Commit 2eb7d19a authored by Giuseppe Carboni's avatar Giuseppe Carboni
Browse files

Updated SRTMinorServoAnswerMap socket handling

parent 110a4401

SRT/Libraries/SRTMinorServoLibrary/include/SRTMinorServoContainers.h

+19 −2
Original line number Diff line number Diff line
@@ -425,7 +425,7 @@ namespace MinorServo 
        SRTMinorServoAnswerMap(const SRTMinorServoAnswerMap& other) : m_mutex()

        {

            std::unique_lock<std::shared_mutex> lockThis(m_mutex, std::defer_lock);

            std::unique_lock<std::shared_mutex> lockOther(other.m_mutex, std::defer_lock);

            std::shared_lock<std::shared_mutex> lockOther(other.m_mutex, std::defer_lock);

            std::lock(lockThis, lockOther);

            static_cast<std::map <std::string, std::variant<long, double, std::string>>&>(*this) = static_cast<const std::map<std::string, std::variant<long, double, std::string>>&>(other);

        }
@@ -439,7 +439,7 @@ namespace MinorServo 
            if(this != &other)

            {

                std::unique_lock<std::shared_mutex> lockThis(m_mutex, std::defer_lock);

                std::unique_lock<std::shared_mutex> lockOther(other.m_mutex, std::defer_lock);

                std::shared_lock<std::shared_mutex> lockOther(other.m_mutex, std::defer_lock);

                std::lock(lockThis, lockOther);

                static_cast<std::map <std::string, std::variant<long, double, std::string>>&>(*this) = static_cast<const std::map<std::string, std::variant<long, double, std::string>>&>(other);

            }
@@ -447,6 +447,23 @@ namespace MinorServo 
            return *this;

        }



        /**

         * Update operator. It merges the current object with the elements of another object

         * @param other the SRTMinorServoAnswerMap which values have to be copied inside the current object

         */

        SRTMinorServoAnswerMap& operator+=(const SRTMinorServoAnswerMap& other)

        {

            std::unique_lock<std::shared_mutex> lockThis(m_mutex, std::defer_lock);

            std::shared_lock<std::shared_mutex> lockOther(other.m_mutex, std::defer_lock);

            std::lock(lockThis, lockOther);

            for(const auto& entry : other)

            {

                this->operator[](entry.first) = entry.second;

            }



            return *this;

        }



        /**

         * Equality operator, only check the std::map and avoid comparing the mutexes, which will obviously be different

         * @param other the SRTMinorServoAnswerMap object to compare the current object with

SRT/Libraries/SRTMinorServoLibrary/src/SRTMinorServoSocket.cpp

+1 −1
Original line number Diff line number Diff line
@@ -179,7 +179,7 @@ SRTMinorServoAnswerMap SRTMinorServoSocket::sendCommand(std::string command, std 
    SRTMinorServoAnswerMap map_answer = SRTMinorServoCommandLibrary::parseAnswer(answer);

    if(map)

    {

        map->get() = map_answer;

        map->get() += map_answer;

    }



    return map_answer;

SRT/Libraries/SRTMinorServoLibrary/tests/SRTMinorServoCommandLibraryTest.cpp

+7 −1
Original line number Diff line number Diff line
@@ -61,8 +61,14 @@ TEST(SRTMinorServoCommandLibraryTest, parseAnswer) 
    args.put("OUTPUT", "GOOD");

    args.put("TIMESTAMP", 1665743366.654321);

    EXPECT_EQ(SRTMinorServoCommandLibrary::parseAnswer(answer), args);



    EXPECT_EQ(args.getTimestamp(), 138850361666543210);

    EXPECT_TRUE(args.checkOutput());

    SRTMinorServoAnswerMap other;

    other.put("OTHER", 123456);

    args += other;

    EXPECT_EQ(args.get<int>("OTHER"), 123456);

    EXPECT_EQ(args.getTimestamp(), 138850361666543210);

    EXPECT_TRUE(args.checkOutput());



    // Complete correct answer

    answer = "OUTPUT:GOOD,1665743366.123456,CURRENT_CONFIG=21|SIMULATION_ENABLED=34|PLC_TIME=78|PLC_VERSION=69|CONTROL=14|POWER=38|EMERGENCY=69|ENABLED=51|OPERATIVE_MODE=94\r\n";

SRT/Servers/SRTMinorServo/src/SRTMinorServoBossCore.cpp

+2 −2
Original line number Diff line number Diff line
@@ -30,8 +30,8 @@ SRTMinorServoBossCore::SRTMinorServoBossCore(SRTMinorServoBossImpl& component) : 
    m_socket_connected(m_socket.isConnected() ? Management::MNG_TRUE : Management::MNG_FALSE),

    m_servos{

        //{ "PFP", m_component.getContainerServices()->getComponent<SRTBaseMinorServo>("MINORSERVO/PFP") },

        { "SRP", m_component.getContainerServices()->getComponent<SRTBaseMinorServo>("MINORSERVO/SRP") }

        //{ "GFR", m_component.getContainerServices()->getComponent<SRTBaseMinorServo>("MINORSERVO/GFR") },

        { "SRP", m_component.getContainerServices()->getComponent<SRTBaseMinorServo>("MINORSERVO/SRP") },

        { "GFR", m_component.getContainerServices()->getComponent<SRTBaseMinorServo>("MINORSERVO/GFR") }

        //{ "M3R", m_component.getContainerServices()->getComponent<SRTBaseMinorServo>("MINORSERVO/M3R") }

    },

    m_tracking_servos{