CT_project/测量节点/communication/communication_socket_base.cpp

#include "communication_socket_base.h"
#include "../tool/proto_tool.h"

Communication_socket_base::Communication_socket_base()
{
	m_communication_statu = COMMUNICATION_UNKNOW;

	mp_receive_data_thread = NULL;
	mp_analysis_data_thread = NULL;
	mp_send_data_thread = NULL;
	mp_encapsulate_data_thread = NULL;

	m_analysis_cycle_time = 1000;//默认1000ms,就自动解析(接受list)
	m_encapsulate_cycle_time = 1000;//默认1000ms,就自动发送一次状态信息
}

Communication_socket_base::~Communication_socket_base()
{
	communication_uninit();
}

//初始化 通信 模块。如下三选一
Error_manager Communication_socket_base::communication_init()
{
	LOG(INFO) << " ---Communication_socket_base::communication_init() run--- "<< this;

	return  communication_init_from_protobuf(COMMUNICATION_PARAMETER_PATH);
}

//初始化 通信 模块。从文件读取
Error_manager Communication_socket_base::communication_init_from_protobuf(std::string prototxt_path)
{
	Communication_proto::Communication_parameter_all t_communication_parameter_all;
	if(!  proto_tool::read_proto_param(prototxt_path,t_communication_parameter_all) )
	{
		return Error_manager(COMMUNICATION_READ_PROTOBUF_ERROR,MINOR_ERROR,
		"Communication_socket_base read_proto_param  failed");
	}
	return communication_init_from_protobuf(t_communication_parameter_all);
}

//初始化 通信 模块。从protobuf读取
Error_manager Communication_socket_base::communication_init_from_protobuf(Communication_proto::Communication_parameter_all& communication_parameter_all)
{
	LOG(INFO) << " ---Communication_socket_base::communication_init_from_protobuf() run--- "<< this;
	Error_manager t_error;

	if ( communication_parameter_all.communication_parameters().has_bind_string() )
	{
		t_error = communication_bind(communication_parameter_all.communication_parameters().bind_string());
		if ( t_error != Error_code::SUCCESS )
		{
			return t_error;
		}
	}
//	std::cout << "communication_parameter_all.communication_parameters().connect_string_vector_size() " <<
//		communication_parameter_all.communication_parameters().connect_string_vector_size()<< std::endl;
	for(int i=0;i<communication_parameter_all.communication_parameters().connect_string_vector_size();++i)
	{
		t_error = communication_connect( communication_parameter_all.communication_parameters().connect_string_vector(i) );
		if ( t_error != Error_code::SUCCESS )
		{
			return t_error;
		}
	}
	//启动通信, run thread
	communication_run();

	return Error_code::SUCCESS;
}

//初始化
Error_manager Communication_socket_base::communication_init(std::string bind_string, std::vector<std::string>& connect_string_vector)
{
	LOG(INFO) << " ---Communication_socket_base::communication_init() run--- "<< this;
	Error_manager t_error;

	t_error = communication_bind(bind_string);
	if ( t_error != Error_code::SUCCESS )
	{
		return t_error;
	}

	t_error = communication_connect(connect_string_vector);
	if ( t_error != Error_code::SUCCESS )
	{
		return t_error;
	}

	//启动通信, run thread
	communication_run();

	return Error_code::SUCCESS;
}
//bind
Error_manager Communication_socket_base::communication_bind(std::string bind_string)
{
	Error_manager t_error;
	int t_socket_result;

	//m_socket 自己作为一个服务器, 绑定一个端口
	t_socket_result = m_socket.bind(bind_string);
	if ( t_socket_result <0 )
	{
		return Error_manager(Error_code::COMMUNICATION_BIND_ERROR, Error_level::MINOR_ERROR,
							 " m_socket.bind error ");
	}
	LOG(INFO) << " ---Communication_socket_base::communication_bind() bind::  "<< bind_string << "  " << this;

	return Error_code::SUCCESS;
}
//connect
Error_manager Communication_socket_base::communication_connect(std::vector<std::string>& connect_string_vector)
{
	Error_manager t_error;
	for (auto iter = connect_string_vector.begin(); iter != connect_string_vector.end(); ++iter)
	{
		t_error = communication_connect(*iter);
		if ( t_error != Error_code::SUCCESS )
		{
			return t_error;
		}
	}
	return Error_code::SUCCESS;
}
//connect
Error_manager Communication_socket_base::communication_connect(std::string connect_string)
{
	Error_manager t_error;
	int t_socket_result;
	//m_socket 和远端通信, 连接远端服务器的端口
	t_socket_result = m_socket.connect(connect_string);
	if ( t_socket_result <0 )
	{
		return Error_manager(Error_code::COMMUNICATION_CONNECT_ERROR, Error_level::MINOR_ERROR,
							 " m_socket.connect error ");
	}
	LOG(INFO) << " ---Communication_socket_base::communication_connect() connect::  "<< connect_string << "  " << this;

