Merge pull request #59 from trikset/mailbox

Mailbox

Author: yurii-litvinov

trikCommunicator/include/trikCommunicator/trikCommunicator.h

@@ -1,4 +1,4 @@
-/* Copyright 2013 Yurii Litvinov
+/* Copyright 2013 - 2014 Yurii Litvinov, Cybertech Labs Ltd.
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
@@ -21,6 +21,8 @@
 #include <QtNetwork/QTcpServer>
 #include <QtNetwork/QTcpSocket>
 
+#include <trikKernel/trikServer.h>
+
 namespace trikScriptRunner {
 class TrikScriptRunner;
 }
@@ -37,26 +39,20 @@ class Connection;
 /// Communication subsystem consists of TrikCommunicator object which runs in main thread and listens for incoming
 /// connections, Connection objects --- one for every connected client, they run in separate threads each, and
 /// ScriptRunnerWrapper object in main thread which processes signals from Connections.
-class TrikCommunicator : public QTcpServer
+class TrikCommunicator : public trikKernel::TrikServer
 {
 	Q_OBJECT
 
 public:
 	/// Constructor that creates its own instance of a script runner.
 	/// @param configPath - path to config file for trikControl, for example, /home/root/trik/.
 	/// @param startDirPath - path to the directory from which the application was executed.
-	explicit TrikCommunicator(trikControl::Brick &brick, QString const &startDirPath);
+	TrikCommunicator(trikControl::Brick &brick, QString const &startDirPath);
 
 	/// Constructor that accepts external script runner and issues commands to it.
 	explicit TrikCommunicator(trikScriptRunner::TrikScriptRunner &runner);
 
-	~TrikCommunicator();
-
-	/// Starts listening given port on all network interfaces.
-	void startServer(int const &port);
-
-	/// Sends message to server if socket is opened; otherwise does nothing.
-	void sendMessage(QString const &message);
+	~TrikCommunicator() override;
 
 signals:
 	/// Emitted when command to run a script from a file is received.
@@ -68,16 +64,10 @@ class TrikCommunicator : public QTcpServer
 	/// Emitted when script finishes execution.
 	void finishedScript();
 
-protected:
-	void incomingConnection(int socketDescriptor);  // Override.
-
-private slots:
-	/// Called when connection thread finishes.
-	void onConnectionClosed();
-
 private:
-	/// Common initialization from constructors.
-	void init();
+	TrikCommunicator(trikScriptRunner::TrikScriptRunner * const runner, bool hasScriptRunnerOwnership);
+
+	Connection *connectionFactory();
 
 	/// Script runner object common to all connections.
 	/// Ownership depends on mHasScriptRunnerOwnership flag, if we received runner belonging to other object or created
@@ -86,9 +76,6 @@ private slots:
 
 	/// True, if we created our own script runner, false if we got it from someone.
 	bool const mHasScriptRunnerOwnership;
-
-	/// Maps thread object to corresponding connection worker object, to be able to correctly stop and delete them all.
-	QHash<QThread *, Connection *> mConnections;  // Has ownership over threads and connections.
 };
 
 }

trikCommunicator/src/connection.cpp

@@ -24,38 +24,15 @@
 
 using namespace trikCommunicator;
 
-Connection::Connection()
-	: mTrikScriptRunner(nullptr)
+Connection::Connection(trikScriptRunner::TrikScriptRunner &trikScriptRunner)
+	: trikKernel::Connection(trikKernel::Protocol::messageLength)
+	, mTrikScriptRunner(trikScriptRunner)
 {
 }
 
-void Connection::sendMessage(QString const &message)
+void Connection::processData(QByteArray const &data)
 {
-	mSocket->write(message.toLocal8Bit());
-}
-
-void Connection::init(int socketDescriptor, trikScriptRunner::TrikScriptRunner *trikScriptRunner)
-{
-	mTrikScriptRunner = trikScriptRunner;
-	mSocket.reset(new QTcpSocket());
-
-	if (!mSocket->setSocketDescriptor(socketDescriptor)) {
-		qDebug() << "Failed to set socket descriptor" << socketDescriptor;
-		return;
-	}
-
-	connect(mSocket.data(), SIGNAL(readyRead()), this, SLOT(onReadyRead()));
-	connect(mSocket.data(), SIGNAL(disconnected()), this, SLOT(disconnected()));
-}
-
-void Connection::onReadyRead()
-{
-	if (!mSocket || !mSocket->isValid()) {
-		return;
-	}
-
-	QByteArray const &data = mSocket->readAll();
-	QString command = QString::fromUtf8(data.constData());
+	QString command(data);
 
