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|
#include <iostream>
#include "Driver.h"
#include "ace/UUID.h"
#include "SA_POP_Types.h"
#include "SA_Builder.h"
#include "TaskMapFileIn.h"
#include "SANet/SANetFileIn.h"
namespace CIAO
{
namespace RACE
{
namespace SA_POP
{
Driver_i::Driver_i (CORBA::ORB_ptr orb)
: orb_ (CORBA::ORB::_duplicate (orb)),
iia_name_ ("RACE::InteractiveInput"),
planner_ (0),
screen_out_ (std::cout)
{
}
Driver_i::~Driver_i (void)
{
delete this->planner_;
}
int
Driver_i::init (const char *RM_name,
const char *sanet_str,
const char *taskmap_str)
{
try
{
// Resolve naming service
CORBA::Object_var ns_tmp =
this->orb_->resolve_initial_references ("NameService");
::CosNaming::NamingContext_var ns =
::CosNaming::NamingContext::_narrow (ns_tmp.in ());
::CosNaming::Name ns_name;
CORBA::ULong i = 0;
ACE_Tokenizer tok (this->iia_name_.rep ());
tok.delimiter_replace (':', 0);
tok.delimiter_replace ('/', 0);
char *name_element = 0;
while ((name_element = tok.next ()) != 0)
{
ns_name.length (ns_name.length () + 1);
ns_name[i].id = CORBA::string_dup (name_element);
++i;
}
/// now try to resolve the reference to the IIA.
CORBA::Object_var iia_tmp = ns->resolve (ns_name);
this->iia_ =
::CIAO::RACE::Interactive_Input_Adapter::_narrow (iia_tmp.in ());
// Now initialize the plan generator.
// this->plan_gen_.init (this->orb_, true, RM_name);
// Create SA-POP planner.
::SA_POP::SA_Builder builder;
::SANet::SANetFileIn sanet_in;
::SA_POP::TaskMapFileIn tm_in;
sanet_in.build_net (sanet_str, &builder);
tm_in.build_task_map (taskmap_str, &builder);
this->planner_ = builder.get_planner ();
// Add screen output adapter to planner.
this->planner_->add_out_adapter (&(this->screen_out_));
return 0;
}
catch (CORBA::Exception &ex)
{
ACE_PRINT_EXCEPTION (ex, "Error in initializing the driver!\n");
return -1;
}
}
void
Driver_i::deploy_plan (const char * plan_uri)
throw (::CORBA::SystemException)
{
try
{
// Create deploy input event and populate it.
CIAO::RACE::Deploy_Input_var input = new OBV_CIAO::RACE::Deploy_Input;
input->plan_uri (plan_uri);
input->command (::CIAO::RACE::DEPLOY);
// Now push the event to the IIA.
this->iia_->get_consumer_deployment ()->push_Deploy_Input (input.in ());
}
catch (CORBA::Exception &ex)
{
ACE_PRINT_EXCEPTION (ex, "Exception caught in Driver::deploy_plan");
}
}
void
Driver_i::deploy_goal (const ::CIAO::RACE::GoalStructure &goal_idl)
throw (::CORBA::SystemException)
{
try
{
// Convert goal.
::SA_POP::Goal goal;
this->goal_from_idl (goal_idl, goal);
// Run planner (with a maximum of 100 steps of spreading activation).
this->planner_->plan (100, goal);
// Get and convert opstring.
::SA_POP::Plan opstring = this->planner_->get_plan ();
::CIAO::RACE::OperationalString opstring_idl;
this->opstring_to_idl (opstring, opstring_idl);
opstring_idl.goal = goal_idl;
// Convert opstring to deployment plan and deploy.
::Deployment::DeploymentPlan deploy_plan;
if (this->opstring_to_dplan (opstring_idl, deploy_plan) == 0)
this->deploy_plan (deploy_plan);
else
throw "CIAO::RACE::Driver_i::deploy_goal(): Could not convert opstring to deployment plan.";
}
catch (...)
{
ACE_ERROR ((LM_ERROR, "(%P|%t) Unknown exception\n"));
}
}
int
Driver_i::opstring_to_dplan (::CIAO::RACE::OperationalString &op_string,
::Deployment::DeploymentPlan &plan)
{
// Populate the label, UUID, connections, and info property fields of
// the deployment plan.
plan.label = op_string.name;
plan.UUID = op_string.UUID;
plan.connection = op_string.dataLinks;
plan.infoProperty = op_string.properties;
// Now, populate the instance, implementation, and artifact fields of
// the deployment plan using the plan generator.
int position;
for (CORBA::ULong itr = 0; itr < op_string.instances.length (); ++itr)
{
::CIAO::RACE::InstanceDescription op_instance = op_string.instances [itr];
if (this->plan_gen_.generate_plan
(plan,
op_instance.suggestedImpl.in (),
position))
{
::Deployment::InstanceDeploymentDescription instance;
instance.name = op_instance.name;
// @@ This is a temporaty hack. Later on we must be using the
// simple bin packer do perform the node assignment.