	return Error_code::SUCCESS;
}
//启动通信, run thread
Error_manager Communication_socket_base::communication_run()
{
	m_communication_statu = COMMUNICATION_READY;
	//启动4个线程。
	//接受线程默认循环, 内部的nn_recv进行等待, 超时1ms
	m_receive_condition.reset(false, false, false);
	mp_receive_data_thread = new std::thread(&Communication_socket_base::receive_data_thread, this);
	//解析线程默认等待, 需要接受线程去唤醒, 超时1ms, 超时后主动遍历m_receive_data_list
	m_analysis_data_condition.reset(false, false, false);
	mp_analysis_data_thread = new std::thread(&Communication_socket_base::analysis_data_thread, this);
	//发送线程默认循环, 内部的wait_and_pop进行等待,
	m_send_data_condition.reset(false, true, false);
	mp_send_data_thread = new std::thread(&Communication_socket_base::send_data_thread, this);
	//封装线程默认等待, ...., 超时1ms, 超时后主动 封装心跳和状态信息,
	m_encapsulate_data_condition.reset(false, false, false);
	mp_encapsulate_data_thread = new std::thread(&Communication_socket_base::encapsulate_data_thread, this);

	return Error_code::SUCCESS;
}


//反初始化 通信 模块。
Error_manager Communication_socket_base::communication_uninit()
{
	//终止list，防止 wait_and_pop 阻塞线程。
	m_receive_data_list.termination_list();
	m_send_data_list.termination_list();

	//杀死4个线程，强制退出
	if (mp_receive_data_thread)
	{
		m_receive_condition.kill_all();
	}
	if (mp_analysis_data_thread)
	{
		m_analysis_data_condition.kill_all();
	}
	if (mp_send_data_thread)
	{
		m_send_data_condition.kill_all();
	}
	if (mp_encapsulate_data_thread)
	{
		m_encapsulate_data_condition.kill_all();
	}
	//回收4个线程的资源
	if (mp_receive_data_thread)
	{
		mp_receive_data_thread->join();
		delete mp_receive_data_thread;
		mp_receive_data_thread = NULL;
	}
	if (mp_analysis_data_thread)
	{
		mp_analysis_data_thread->join();
		delete mp_analysis_data_thread;
		mp_analysis_data_thread = 0;
	}
	if (mp_send_data_thread)
	{
		mp_send_data_thread->join();
		delete mp_send_data_thread;
		mp_send_data_thread = NULL;
	}
	if (mp_encapsulate_data_thread)
	{
		mp_encapsulate_data_thread->join();
		delete mp_encapsulate_data_thread;
		mp_encapsulate_data_thread = NULL;
	}

	//清空list
	m_receive_data_list.clear_and_delete();
	m_send_data_list.clear_and_delete();

	m_communication_statu = COMMUNICATION_UNKNOW;
	m_socket.close();

	return Error_code::SUCCESS;
}


void Communication_socket_base::set_analysis_cycle_time(unsigned int analysis_cycle_time)
{
	m_analysis_cycle_time = analysis_cycle_time;
}
void Communication_socket_base::set_encapsulate_cycle_time(unsigned int encapsulate_cycle_time)
{
	m_encapsulate_cycle_time = encapsulate_cycle_time;
}




//mp_receive_data_thread 接受线程执行函数，
//receive_data_thread 内部线程负责接受消息
void Communication_socket_base::receive_data_thread()
{
	LOG(INFO) << " Communication_socket_base::receive_data_thread start "<< this;

	//通信接受线程, 负责接受socket消息, 并存入 m_receive_data_list
	while (m_receive_condition.is_alive())
	{
		m_receive_condition.wait_for_ex(std::chrono::microseconds(1));
		if ( m_receive_condition.is_alive() )
		{
			std::this_thread::yield();