 	if (!command.startsWith("keepalive")) {
 		// Discard "keepalive" output.
@@ -78,19 +55,13 @@ void Connection::onReadyRead()
 	} else if (command.startsWith("run")) {
 		command.remove(0, QString("run:").length());
 		QString const fileContents = trikKernel::FileUtils::readFromFile(command);
-		QMetaObject::invokeMethod(mTrikScriptRunner, "run", Q_ARG(QString, fileContents));
+		QMetaObject::invokeMethod(&mTrikScriptRunner, "run", Q_ARG(QString, fileContents));
 		emit startedScript(command);
 	} else if (command == "stop") {
-		QMetaObject::invokeMethod(mTrikScriptRunner, "abort");
+		QMetaObject::invokeMethod(&mTrikScriptRunner, "abort");
 	} else if (command.startsWith("direct")) {
 		command.remove(0, QString("direct:").length());
-		QMetaObject::invokeMethod(mTrikScriptRunner, "run", Q_ARG(QString, command));
+		QMetaObject::invokeMethod(&mTrikScriptRunner, "run", Q_ARG(QString, command));
 		emit startedDirectScript();
 	}
 }
-
-void Connection::disconnected()
-{
-	qDebug() << "Disconnected.";
-	thread()->quit();
-}

trikCommunicator/src/connection.h

@@ -17,6 +17,7 @@
 #include <QtCore/QObject>
 #include <QtCore/QScopedPointer>
 #include <QtNetwork/QTcpSocket>
+#include <trikKernel/connection.h>
 
 namespace trikScriptRunner {
 class TrikScriptRunner;
@@ -33,11 +34,13 @@ namespace trikCommunicator {
 /// - stop --- stop current script execution and a robot.
 /// - direct:<command> --- execute given script without saving it to a file.
 /// - keepalive --- do nothing, used to check the availability of connection.
-class Connection : public QObject {
+class Connection : public trikKernel::Connection {
 	Q_OBJECT
 
 public:
-	Connection();
+	/// Constructor.
+	/// @param trikScriptRunner - instance of script runner object.
+	explicit Connection(trikScriptRunner::TrikScriptRunner &trikScriptRunner);
 
 	/// Writes a given message to inner socket.
 	void sendMessage(QString const &message);
@@ -49,26 +52,11 @@ class Connection : public QObject {
 	/// Emitted when command to run script directly is received.
 	void startedDirectScript();
 
-public slots:
-	/// Creates socket and initializes connection, shall be called when Connection is already in its own thread.
-	/// @param socketDescriptor - native socket descriptor.
-	/// @param scriptRunnerWrapper - instance of script runner object.
-	void init(int socketDescriptor, trikScriptRunner::TrikScriptRunner *trikScriptRunner);
-
-private slots:
-	/// New data is ready on a socket.
-	void onReadyRead();
-
-	/// Socket is closed for some reason.
-	void disconnected();
-
 private:
-	/// Socket for this connection.
-	QScopedPointer<QTcpSocket> mSocket;
+	void processData(QByteArray const &data) override;
 
 	/// Common script runner object, located in another thread.
-	/// Does not have ownership.
-	trikScriptRunner::TrikScriptRunner *mTrikScriptRunner;
+	trikScriptRunner::TrikScriptRunner &mTrikScriptRunner;
 };
 
 }

trikCommunicator/src/trikCommunicator.cpp

@@ -1,4 +1,4 @@
-/* Copyright 2013 Yurii Litvinov
+/* Copyright 2013 - 2014 Yurii Litvinov, CyberTech Labs Ltd.
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
@@ -25,89 +25,38 @@
 using namespace trikCommunicator;
 
 TrikCommunicator::TrikCommunicator(trikControl::Brick &brick, QString const &startDirPath)
-	: mTrikScriptRunner(new trikScriptRunner::TrikScriptRunner(brick, startDirPath))
-	, mHasScriptRunnerOwnership(true)
+	: TrikCommunicator(new trikScriptRunner::TrikScriptRunner(brick, startDirPath), true)
 {
-	init();
 }
 
 TrikCommunicator::TrikCommunicator(trikScriptRunner::TrikScriptRunner &runner)
-	: mTrikScriptRunner(&runner)
-	, mHasScriptRunnerOwnership(false)
+	: TrikCommunicator(&runner, false)
 {
-	init();
 }
 
-TrikCommunicator::~TrikCommunicator()
+TrikCommunicator::TrikCommunicator(trikScriptRunner::TrikScriptRunner * const runner, bool hasScriptRunnerOwnership)
+	: trikKernel::TrikServer([this] () { return connectionFactory(); })
+	, mTrikScriptRunner(runner)
+	, mHasScriptRunnerOwnership(hasScriptRunnerOwnership)
 {
-	foreach (QThread *thread, mConnections.keys()) {
-		thread->quit();
-		if (!thread->wait(1000)) {
-			qDebug() << "Unable to stop thread" << thread;
-		}
-	}
-
-	qDeleteAll(mConnections);
-	qDeleteAll(mConnections.keys());
-
-	if (mHasScriptRunnerOwnership) {
-		delete mTrikScriptRunner;
-	}
-}
+	qRegisterMetaType<trikScriptRunner::TrikScriptRunner *>("trikScriptRunner::TrikScriptRunner *");
 
-void TrikCommunicator::startServer(int const &port)
-{
-	if (!listen(QHostAddress::Any, port)) {
-		qDebug() << "Can not start TrikCommunicator server";
-	} else {
-		qDebug() << "TrikCommunicator started";
-	}
+	connect(mTrikScriptRunner, SIGNAL(completed(QString)), this, SIGNAL(finishedScript()));
 }
 