if (strcmp ("IDL:SPACE/Ground_Station:1.0",
op_instance.suggestedImpl.in ()) == 0)
{
instance.node = CORBA::string_dup ("ground");
}
else
{
instance.node = CORBA::string_dup ("space");
}
instance.implementationRef = position;
instance.configProperty = op_instance.configProperty;
CORBA::ULong cur_len = plan.instance.length ();
plan.instance.length (cur_len+1);
plan.instance [cur_len] = instance;
}
else
{
ACE_ERROR ((LM_ERROR, "Given suggested type is not available "
"in the Repoman!!\n Bailing out....\n"));
return -1;
}
}
return 0;
}
void Driver_i::opstring_to_idl (const ::SA_POP::Plan &opstring,
OperationalString &opstring_idl)
{
//****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
// (Get ID from Goal or Plan)
// Create and set the opstring_idl ID.
ACE_Utils::UUID uuid;
ACE_Utils::UUID_GENERATOR::instance ()->generateUUID (uuid);
opstring_idl.UUID = CORBA::string_dup (uuid.to_string()->c_str ());
//****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
// Set opstring_idl name.
opstring_idl.name = CORBA::string_dup (opstring.name.c_str ());
// Set opstring_idl time windows.
opstring_idl.startWindow.earliest.sec = opstring.start_window.first;
opstring_idl.startWindow.earliest.usec = 0;
opstring_idl.startWindow.latest.sec = opstring.start_window.second;
opstring_idl.startWindow.latest.usec = 0;
opstring_idl.endWindow.earliest.sec = opstring.end_window.first;
opstring_idl.endWindow.earliest.usec = 0;
opstring_idl.endWindow.latest.sec = opstring.end_window.second;
opstring_idl.endWindow.latest.usec = 0;
//****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
// (Get from expected utility)
// long priority;
// (Get from goal)
// QoSSpecifications QoSRequirements;
// (???)
// ::Deployment::Properties properties;
//****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
// Map from instance IDs to instance index.
typedef std::map < ::SA_POP::TaskInstID, CORBA::ULong> InstToIndexMap;
InstToIndexMap inst_to_index;
inst_to_index.clear ();
// Add instances to opstring_idl.
for (::SA_POP::PlanInstSet::const_iterator inst_iter = opstring.task_insts.begin ();
inst_iter != opstring.task_insts.end (); inst_iter++)
{
::SA_POP::PlanTaskInst inst = *inst_iter;
// Instance description to populate.
CIAO::RACE::InstanceDescription inst_desc;
//****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
// (Get instance ID from instance in opstring)
// Create and set task instance ID.
ACE_Utils::UUID inst_uuid;
ACE_Utils::UUID_GENERATOR::instance ()->generateUUID (inst_uuid);
inst_desc.UUID = CORBA::string_dup (inst_uuid.to_string()->c_str());
//****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
//****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
// (Get from repoman)
// ::Deployment::Properties configProperty;
//****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
// Set instance name, task ID, supported type ID, and suggested implementation ID.
inst_desc.name = CORBA::string_dup (inst.name.c_str());
inst_desc.taskId = CORBA::string_dup (::SA_POP::to_string (inst.task_id).c_str ());
inst_desc.taskTypeId = CORBA::string_dup (inst.type_id.c_str ());
inst_desc.suggestedImpl = CORBA::string_dup (inst.suggested_impl.c_str ());
// Set instance time windows.
inst_desc.startWindow.earliest.sec = inst.start_window.first;
inst_desc.startWindow.earliest.usec = 0;
inst_desc.startWindow.latest.sec = inst.start_window.second;
inst_desc.startWindow.latest.usec = 0;
inst_desc.endWindow.earliest.sec = inst.end_window.first;
inst_desc.endWindow.earliest.usec = 0;
inst_desc.endWindow.latest.sec = inst.end_window.second;
inst_desc.endWindow.latest.usec = 0;
// Add instance to opstring_idl and record index.
CORBA::ULong inst_len = opstring_idl.instances.length ();
opstring_idl.instances.length (inst_len + 1);
opstring_idl.instances[inst_len] = inst_desc;
inst_to_index.insert (std::make_pair (inst.inst_id, inst_len));
}
// Add opstring data links.
CORBA::ULong conns_index = 0;
for (::SA_POP::PlanConnSet::const_iterator conn_iter = opstring.connections.begin ();
conn_iter != opstring.connections.end (); conn_iter++)
{
::SA_POP::PlanConnection conn = *conn_iter;
// Connection description to populate.
