Application.h

/*
 * Application.h
 *
 *  Created on: Jun 07, 2016
 *      Author: Martin Hierholzer
 */

#ifndef CHIMERATK_APPLICATION_H
#define CHIMERATK_APPLICATION_H

#include <mutex>

#include <mtca4u/DeviceBackend.h>
#include <ChimeraTK/ControlSystemAdapter/ApplicationBase.h>

#include "ApplicationException.h"
#include "VariableNetwork.h"
#include "Flags.h"
#include "InternalModule.h"
#include "EntityOwner.h"
#include "TriggerFanOut.h"

namespace ChimeraTK {

  class Module;
  class AccessorBase;
  class VariableNetwork;

  template<typename UserType>
  class Accessor;

  template<typename UserType>
  class TestDecoratorRegisterAccessor;

  class Application : public ApplicationBase, public EntityOwner {

    public:

      Application(const std::string& name)
      : ApplicationBase(name), EntityOwner(nullptr, name) {}

      ~Application() {}

      /** This will remove the global pointer to the instance and allows creating another instance
       *  afterwards. This is mostly useful for writing tests, as it allows to run several applications sequentially
       *  in the same executable. Note that any ApplicationModules etc. owned by this Application are no longer
       *  valid after destroying the Application and must be destroyed as well (or at least no longer used). */
      void shutdown();
      
      /** Define the connections between process variables. Must be implemented by the application developer. */
      virtual void defineConnections() = 0;
      
      void initialise();

      void run();
      
      /** Check if all connections are valid. */
      void checkConnections();

      /** Instead of running the application, just initialise it and output the published variables to an XML file. */
      void generateXML();

      /** Output the connections requested in the initialise() function to std::cout. This may be done also before
       *  makeConnections() has been called. */
      void dumpConnections();

      /** Obtain instance of the application. Will throw an exception if called before the instance has been
       *  created by the control system adapter, or if the instance is not based on the Application class. */
      static Application& getInstance();
      
      /** Enable the testable mode. This allows to pause and resume the application for testing purposes using the
       *  functions pauseApplication() and resumeApplication(). The application will start in paused state.
       * 
       *  This function must be called before the application is initialised (i.e. before the call to initialise()).
       * 
       *  Note: Enabling the testable mode will have a singificant impact on the performance, since it will prevent
       *  any module threads to run at the same time! */
      void enableTestableMode() { testableMode = true; }
      
      /** Lock the mutex for the testable mode, which prevents any application thread from running. This works only if
       *  enableTestableMode() was called before. */
      void pauseApplication() { assert(testableMode); testableMode_lock.lock(); }

      /** Unlock the mutex for the testable mode, which allows the application threads to run again. This works only if
       *  enableTestableMode() was called before. */
      void resumeApplication() { assert(testableMode); testableMode_lock.unlock(); }

      /** Resume the application until all application threads are stuck in a blocking read operation. Must be called
       *  while the application is paused. */
      void stepApplication() {
        while(true) {
          testableMode_counter = 0;
          resumeApplication();
          usleep(100);
          pauseApplication();
          if(testableMode_counter == 0) break;
        }
      }

    protected:

      friend class Module;
      friend class VariableNetwork;
      friend class VariableNetworkNode;

      template<typename UserType>
      friend class Accessor;
      
      /** Register the connections to constants for previously unconnected nodes. */
      void processUnconnectedNodes();

      /** Make the connections between accessors as requested in the initialise() function. */
      void makeConnections();

      /** Make the connections for a single network */
      void makeConnectionsForNetwork(VariableNetwork &network);

      /** UserType-dependent part of makeConnectionsForNetwork() */
      template<typename UserType>
      void typedMakeConnection(VariableNetwork &network);

      /** Register a connection between two VariableNetworkNode */
      VariableNetwork& connect(VariableNetworkNode a, VariableNetworkNode b);

      /** Perform the actual connection of an accessor to a device register */
      template<typename UserType>
      boost::shared_ptr<mtca4u::NDRegisterAccessor<UserType>> createDeviceVariable(const std::string &deviceAlias,
          const std::string &registerName, VariableDirection direction, UpdateMode mode, size_t nElements);

      /** Create a process variable with the PVManager, which is exported to the control system adapter. nElements will
          be the array size of the created variable. */
      template<typename UserType>
      boost::shared_ptr<mtca4u::NDRegisterAccessor<UserType>> createProcessVariable(VariableNetworkNode const &node);

      /** Create a local process variable which is not exported. The first element in the returned pair will be the
       *  sender, the second the receiver. nElements will be the array size of the created variable. */
      template<typename UserType>
      std::pair< boost::shared_ptr<mtca4u::NDRegisterAccessor<UserType>>, boost::shared_ptr<mtca4u::NDRegisterAccessor<UserType>> >
            createApplicationVariable(size_t nElements, const std::string &name);

      /** Register an application module with the application. Will be called automatically by all modules in their
       *  constructors. */
      void overallRegisterModule(Module &module) {
        overallModuleList.push_back(&module);
      }
      
      /** List of application modules */
      std::list<Module*> overallModuleList;   /// @todo TODO FIXME maybe recursing through all modules is better than having an additional overall list?

      /** List of InternalModules */
      std::list<boost::shared_ptr<InternalModule>> internalModuleList;

      /** List of variable networks */
      std::list<VariableNetwork> networkList;

      /** List of constant variable nodes */
      std::list<VariableNetworkNode> constantList;
      
      /** Map of trigger sources to their corresponding TriggerFanOuts. Note: the key is the unique ID of the
       *  triggering node. */
      std::map<const void*, boost::shared_ptr<TriggerFanOut>> triggerMap;

      /** Create a new, empty network */
      VariableNetwork& createNetwork();

      /** Instance of VariableNetwork to indicate an invalid network */
      VariableNetwork invalidNetwork;

      /** Map of DeviceBackends used by this application. The map key is the alias name from the DMAP file */
      std::map<std::string, boost::shared_ptr<mtca4u::DeviceBackend>> deviceMap;
      
      /** Flag if connections should be made in testable mode (i.e. the TestDecoratorRegisterAccessor is put around all
       *  push-type input accessors etc.). */
      bool testableMode{false};
      
      /** Mutex used in testable mode to take control over the application threads. */
      std::mutex testableMode_mutex;
      
      /** The lock used to lock the testableMode_mutex. */
      std::unique_lock<std::mutex> testableMode_lock{testableMode_mutex};
      
      /** Counter used in testable mode to check if application code was executed after releasing the testableMode_mutex.
       *  This value may only be accessed while holding the testableMode_mutex. */
      size_t testableMode_counter{0};

      template<typename UserType>
      friend class TestDecoratorRegisterAccessor;   // needs access to the testableMode_mutex and testableMode_counter

      template<typename UserType>
      friend class TestDecoratorTransferFuture;   // needs access to the testableMode_mutex and testableMode_counter

  };

} /* namespace ChimeraTK */

#endif /* CHIMERATK_APPLICATION_H */