diff options
| -rw-r--r-- | doc/example.ini | 22 | ||||
| -rw-r--r-- | src/DabMod.cpp | 45 | ||||
| -rw-r--r-- | src/DabModulator.cpp | 8 | ||||
| -rw-r--r-- | src/DabModulator.h | 4 | ||||
| -rw-r--r-- | src/OutputUHD.cpp | 137 | ||||
| -rw-r--r-- | src/OutputUHD.h | 18 | ||||
| -rw-r--r-- | src/RemoteControl.cpp | 142 | ||||
| -rw-r--r-- | src/RemoteControl.h | 131 |
8 files changed, 336 insertions, 171 deletions
diff --git a/doc/example.ini b/doc/example.ini index 49f6eda..9a80eeb 100644 --- a/doc/example.ini +++ b/doc/example.ini @@ -8,6 +8,28 @@ telnet=1 telnetport=2121 +; Enable zmq remote control. +; The zmq remote control is intended for machine-to-machine +; integration and requires that the odr-mod is build with zmq support. +; The zmq remote control may run in parallell with Telnet. +; Protocol: +; The odr-dabmod binds a zmq rep socket so clients must connect +; using either req or dealer socket. +; [] denotes message part as zmq multi-part message are used for delimitation. +; All message parts are utf-8 encoded strings and matches the Telnet command set. +; Explicit codes are denoted with "". +; The following commands are supported: +; REQ: ["ping"] +; REP: ["ok"] +; +; REQ: ["get"][module name][parameter] +; REP: [value] _OR_ ["fail"][error description] +; +; REQ: ["set"][module name][parameter][value] +; REP: ["ok"] _OR_ ["fail"][error description] +zmqctrl=1 +zmqctrlendpoint=tcp://127.0.0.1:9400 + [log] ; Write to a logfile or to syslog. ; Setting filename to stderr is very useful during tests and development diff --git a/src/DabMod.cpp b/src/DabMod.cpp index 4342522..dadade9 100644 --- a/src/DabMod.cpp +++ b/src/DabMod.cpp @@ -55,7 +55,7 @@ #include <sys/stat.h> #include <stdexcept> #include <signal.h> -#include <zmq.hpp> +//#include <zmq.hpp> #ifdef HAVE_NETINET_IN_H # include <netinet/in.h> @@ -190,8 +190,8 @@ int main(int argc, char* argv[]) OutputUHDConfig outputuhd_conf; #endif - zmq::context_t zmqCtrlContext(1); - std::string zmqCtrlEndpoint = ""; + //zmq::context_t zmqCtrlContext(1); + //std::string zmqCtrlEndpoint = ""; // To handle the timestamp offset of the modulator struct modulator_offset_config modconf; @@ -204,7 +204,8 @@ int main(int argc, char* argv[]) InputMemory* input = NULL; ModOutput* output = NULL; - BaseRemoteController* rc = NULL; + //BaseRemoteController* rc = NULL; + RemoteControllers rcs; Logger logger; InputFileReader inputFileReader(logger); @@ -358,7 +359,7 @@ int main(int argc, char* argv[]) try { int telnetport = pt.get<int>("remotecontrol.telnetport"); RemoteControllerTelnet* telnetrc = new RemoteControllerTelnet(telnetport); - rc = telnetrc; + rcs.add_controller(telnetrc); } catch (std::exception &e) { std::cerr << "Error: " << e.what() << "\n"; @@ -367,8 +368,22 @@ int main(int argc, char* argv[]) } } - zmqCtrlEndpoint = pt.get("remotecontrol.zmqctrlendpoint", ""); - std::cout << "ZmqCtrlEndpoint: " << zmqCtrlEndpoint << std::endl; +#if defined(HAVE_INPUT_ZEROMQ) + if (pt.get("remotecontrol.zmqctrl", 0) == 1) { + try { + std::string zmqCtrlEndpoint = + pt.get("remotecontrol.zmqctrlendpoint", ""); + std::cout << "ZmqCtrlEndpoint: " << zmqCtrlEndpoint << std::endl; + RemoteControllerZmq* zmqrc = new RemoteControllerZmq(zmqCtrlEndpoint); + rcs.add_controller(zmqrc); + } + catch (std::exception &e) { + std::cerr << "Error: " << e.what() << "\n"; + std::cerr << " zmq remote control enabled, but no endpoint defined.