Deployment::PlanConnectionDescription conn_desc;
// Get opstring instance and port IDS for connection.
::SA_POP::TaskInstID taskA = conn.first_task_inst;
::SA_POP::TaskInstID taskB = conn.second_task_inst;
::SA_POP::PortID taskAport = conn.first_port;
::SA_POP::PortID taskBport = conn.second_port;
// Get deployment opstring instances (port IDs are the same).
InstToIndexMap::iterator taskA_iter = inst_to_index.find (taskA);
CORBA::ULong taskAinst = taskA_iter->second;
InstToIndexMap::iterator taskB_iter = inst_to_index.find (taskB);
CORBA::ULong taskBinst = taskB_iter->second;
// Create connection name.
std::string conn_name = "";
conn_name += ::SA_POP::to_string (static_cast<unsigned long>(taskAinst));
conn_name += "_";
conn_name += taskAport;
conn_name += "___";
conn_name += ::SA_POP::to_string (static_cast<unsigned long>(taskBinst));
conn_name += "_";
conn_name += taskBport;
// Create connection endpoints.
conn_desc.internalEndpoint.length (2);
conn_desc.internalEndpoint[0].instanceRef = taskAinst;
conn_desc.internalEndpoint[0].portName = CORBA::string_dup (taskAport.c_str ());
conn_desc.internalEndpoint[0].provider = 1;
//****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
// (Get kind from data link in opstring)
conn_desc.internalEndpoint[0].kind = Deployment::EventEmitter;
//****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
conn_desc.internalEndpoint[1].instanceRef = taskBinst;
conn_desc.internalEndpoint[1].portName = CORBA::string_dup (taskBport.c_str ());
conn_desc.internalEndpoint[1].provider = 0;
//****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
// (Get kind from data link in opstring)
conn_desc.internalEndpoint[1].kind = Deployment::EventConsumer;
//****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP****TEMP
// Set connection name.
conn_desc.name = CORBA::string_dup (conn_name.c_str ());
// Add data link to opstring_idl.
opstring_idl.dataLinks.length (conns_index + 1);
opstring_idl.dataLinks[conns_index] = conn_desc;
// Increment connection index.
conns_index++;
}
// Add scheduling links.
CORBA::ULong links_index = 0;
for (::SA_POP::SchedLinkSet::const_iterator sched_iter = opstring.sched_links.begin ();
sched_iter != opstring.sched_links.end (); sched_iter++)
{
::SA_POP::SchedLink link = *sched_iter;
// Link to populate.
CIAO::RACE::OrderLinkDescription link_desc;
// Set link type.
link_desc.type = CIAO::RACE::SCHEDULING;
// Get opstring instance and port IDS for link.
::SA_POP::TaskInstID taskA = link.first;
::SA_POP::TaskInstID taskB = link.second;
// Get deployment opstring instances (port IDs are the same).
InstToIndexMap::iterator taskA_iter = inst_to_index.find (taskA);
CORBA::ULong taskAinst = taskA_iter->second;
InstToIndexMap::iterator taskB_iter = inst_to_index.find (taskB);
CORBA::ULong taskBinst = taskB_iter->second;
// Create link name.
std::string link_name = "";
link_name += ::SA_POP::to_string (static_cast<unsigned long>(taskAinst));
link_name += "___";
link_name += ::SA_POP::to_string (static_cast<unsigned long>(taskBinst));
// Create link endpoints.
link_desc.internalEndpoint.length (2);
link_desc.internalEndpoint[0].instanceRef = taskAinst;
link_desc.internalEndpoint[0].provider = 1;
link_desc.internalEndpoint[1].instanceRef = taskBinst;
link_desc.internalEndpoint[1].provider = 0;
// Set link name.
link_desc.name = CORBA::string_dup (link_name.c_str ());
// Add data link to opstring_idl.
opstring_idl.orderLinks.length (links_index + 1);
opstring_idl.orderLinks[links_index] = link_desc;
// Increment link index.
links_index++;
}
// Add threat links.
links_index = opstring_idl.orderLinks.length ();
for (::SA_POP::ThreatLinkSet::const_iterator threat_iter = opstring.threat_links.begin ();
threat_iter != opstring.threat_links.end (); threat_iter++)
{
::SA_POP::ThreatLink link = *threat_iter;
// Link to populate.
CIAO::RACE::OrderLinkDescription link_desc;
// Set link type.
link_desc.type = CIAO::RACE::THREAT;
// Get opstring instance and port IDS for link.
::SA_POP::TaskInstID taskA = link.first;
::SA_POP::TaskInstID taskB = link.second;
// Get deployment opstring instances (port IDs are the same).
