cd_control_deck.h

/*
 *  cd_control_deck.h
 *  ControlDeck
 *
 *  Created by David Wilson on 2/13/08.
 *  Copyright 2008 Princeton Satellite Systems. All rights reserved.
 *
 */
 
#ifndef __CD_CONTROL_DECK__
#define __CD_CONTROL_DECK__

#include <DSUtils/DSUtils.h>
#include <DSimEngine2/DSimEngine2.h>
#include "cd_control_module.h"
#include "cd_control_system.h"

class cd_data_point;
class cd_control_system;

#define CD_SYSTEM_GROUP             "__cd_system_group"

#define CD_SIMULATION_STEP_EVENT    "__cd_simulation_step_event"

class cd_control_deck
{
    public:
        cd_control_deck(const char *control_setup_file = NULL);
        ~cd_control_deck();
        
        // DSim Integration
        bool include_simulation(const char *setup_file);
        bool map_simulation_variable(const char *dsim_path,const char *cd_group,const char *cd_path);
        
        // Control System Integration
        bool add_control_system(cd_control_system *system);
        cd_control_system *control_system_named(const char *name) const { return (cd_control_system *)systems.lookup(name); }
        
        // Run management
        void set_time_scale(double scale);
        double time_scale();
        void initialize();
        
        void note_marked_variables(void (*note_callback)(void *ctx,const char *path,cd_data_point *pt,bool is_telemetry,bool is_command),void *ctx);
        void start();
        void resume_from_pause();
        ds_date run_step();
        ds_date delay_step(const ds_time_interval &delay);
        void run();
        
        ds_date current_time();
        dsim_simulation *simulation();
        cd_control_module *load_control_module(const char *path,const char *type,const char *name,const char *ident=NULL);
        
        void print_variables();

    private:
                cd_control_deck (const cd_control_deck &r);
                cd_control_deck &operator= (const cd_control_deck &r);

    private:
        void cd_xml_parser(const char *control_setup_file);
        void cd_text_parser(const char *control_setup_file);
        const char *parse_setup_file_v1(void *_doc);

        //void add_variables_from_store(sd_data_store *cdict);
        void remove_control_system(const char *name);
        
        // Timers
        void request_timer(const char *system,const char *module,double period,int code);
        void remove_timer(const char *system,const char *module,int code);
        void run_timer(const char *system,const char *module,int code);
        
        // Background Tasks
        void note_background_task_finished(const char *system,const char *module,void *data,int code);
        void note_background_task_data(const char *system,const char *module,void *data,int code);
        void complete_background_task(const char *system,const char *module,void *data,int code);
        void handle_background_task_data(const char *system,const char *module,void *data,int code);
       
        // Events
        void request_event_notification(const char *system,const char *module,const char *group,const char *event_name,int code);
        void trigger_event(const char *group,const char *event_name);
        void handle_event(const char *system,const char *module,int code);
        
        // Data
        CD_DATA_REF create_data(const char *group,const char *path,int type,const char *units,const char *description,void *initial_value,bool is_system_group);
        CD_DATA_REF request_data(const char *group,const char *path,int type);
        const char *path_for_data(CD_DATA_REF point, const char *&group) const;
        bool delete_data(CD_DATA_REF point);
       
        // Logging
        void plog(const char *format,...);
        void error(const char *file,int line,const char *format,...);
        void vlog(const char *system,const char *module,const char *format,va_list arg);
        void verror(const char *system,const char *module,const char *file,int line,const char *format,va_list arg);
        
        // Utility
        double scale_seconds(double seconds);
        
        dsim_simulation sim;
        dsim_variable sim_jd;
        dsim_variable sim_scale;
        ds_date next_sim_step;
        bool sim_active;
        
        ds_character_hash systems;
        ds_character_hash events;
        ds_character_hash points;
        ds_dynamic_array_t timers;
        ds_dynamic_array_t set_variables;
        ds_dynamic_array_t mark_variables;
        ds_dynamic_array_t alias_variables;
        
        // Background task storage
        ds_dynamic_array_t task_completion;
        
        // Run loop synchronization
        pthread_mutex_t run_lock;
        pthread_cond_t run_cond;
        ds_date next_runloop;
        
        double _scale;
        
    friend class cd_control_system;
    
};

#endif