-void TrikCommunicator::sendMessage(QString const &message)
+TrikCommunicator::~TrikCommunicator()
 {
-	for (Connection * const connection : mConnections.values()) {
-		connection->sendMessage(message);
+	if (mHasScriptRunnerOwnership) {
+		delete mTrikScriptRunner;
 	}
 }
 
-void TrikCommunicator::incomingConnection(int socketDescriptor)
-{
-	qDebug() << "New connection, socket descriptor: " << socketDescriptor;
-
-	QThread * const connectionThread = new QThread();
-
-	connect(connectionThread, SIGNAL(finished()), connectionThread, SLOT(deleteLater()));
-	connect(connectionThread, SIGNAL(finished()), this, SLOT(onConnectionClosed()));
-
-	Connection * const connectionWorker = new Connection();
-
-	connect(connectionWorker, SIGNAL(startedDirectScript()), this, SIGNAL(startedDirectScript()));
-	connect(connectionWorker, SIGNAL(startedScript(QString)), this, SIGNAL(startedScript(QString)));
-
-	connectionWorker->moveToThread(connectionThread);
-
-	mConnections.insert(connectionThread, connectionWorker);
-
-	connectionThread->start();
-
-	QMetaObject::invokeMethod(connectionWorker, "init", Q_ARG(int, socketDescriptor)
-			, Q_ARG(trikScriptRunner::TrikScriptRunner *, mTrikScriptRunner));
-}
-
-void TrikCommunicator::onConnectionClosed()
+Connection *TrikCommunicator::connectionFactory()
 {
-	QThread * const thread = static_cast<QThread *>(sender());
-
-	// Thread shall already be finished here.
-	delete mConnections.value(thread);
-
-	mConnections.remove(thread);
-}
+	auto connection = new Connection(*mTrikScriptRunner);
 
-void TrikCommunicator::init()
-{
-	qRegisterMetaType<trikScriptRunner::TrikScriptRunner *>("trikScriptRunner::TrikScriptRunner *");
+	connect(connection, SIGNAL(startedDirectScript()), this, SIGNAL(startedDirectScript()));
+	connect(connection, SIGNAL(startedScript(QString)), this, SIGNAL(startedScript(QString)));
 
-	connect(mTrikScriptRunner, SIGNAL(completed(QString)), this, SIGNAL(finishedScript()));
+	return connection;
 }

trikCommunicator/trikCommunicator.pro

@@ -31,6 +31,6 @@ DEFINES += TRIKCOMMUNICATOR_LIBRARY
 uses(trikScriptRunner trikControl trikKernel)
 
 INCLUDEPATH += \
-	../trikScriptRunner/include/ \
-	../trikControl/include/ \
-	../trikKernel/include/ \
+	$PWD/../trikScriptRunner/include/ \
+	$PWD/../trikControl/include/ \
+	$PWD/../trikKernel/include/ \

trikControl/config.xml

@@ -215,4 +215,8 @@ Use it if JCx ports are configured to work as PWM signal generators.
 
 	<!-- Settings for gamepad TCP server to communicate with Android "TRIK Gamepad" application -->
 	<gamepad port="4444" disabled="false" />
+
+	<!-- Settings for mailbox server (which enables communication between robots) -->
+	<mailbox port="8889" disabled="false" />
+
 </config>

trikControl/config_capture.xml

@@ -214,4 +214,8 @@ Use it if JCx ports are configured to work as PWM signal capture devices.
 
 	<!-- Settings for gamepad TCP server to communicate with Android "TRIK Gamepad" application -->
 	<gamepad port="4444" disabled="false" />
+
+	<!-- Settings for mailbox server (which enables communication between robots) -->
+	<mailbox port="8889" disabled="false" />
+
 </config>

trikControl/include/trikControl/brick.h

@@ -19,6 +19,7 @@
 #include <QtCore/QThread>
 #include <QtCore/QHash>
 #include <QtCore/QStringList>
+#include <QtCore/QScopedPointer>
 
 #include "declSpec.h"
 
@@ -32,6 +33,7 @@
 #include "keys.h"
 #include "led.h"
 #include "lineSensor.h"
+#include "mailbox.h"
 #include "motor.h"
 #include "objectSensor.h"
 #include "pwmCapture.h"
@@ -139,6 +141,9 @@ public slots:
 	/// Returns reference to LED control class.
 	Led *led();
 
+	/// Returns reference to mailbox used to send and receive messages to/from other robots.
+	Mailbox *mailbox();
+
 	/// Starts event loop for script.
 	void run();
 
@@ -182,6 +187,7 @@ public slots:
 	I2cCommunicator *mI2cCommunicator = nullptr;  // Has ownership.
 	Display mDisplay;
 	Led *mLed = nullptr;  // Has ownership.
+	QScopedPointer<Mailbox> mMailbox;
 
 	/// True, if a system is in event-driven running mode, so it shall wait for events when script is executed.
 	/// If it is false, script will exit immediately.