&tp.payload, &mut 0) {
Err(err) => {
error!("Problem decoding command {err}");
}
Ok(cmd) => {
// we got a valid tof command, forward it and wait for the
// response
//let tof_resp = TofResponse::GeneralFail(TofResponseCode::RespErrNotImplemented as u32);
//let resp_not_implemented = prefix_board_id(&mut tof_resp.to_bytestream());
//let resp_not_implemented = TofResponse::GeneralFail(RESP_ERR_NOTIMPLEMENTED);
let return_val: Result<TofCommandCode, CmdError>;
match cmd {
TofCommand::Unknown (_) => {
info!("Received unknown command");
error!("Cannot interpret unknown command");
return_val = Err(CmdError::UnknownError);
},
TofCommand::Ping (_) => {
info!("Received ping command");
let mut ping = RBPing::new();
ping.rb_id = get_board_id().unwrap_or(0) as u8;
let tp = ping.pack();
match tp_to_pub.send(tp) {
Err(err) => error!("Unable to send ping response! {err}"),
Ok(_) => ()
}
return_val = Ok(TofCommandCode::Ping);
},
TofCommand::Moni (value) => {
// MSB third 8 bits are
let tof_component: TofComponent = TofComponent::from(((value | MASK_CMD_8BIT << 8) >> 8) as u8);
// MSB fourth 8 bits are
let id: u8 = (value | MASK_CMD_8BIT) as u8;
// Function that just replies to a ping command send to tofcpu
// get_board_id PANICS!! TODO
let rb_id = get_board_id().unwrap() as u8;
if tof_component != TofComponent::MT &&
tof_component != TofComponent::TofCpu &&
tof_component != TofComponent::Unknown &&
rb_id != id {
// The packet was not for this RB so bye
continue;
} else {
match tof_component {
TofComponent::RB => {
info!("Received RB moni command");
let moni = get_rb_moni(id).unwrap();
let tp = moni.pack();
match tp_to_pub.send(tp) {
Err(err) => {
error!("RB moni sending failed! Err {err}");
return_val = Err(CmdError::MoniError);
}
Ok(_) => {
info!("RB moni sent");
return_val = Ok(TofCommandCode::Moni);
}
};
},
TofComponent::PB => {
info!("Received PB moni command");
let moni = get_pb_moni(id).unwrap();
let tp = moni.pack();
match tp_to_pub.send(tp) {
Err(err) => {
error!("PB moni sending failed! Err {err}");
return_val = Err(CmdError::MoniError);
}
Ok(_) => {
info!("PB moni sent");
return_val = Ok(TofCommandCode::Moni);
}
};
},
TofComponent::LTB => {
info!("Received LTB moni command");
let moni = get_ltb_moni(id).unwrap();
let tp = moni.pack();
match tp_to_pub.send(tp) {
Err(err) => {
error!("LTB moni sending failed! Err {err}");
return_val = Err(CmdError::MoniError);
}
Ok(_) => {
info!("LTB moni sent");
return_val = Ok(TofCommandCode::Moni);
}
};
},
_ => {
return_val = Err(CmdError::MoniError);
error!("An RB can control just PBs and LTBs.")
}
}
}
},
TofCommand::DataRunStop(value) => {
// MSB fourth 8 bits are RB ID
let rb_id: u8 = (value | MASK_CMD_8BIT) as u8;
println!("=> Received command to end run for board ids {rb_id}!");
let my_rb_id = get_board_id().unwrap() as u8;
// if this RB is the one then do stuff
if rb_id == DEFAULT_RB_ID || rb_id == my_rb_id {
println!("=> Received command to end run!");
// default is not active for run config
let rc = RunConfig::new();
match run_config_sender.send(rc) {
Ok(_) => {
info!("Run stopped successfully!");
return_val = Ok(TofCommandCode::DataRunStop);
},
Err(err) => {
error!("Error stopping run! {err}");
return_val = Err(CmdError::RunStopError);
}
}
} else {
// The packet was not for this RB so bye
continue;
}
},
TofCommand::DataRunStart (value) => {
// MSB second 8 bits are run_type
//let run_type: u8 = ((value | (MASK_CMD_8BIT << 16)) >> 16) as u8;
// MSB third 8 bits are RB ID
let rb_id: u8 = ((value | (MASK_CMD_8BIT << 8)) >> 8) as u8;
// MSB fourth 8 bits are event number
//let event_no: u8 = (value | MASK_CMD_8BIT) as u8;
// let's start a run. The value of the TofCommnad shall be
// nevents
let my_rb_id = get_board_id().unwrap() as u8;
// if this RB is the one then do stuff
if rb_id == DEFAULT_RB_ID || rb_id == my_rb_id {
println!("==> Will initialize new run!");
//let rc = get_runconfig(&run_config_file);
let rc = run_config.clone();
match run_config_sender.send(rc) {
Ok(_) => {
info!("Run started successfully!");
return_val = Ok(TofCommandCode::DataRunStart);
},
Err(err) => {
error!("Error starting run! {err}");
return_val = Err(CmdError::RunStartError);
}
};
} else {
// The packet was not for this RB so bye
continue;
}
},
TofCommand::DefaultCalibration (value) => {
// MSB first 16 bits are voltage level
//let voltage_val: u16 = ((value | (MASK_CMD_16BIT << 16)) >> 16) as u16;
// MSB third 8 bits are RB ID
let rb_id: u8 = ((value | (MASK_CMD_8BIT << 8)) >> 8) as u8;
// MSB fourth 8 bits are extra (not used)
//let extra: u8 = (value | MASK_CMD_8BIT) as u8;
let my_rb_id = get_board_id().unwrap() as u8;
// if this RB is the one then do stuff
if rb_id == DEFAULT_RB_ID || rb_id == my_rb_id {
// FIXME - time delay? When we start all calibrations at the
// same time, then the nw might get too busy?
match rb_calibration(&run_config_sender,
&tp_to_pub,
save_cali_wf,
address_for_cali.clone()) {
Ok(_) => {
println!("== ==> [cmd-responder] Calibration successful!");
info!("Default calibration data taking successful!");
return_val = Ok(TofCommandCode::RBCalibration);
},
Err(err) => {
error!("Default calibration data taking failed! Error {err}!");
return_val = Err(CmdError::CalibrationError);
}
}
} else {
// The packet was not for this RB so bye
continue;
}
}
_ => {
error!("{} is not implemented!", cmd);
return_val = Err(CmdError::NotImplementedError);
}
}
// deal with return values
match return_val {
Err(cmd_error) => {
let r = TofResponse::GeneralFail(TofResponseCode::RespErrUnexecutable as u32);
match cmd_socket.send(r.to_bytestream(),0) {
Err(err) => warn!("Can not send response!, Err {err}"),
Ok(_) => info!("Responded to {cmd_error}!")
}
},
Ok(tof_command) => {
let r = TofResponse::Success(TofResponseCode::RespSuccFingersCrossed as u32);
match cmd_socket.send(r.to_bytestream(),0) {
Err(err) => warn!("Can not send response!! {err}"),
Ok(_) => info!("Responded to {tof_command}!")
}
}
}
}
}
},
_ => {
error!("Can not respond to {}", tp);
}
}
}
}
}
}
}
}