			std::string t_receive_string;
			{//这个大括号表示只对 recv 和 send 加锁, 不要因为后面的复杂逻辑影响通信效率
				std::unique_lock<std::mutex> lk(m_mutex);
				//flags为1, 非阻塞接受消息, 如果接收到消息, 那么接受数据长度大于0
				t_receive_string = m_socket.recv<std::string>(1);
			}
			if ( t_receive_string.size()>0 )
			{
				//如果这里接受到了消息, 在这提前解析消息最前面的Base_msg (消息公共内容), 用于后续的check
				message::Base_msg t_base_msg;
				if( t_base_msg.ParseFromString(t_receive_string) )
				{
					//第一次解析之后转化为, Communication_message, 自定义的通信消息格式
					Communication_message  * tp_communication_message = new Communication_message;
					tp_communication_message->reset(t_base_msg.base_info(), t_receive_string);
					//检查消息是否有效, 主要检查消息类型和接受者, 判断这条消息是不是给我的.
					if ( check_msg(tp_communication_message) == SUCCESS )
					{
						bool is_push = m_receive_data_list.push(tp_communication_message);
						//push成功之后, tp_communication_message内存的管理权限交给链表, 如果失败就要回收内存
						if ( is_push )
						{
							//唤醒解析线程一次,
							m_analysis_data_condition.notify_all(false, true);
						}
						else
						{
//						push失败, 就要回收内存
							delete(tp_communication_message);
							tp_communication_message = NULL;
//					return Error_manager(Error_code::CONTAINER_IS_TERMINATE, Error_level::MINOR_ERROR,
//										 " m_receive_data_list.push error ");
						}
					}
					else
					{
						delete(tp_communication_message);
						tp_communication_message = NULL;
					}


				}
				//解析失败, 就当做什么也没发生, 认为接收消息无效,
			}
			//没有接受到消息, 返回空字符串
		}
	}

	LOG(INFO) << " Communication_socket_base::receive_data_thread end "<< this;
	return;
}

//检查消息是否有效, 主要检查消息类型和接受者, 判断这条消息是不是给我的.
Error_manager Communication_socket_base::check_msg(Communication_message*  p_msg)
{
	//通过 p_msg->get_message_type() 和 p_msg->get_receiver() 判断这条消息是不是给我的.
	//子类重载时, 增加自己模块的判断逻辑, 以后再写.
	if ( p_msg->get_message_type() == Communication_message::Message_type::eBase_msg
		 && p_msg->get_receiver() == Communication_message::Communicator::eMain )
	{
		return Error_code::SUCCESS;
	}
	else
	{
		//无效的消息,
		return Error_manager(Error_code::INVALID_MESSAGE, Error_level::NEGLIGIBLE_ERROR,
							 " INVALID_MESSAGE error ");	}
}

//mp_analysis_data_thread 解析线程执行函数，
//analysis_data_thread 内部线程负责解析消息
void Communication_socket_base::analysis_data_thread()
{
	LOG(INFO) << " Communication_socket_base::analysis_data_thread start "<< this;

	//通信解析线程, 负责巡检m_receive_data_list, 并解析和处理消息
	while (m_analysis_data_condition.is_alive())
	{
		bool t_pass_flag = m_analysis_data_condition.wait_for_millisecond(m_analysis_cycle_time);
		if ( m_analysis_data_condition.is_alive() )
		{
			std::this_thread::yield();
			//如果解析线程被主动唤醒, 那么就表示 收到新的消息, 那就遍历整个链表
			if ( t_pass_flag )
			{
				analysis_receive_list();
			}
				//如果解析线程超时通过, 那么就定时处理链表残留的消息,
			else
			{
				analysis_receive_list();
			}
		}
	}

	LOG(INFO) << " Communication_socket_base::analysis_data_thread end "<< this;
	return;
}

//循环接受链表, 解析消息,
Error_manager Communication_socket_base::analysis_receive_list()
{
	Error_manager t_error;
	if ( m_receive_data_list.m_termination_flag )
	{
		return Error_manager(Error_code::CONTAINER_IS_TERMINATE, Error_level::MINOR_ERROR,
							 " Communication_socket_base::analysis_receive_list error ");
	}
	else
	{
		std::unique_lock<std::mutex> lk(m_receive_data_list.m_mutex);
		for (auto iter = m_receive_data_list.m_data_list.begin(); iter != m_receive_data_list.m_data_list.end(); )
		{
			Communication_message* tp_msg = **iter;
			if ( tp_msg == NULL )
			{
				iter = m_receive_data_list.m_data_list.erase(iter);
				//注：erase 删除当前 iter 之后返回下一个节点，当前的 iter 无效化，
			}
			else
			{
				//检查消息是否可以被处理
				t_error = check_executer(tp_msg);
				if ( t_error == SUCCESS)
				{
					//处理消息
					t_error = execute_msg(tp_msg);
//				if ( t_error )
//				{
//					//执行结果不管
//				}
//				else
//				{
//					//执行结果不管
//				}
					delete(tp_msg);
					tp_msg = NULL;
					iter = m_receive_data_list.m_data_list.erase(iter);
					//注：erase 删除当前 iter 之后返回下一个节点，当前的 iter 无效化，
				}
				else if( t_error == COMMUNICATION_EXCUTER_IS_BUSY)
				{
					//处理器正忙, 那就不做处理, 直接处理下一个
					//注:这条消息就被保留了下来, wait_for_millisecond 超时通过之后, 会循环检查残留的消息.
					iter++;
				}
				else //if( t_error == COMMUNICATION_ANALYSIS_TIME_OUT )
				{
					//超时了就直接删除
					delete(tp_msg);
					tp_msg = NULL;
					iter = m_receive_data_list.m_data_list.erase(iter);
					//注：erase 删除当前 iter 之后返回下一个节点，当前的 iter 无效化，