InstToIndexMap::iterator taskA_iter = inst_to_index.find (taskA);
CORBA::ULong taskAinst = taskA_iter->second;
InstToIndexMap::iterator taskB_iter = inst_to_index.find (taskB);
CORBA::ULong taskBinst = taskB_iter->second;
// Create link name.
std::string link_name = "";
link_name += ::SA_POP::to_string (static_cast<unsigned long>(taskAinst));
link_name += "___";
link_name += ::SA_POP::to_string (static_cast<unsigned long>(taskBinst));
// Create link endpoints.
link_desc.internalEndpoint.length (2);
link_desc.internalEndpoint[0].instanceRef = taskAinst;
link_desc.internalEndpoint[0].provider = 1;
link_desc.internalEndpoint[1].instanceRef = taskBinst;
link_desc.internalEndpoint[1].provider = 0;
// Set link name.
link_desc.name = CORBA::string_dup (link_name.c_str ());
// Add data link to opstring_idl.
opstring_idl.orderLinks.length (links_index + 1);
opstring_idl.orderLinks[links_index] = link_desc;
// Increment link index.
links_index++;
}
// Add causal links.
links_index = opstring_idl.orderLinks.length ();
for (::SA_POP::CLSet::const_iterator cl_iter = opstring.causal_links.begin ();
cl_iter != opstring.causal_links.end (); cl_iter++)
{
::SA_POP::CausalLink link = *cl_iter;
// Link to populate.
CIAO::RACE::OrderLinkDescription link_desc;
// Set link type.
link_desc.type = CIAO::RACE::CAUSAL;
// Get opstring instance and port IDS for link.
::SA_POP::TaskInstID taskA = link.first;
::SA_POP::TaskInstID taskB = link.second;
// Get deployment opstring instances (port IDs are the same).
InstToIndexMap::iterator taskA_iter = inst_to_index.find (taskA);
CORBA::ULong taskAinst = taskA_iter->second;
InstToIndexMap::iterator taskB_iter = inst_to_index.find (taskB);
CORBA::ULong taskBinst = taskB_iter->second;
// Create link name.
std::string link_name = "";
link_name += ::SA_POP::to_string (static_cast<unsigned long>(taskAinst));
link_name += "___";
link_name += ::SA_POP::to_string (static_cast<unsigned long>(taskBinst));
// Create link endpoints.
link_desc.internalEndpoint.length (2);
link_desc.internalEndpoint[0].instanceRef = taskAinst;
link_desc.internalEndpoint[0].provider = 1;
link_desc.internalEndpoint[1].instanceRef = taskBinst;
link_desc.internalEndpoint[1].provider = 0;
// Set link name.
link_desc.name = CORBA::string_dup (link_name.c_str ());
// Add data link to opstring_idl.
opstring_idl.orderLinks.length (links_index + 1);
opstring_idl.orderLinks[links_index] = link_desc;
// Increment link index.
links_index++;
}
};
void Driver_i::goal_from_idl (const GoalStructure &goal_idl,
::SA_POP::Goal &goal)
{
// Set ID and name.
goal.goal_id = CORBA::string_dup (goal_idl.UUID);
goal.name = CORBA::string_dup (goal_idl.name);
// Set start window.
goal.start_window = std::make_pair (goal_idl.startWindow.earliest.sec,
goal_idl.startWindow.latest.sec);
// Add goal conditions.
::CIAO::RACE::GoalConditions conds = goal_idl.goalConds;
for (CORBA::ULong i (0); i < conds.length (); ++i) {
goal.goal_conds.insert (std::make_pair (conds[i].condID,
conds[i].utility));
}
// Add relative time constraints.
::CIAO::RACE::TimeConstraints rel_times = goal_idl.relTimes;
for (CORBA::ULong i (0); i < rel_times.length (); ++i) {
goal.rel_times.insert (std::make_pair (rel_times[i].condID,
rel_times[i].constraint.sec));
}
// Add absolute time constraints.
::CIAO::RACE::TimeConstraints abs_times = goal_idl.absTimes;
for (CORBA::ULong i (0); i < abs_times.length (); ++i) {
goal.abs_times.insert (std::make_pair (abs_times[i].condID,
abs_times[i].constraint.sec));
}
};
int
Driver_i::deploy_plan (::Deployment::DeploymentPlan &plan)
{
try
{
// Create a metadata event and populate it.
CIAO::RACE::Metadata_var metadata = new OBV_CIAO::RACE::Metadata;
metadata->command (::CIAO::RACE::DEPLOY);
metadata->plan (plan);
// Now push the event to the IIA.
this->iia_->get_consumer_meta_data ()->push_Metadata (metadata.in ());
}
catch (CORBA::Exception &ex)
{
ACE_PRINT_EXCEPTION (ex, "Exception caught\n");
return -1;
}
catch (...)
{
ACE_ERROR ((LM_ERROR, "(%P|%t) Driver_i: Unknown exception\n"));
return -1;
}
return 0;
}
}
}
}
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