\n"; + goto END_MAIN; + } + } +#endif // input params: if (pt.get("input.loop", 0) == 1) { @@ -570,9 +585,9 @@ int main(int argc, char* argv[]) outputuhd_conf.muteNoTimestamps = (pt.get("delaymanagement.mutenotimestamps", 0) == 1); #endif } - if (!rc) { + if (rcs.get_no_controllers() == 0) { logger.level(warn) << "No Remote-Control started"; - rc = new RemoteControllerDummy(); + rcs.add_controller(new RemoteControllerDummy()); } @@ -705,8 +720,8 @@ int main(int argc, char* argv[]) outputuhd_conf.sampleRate = outputRate; try { - output = new OutputUHD(outputuhd_conf, logger, &zmqCtrlContext, zmqCtrlEndpoint); - ((OutputUHD*)output)->enrol_at(*rc); + output = new OutputUHD(outputuhd_conf, logger/*, &zmqCtrlContext, zmqCtrlEndpoint*/); + ((OutputUHD*)output)->enrol_at(rcs); } catch (std::exception& e) { logger.level(error) << "UHD initialisation failed:" << e.what(); @@ -718,7 +733,7 @@ int main(int argc, char* argv[]) flowgraph = new Flowgraph(); data.setLength(6144); input = new InputMemory(&data); - modulator = new DabModulator(modconf, rc, logger, outputRate, clockRate, + modulator = new DabModulator(modconf, &rcs, logger, outputRate, clockRate, dabMode, gainMode, digitalgain, normalise, filterTapsFilename); flowgraph->connect(input, modulator); flowgraph->connect(modulator, output); @@ -757,10 +772,8 @@ int main(int argc, char* argv[]) /* Check every once in a while if the remote control * is still working */ - if (rc && (frame % 250) == 0 && rc->fault_detected()) { - fprintf(stderr, - "Detected Remote Control fault, restarting it\n"); - rc->restart(); + if (rcs.get_no_controllers() > 0 && (frame % 250) == 0) { + rcs.check_faults(); } } if (framesize == 0) { diff --git a/src/DabModulator.cpp b/src/DabModulator.cpp index 7f246d8..2664a08 100644 --- a/src/DabModulator.cpp +++ b/src/DabModulator.cpp @@ -53,7 +53,7 @@ DabModulator::DabModulator( struct modulator_offset_config& modconf, - BaseRemoteController* rc, + RemoteControllers* rcs, Logger& logger, unsigned outputRate, unsigned clockRate, unsigned dabMode, GainMode gainMode, @@ -71,7 +71,7 @@ DabModulator::DabModulator( myEtiReader(EtiReader(modconf, myLogger)), myFlowgraph(NULL), myFilterTapsFilename(filterTapsFilename), - myRC(rc) + myRCs(rcs) { PDEBUG("DabModulator::DabModulator(%u, %u, %u, %u) @ %p\n", outputRate, clockRate, dabMode, gainMode, this); @@ -201,13 +201,13 @@ int DabModulator::process(Buffer* const dataIn, Buffer* dataOut) cifOfdm = new OfdmGenerator((1 + myNbSymbols), myNbCarriers, mySpacing); cifGain = new GainControl(mySpacing, myGainMode, myDigGain, myNormalise); - cifGain->enrol_at(*myRC); + cifGain->enrol_at(*myRCs); cifGuard = new GuardIntervalInserter(myNbSymbols, mySpacing, myNullSize, mySymSize); if (myFilterTapsFilename != "") { cifFilter = new FIRFilter(myFilterTapsFilename); - cifFilter->enrol_at(*myRC); + cifFilter->enrol_at(*myRCs); } myOutput = new OutputMemory(); diff --git a/src/DabModulator.h b/src/DabModulator.h index 21f9f61..84c9926 100644 --- a/src/DabModulator.h +++ b/src/DabModulator.h @@ -47,7 +47,7 @@ class DabModulator : public ModCodec public: DabModulator( struct