					//注:消息删除之后, 不需要发送答复消息, 发送方也会有超时处理的,  只有 execute_msg 里面可以答复消息
				}
			}
		}
	}
	return Error_code::SUCCESS;
}



//检查执行者的状态, 判断能否处理这条消息, 需要子类重载
Error_manager Communication_socket_base::check_executer(Communication_message*  p_msg)
{
	//检查对应模块的状态, 判断是否可以处理这条消息
	//同时也要判断是否超时, 超时返回 COMMUNICATION_ANALYSIS_TIME_OUT
	//如果处理器正在忙别的, 那么返回 COMMUNICATION_EXCUTER_IS_BUSY

	if ( p_msg->is_over_time() )
	{
		std::cout << "Communication_socket_base::check_msg  p_buf =  " << p_msg->get_message_buf() << std::endl;
		std::cout << "Communication_socket_base::check_msg   size =  " << p_msg->get_message_buf().size() << std::endl;
		std::cout << "COMMUNICATION_ANALYSIS_TIME_OUT , " << std::endl;
		return Error_code::COMMUNICATION_ANALYSIS_TIME_OUT;
	}
	else
	{
		bool executer_is_ready = false;
		//通过 p_msg->get_message_type() 和 p_msg->get_receiver() 找到处理模块的实例对象, 查询执行人是否可以处理这条消息
		//这里子类重载时, 增加判断逻辑, 以后再写.
		executer_is_ready = true;

		std::cout << "Communication_socket_base::check_msg  p_buf =  " << p_msg->get_message_buf() << std::endl;
		std::cout << "Communication_socket_base::check_msg   size =  " << p_msg->get_message_buf().size() << std::endl;

		if ( executer_is_ready )
		{
			std::cout << "executer_is_ready , " << std::endl;
			return Error_code::SUCCESS;
		}
		else
		{
			std::cout << "executer_is_busy , " << std::endl;
			return Error_code::COMMUNICATION_EXCUTER_IS_BUSY;
		}
	}

	return Error_code::SUCCESS;
}

//处理消息
Error_manager Communication_socket_base::execute_msg(Communication_message*  p_msg)
{
	//先将 p_msg 转化为 对应的格式, 使用对应模块的protobuf来二次解析
	// 不能一直使用 Communication_message*  p_msg, 这个是要销毁的
	//然后处理这个消息, 就是调用对应模块的 execute 接口函数
	//执行结果不管, 如果需要答复, 那么对应模块 在自己内部 封装一条消息发送即可.
	//子类重载, 需要完全重写, 以后再写.

	//注注注注注意了, 本模块只是用来做通信,
	//在做处理消息的时候, 可能会调用执行者的接口函数,
	//这里不应该长时间阻塞或者处理复杂的逻辑,
	//请执行者另开线程来处理任务.

	std::cout << "Communication_socket_base::excute_msg  p_buf =  " << p_msg->get_message_buf() << std::endl;
	std::cout << "Communication_socket_base::excute_msg   size =  " << p_msg->get_message_buf().size() << std::endl;
	return Error_code::SUCCESS;
}

//mp_send_data_thread 发送线程执行函数，
//send_data_thread 内部线程负责发送消息
void Communication_socket_base::send_data_thread()
{
	LOG(INFO) << " Communication_socket_base::send_data_thread start "<< this;

	//通信发送线程, 负责巡检m_send_data_list, 并发送消息
	while (m_send_data_condition.is_alive())
	{
		m_send_data_condition.wait();
		if ( m_send_data_condition.is_alive() )
		{
			std::this_thread::yield();

