SelectiveReader.tpp

/*
The MIT License
Copyright (c) 2019 Lehrstuhl Informatik 11 - RWTH Aachen University
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE

This file is part of embeddedRTPS.

Author: i11 - Embedded Software, RWTH Aachen University
*/

#include "rtps/discovery/FRDPAgent.h"
#include "rtps/utils/Lock.h"
#include "rtps/utils/Log.h"
#include "rtps/sft/sft_config.h"

#include <ucdr/microcdr.h>

#if SFT_FIELDMASK_MODE == 1
#include "rtps/sft/core/AccessTracking.hpp"
#endif

#if SLR_VERBOSE && RTPS_GLOBAL_VERBOSE
#include "rtps/utils/printutils.h"
#define SLR_LOG(...)                                                           \
  if (true) {                                                                  \
    printf("[SelectiveReader %s] ", &this->m_attributes.topicName[0]);         \
    printf(__VA_ARGS__);                                                       \
    printf("\n");                                                              \
  }
#else
#define SLR_LOG(...) //
#endif

namespace rtps {

template <class SftMessageType>
void SelectiveReader<SftMessageType>::init(const TopicData &attributes,
                                           FRDPAgent *frdpAgent) {
  m_attributes = attributes;
  m_frdp_agent = frdpAgent;
  m_is_initialized_ = true;
  if (mutex_new(&m_mutex) != EMB_ERR_OK) {
    SLR_LOG("Failed to create mutex.\n");
  }
}

template <class SftMessageType>
void SelectiveReader<SftMessageType>::newChange(const ReaderCacheChange &cacheChange) {
  SLR_LOG("newChange received, size=%u\n", cacheChange.size);
  
  if (m_sftCallback != nullptr) {
    // Copy data for deserialization
    if (cacheChange.size > MAX_BUFFER_SIZE) {
      SLR_LOG("Message too large for buffer: size=%u max=%u\n",
              cacheChange.size, (unsigned)MAX_BUFFER_SIZE);
      return;
    }

    if (!cacheChange.copyInto(m_deserializeBuffer, MAX_BUFFER_SIZE)) {
      SLR_LOG("Failed to copy data\n");
      return;
    }

    SLR_LOG("SFT newChange: size=%u fieldMask=0x%08X\n",
            cacheChange.size, cacheChange.fieldMask);

    ucdrBuffer rb;
    ucdr_init_buffer(&rb, m_deserializeBuffer, cacheChange.size);
    m_message.deserialize_partial(&rb, cacheChange.fieldMask);
    m_message.reset_access_counts();

    m_sftCallback(m_callee, &m_message);

    // After callback, update field requirements based on accessed fields
    updateFieldRequirements();
    
  } else if (m_rawCallback != nullptr) {
    // Fallback to raw callback for compatibility
    m_rawCallback(m_callee, cacheChange);
  } else {
    SLR_LOG("No callback registered\n");
  }
}

template <class SftMessageType>
void SelectiveReader<SftMessageType>::updateFieldRequirements() {
  uint32_t requiredMask = 0;
  
#if SFT_FIELDMASK_MODE == 0
  requiredMask = m_message.generate_field_mask();
  SLR_LOG("Runtime field mask computed: 0x%08X\n", requiredMask);

#elif SFT_FIELDMASK_MODE == 1
  requiredMask =
      sft::access_tracking::get_compile_time_mask<SftMessageType>();
  SLR_LOG("Compile-time field mask: 0x%08X\n", requiredMask);
  
#else
  #error "Invalid SFT_FIELDMASK_MODE value. Must be 0 or 1."
#endif
  
  if (requiredMask != m_lastAnnouncedMask) {
    SLR_LOG("Field mask changed: 0x%08X -> 0x%08X\n",
            m_lastAnnouncedMask, requiredMask);
    m_lastAnnouncedMask = requiredMask;

    if (m_frdp_agent != nullptr) {
      m_frdp_agent->announceFieldRequirements(m_attributes.endpointGuid, requiredMask);
    }
  }
}

template <class SftMessageType>
void SelectiveReader<SftMessageType>::setFieldRequirements(uint32_t fieldMask) {
  if (fieldMask == m_lastAnnouncedMask) {
    return;
  }
  SLR_LOG("Field mask set explicitly: 0x%08X -> 0x%08X\n",
          m_lastAnnouncedMask, fieldMask);
  m_lastAnnouncedMask = fieldMask;
  if (m_frdp_agent != nullptr) {
    m_frdp_agent->announceFieldRequirements(m_attributes.endpointGuid, fieldMask);
  }
}

template <class SftMessageType>
void SelectiveReader<SftMessageType>::registerSftCallback(sftCallback_fp cb,
                                                          void *callee) {
  if (cb != nullptr) {
    m_sftCallback = cb;
    m_callee = callee;
  }
}

template <class SftMessageType>
void SelectiveReader<SftMessageType>::registerCallback(ddsReaderCallback_fp cb,
                                                       void *callee) {
  if (cb != nullptr) {
    m_rawCallback = cb;
    m_callee = callee;
  }
}

template <class SftMessageType>
bool SelectiveReader<SftMessageType>::addNewMatchedWriter(
    const WriterProxy &newProxy) {
  SLR_LOG("Adding WriterProxy\n");
  return m_proxies.add(newProxy);
}

template <class SftMessageType>
void SelectiveReader<SftMessageType>::removeWriter(const Guid_t &guid) {
  Lock lock(m_mutex);
  auto isElementToRemove = [&](const WriterProxy &proxy) {
    return proxy.remoteWriterGuid == guid;
  };
  auto thunk = [](void *arg, const WriterProxy &value) {
    return (*static_cast<decltype(isElementToRemove) *>(arg))(value);
  };
  m_proxies.remove(thunk, &isElementToRemove);
}

template <class SftMessageType>
void SelectiveReader<SftMessageType>::removeWriterOfParticipant(
    const GuidPrefix_t &guidPrefix) {
  Lock lock(m_mutex);
  auto isElementToRemove = [&](const WriterProxy &proxy) {
    return proxy.remoteWriterGuid.prefix == guidPrefix;
  };
  auto thunk = [](void *arg, const WriterProxy &value) {
    return (*static_cast<decltype(isElementToRemove) *>(arg))(value);
  };
  m_proxies.remove(thunk, &isElementToRemove);
}

template <class SftMessageType>
bool SelectiveReader<SftMessageType>::onNewHeartbeat(const SubmessageHeartbeat &,
                                                     const GuidPrefix_t &) {
  // Nothing to do for best-effort reader
  return true;
}

} // namespace rtps

#undef SLR_LOG