			Communication_message* tp_msg = NULL;
			//这里 wait_and_pop 会使用链表内部的 m_data_cond 条件变量来控制等待,
			//封装线程使用push的时候, 会唤醒线程并通过等待, 此时 m_send_data_condition 是一直通过的.
			//如果需要退出, 那么就要 m_send_data_list.termination_list();	和 m_send_data_condition.kill_all();
			bool is_pop = m_send_data_list.wait_and_pop(tp_msg);
			if ( is_pop )
			{
				if ( tp_msg != NULL )
				{
					{//这个大括号表示只对 recv 和 send 加锁, 不要因为后面的复杂逻辑影响通信效率
						std::unique_lock<std::mutex> lk(m_mutex);
						m_socket.send(tp_msg->get_message_buf());
					}
					delete(tp_msg);
					tp_msg = NULL;
				}
			}
			else
			{
				//没有取出, 那么应该就是 m_termination_flag 结束了
//				return Error_manager(Error_code::CONTAINER_IS_TERMINATE, Error_level::MINOR_ERROR,
//									 " Communication_socket_base::send_data_thread() error ");
			}
		}
	}

	LOG(INFO) << " Communication_socket_base::send_data_thread end "<< this;
	return;
}

//mp_encapsulate_data_thread 封装线程执行函数，
//encapsulate_data_thread 内部线程负责封装消息
void Communication_socket_base::encapsulate_data_thread()
{
	LOG(INFO) << " Communication_socket_base::encapsulate_data_thread start "<< this;

	//通信封装线程, 负责定时封装消息, 并存入 m_send_data_list
	while (m_encapsulate_data_condition.is_alive())
	{
		bool t_pass_flag = m_encapsulate_data_condition.wait_for_millisecond(m_encapsulate_cycle_time);

		if ( m_encapsulate_data_condition.is_alive() )
		{
			std::this_thread::yield();
			//如果封装线程被主动唤醒, 那么就表示 需要主动发送消息,
			if ( t_pass_flag )
			{
				//主动发送消息,
			}
				//如果封装线程超时通过, 那么就定时封装心跳和状态信息
			else
			{
				encapsulate_send_data();
			}
		}
	}

	LOG(INFO) << " Communication_socket_base::encapsulate_data_thread end "<< this;
	return;
}


//定时封装发送消息, 一般为心跳和状态信息, 需要子类重载
Error_manager Communication_socket_base::encapsulate_send_data()
{
//	char buf[256] = {0};
//	static unsigned int t_heartbeat = 0;
//	sprintf(buf, "Communication_socket_base, heartbeat = %d\0\0\0, test\0", t_heartbeat);
//	t_heartbeat++;
    return SUCCESS;
	message::Base_msg t_base_msg;
	t_base_msg.mutable_base_info()->set_msg_type(message::Message_type::eBase_msg);
	t_base_msg.mutable_base_info()->set_timeout_ms(5000);
	t_base_msg.mutable_base_info()->set_sender(message::Communicator::eMain);
	t_base_msg.mutable_base_info()->set_receiver(message::Communicator::eMain);

	Communication_message* tp_msg = new Communication_message(t_base_msg.SerializeAsString());
	bool is_push = m_send_data_list.push(tp_msg);
	if ( is_push == false )
	{
		delete(tp_msg);
		tp_msg = NULL;
		return Error_manager(Error_code::CONTAINER_IS_TERMINATE, Error_level::MINOR_ERROR,
							 " Communication_socket_base::encapsulate_msg error ");
	}
	return Error_code::SUCCESS;
}



//封装消息, 需要子类重载
Error_manager Communication_socket_base::encapsulate_msg(std::string message)
{
	Communication_message* tp_msg = new Communication_message(message);
	bool is_push = m_send_data_list.push(tp_msg);
	if ( is_push == false )
	{
		delete(tp_msg);
		tp_msg = NULL;
		return Error_manager(Error_code::CONTAINER_IS_TERMINATE, Error_level::MINOR_ERROR,
							 " Communication_socket_base::encapsulate_msg error ");
	}
	return Error_code::SUCCESS;
}

//封装消息, 需要子类重载
Error_manager Communication_socket_base::encapsulate_msg(Communication_message* p_msg)
{
	Communication_message* tp_msg = new Communication_message(*p_msg);
	bool is_push = m_send_data_list.push(tp_msg);
	if ( is_push == false )
	{
		delete(tp_msg);
		tp_msg = NULL;
		return Error_manager(Error_code::CONTAINER_IS_TERMINATE, Error_level::MINOR_ERROR,
							 " Communication_socket_base::encapsulate_msg error ");
	}
	return Error_code::SUCCESS;
}