modulator_offset_config& modconf, - BaseRemoteController* rc, + RemoteControllers* rcs, Logger& logger, unsigned outputRate = 2048000, unsigned clockRate = 0, unsigned dabMode = 0, GainMode gainMode = GAIN_VAR, @@ -77,7 +77,7 @@ protected: Flowgraph* myFlowgraph; OutputMemory* myOutput; std::string myFilterTapsFilename; - BaseRemoteController* myRC; + RemoteControllers* myRCs; size_t myNbSymbols; size_t myNbCarriers; diff --git a/src/OutputUHD.cpp b/src/OutputUHD.cpp index e3d2d77..4776965 100644 --- a/src/OutputUHD.cpp +++ b/src/OutputUHD.cpp @@ -45,9 +45,7 @@ typedef std::complex<float> complexf; OutputUHD::OutputUHD( OutputUHDConfig& config, - Logger& logger, - zmq::context_t *pContext, - const std::string &zmqCtrlEndpoint) : + Logger& logger) : ModOutput(ModFormat(1), ModFormat(0)), RemoteControllable("uhd"), myLogger(logger), @@ -56,7 +54,7 @@ OutputUHD::OutputUHD( // the buffers at object initialisation. first_run(true), activebuffer(1), - m_delayBuf(196608) + myDelayBuf(196608) { myMuting = 0; // is remote-controllable @@ -227,14 +225,6 @@ OutputUHD::OutputUHD( worker.start(&uwd); - m_pZmqRepThread = NULL; - if (!zmqCtrlEndpoint.empty()) - { - m_pContext = pContext; - m_zmqCtrlEndpoint = zmqCtrlEndpoint; - m_pZmqRepThread = new boost::thread(boost::bind(&OutputUHD::ZmqCtrl, this)); - } - MDEBUG("OutputUHD:UHD ready.\n"); } @@ -242,12 +232,6 @@ OutputUHD::OutputUHD( OutputUHD::~OutputUHD() { MDEBUG("OutputUHD::~OutputUHD() @ %p\n", this); - if (m_pZmqRepThread != NULL) - { - m_pZmqRepThread->interrupt(); - m_pZmqRepThread->join(); - } - worker.stop(); if (!first_run) { free(uwd.frame0.buf); @@ -315,13 +299,11 @@ int OutputUHD::process(Buffer* dataIn, Buffer* dataOut) if (activebuffer == 0) { uint8_t *pTmp = (uint8_t*) uwd.frame0.buf; // copy remain from delaybuf - memcpy(pTmp, &m_delayBuf[0], noByteDelay); + memcpy(pTmp, &myDelayBuf[0], noByteDelay); // copy new data memcpy(&pTmp[noByteDelay], pInData, uwd.bufsize - noByteDelay); // copy remaining data to delay buf - memcpy(&m_delayBuf[0], &pInData[uwd.bufsize - noByteDelay], noByteDelay); - - //memcpy(uwd.frame0.buf, dataIn->getData(), uwd.bufsize); + memcpy(&myDelayBuf[0], &pInData[uwd.bufsize - noByteDelay], noByteDelay); uwd.frame0.ts = ts; uwd.frame0.fct = myEtiReader->getFCT(); @@ -329,13 +311,11 @@ int OutputUHD::process(Buffer* dataIn, Buffer* dataOut) else if (activebuffer == 1) { uint8_t *pTmp = (uint8_t*) uwd.frame1.buf; // copy remain from delaybuf - memcpy(pTmp, &m_delayBuf[0], noByteDelay); + memcpy(pTmp, &myDelayBuf[0], noByteDelay); // copy new data memcpy(&pTmp[noByteDelay], pInData, uwd.bufsize - noByteDelay); // copy remaining data to delay buf - memcpy(&m_delayBuf[0], &pInData[uwd.bufsize - noByteDelay], noByteDelay); - - //memcpy(uwd.frame1.buf, dataIn->getData(), uwd.bufsize); + memcpy(&myDelayBuf[0], &pInData[uwd.bufsize - noByteDelay], noByteDelay); uwd.frame1.ts = ts; uwd.frame1.fct = myEtiReader->getFCT(); @@ -683,108 +663,3 @@ const string OutputUHD::get_parameter(const string& parameter) const return ss.str(); } -void OutputUHD::RecvAll(zmq::socket_t* pSocket, std::vector<std::string> &message) -{ - int more = -1; - size_t more_size = sizeof(more); - - while (more != 0) - { - zmq::message_t msg; - pSocket->recv(&msg); - message.push_back(std::string((char*)msg.data(), msg.size())); - pSocket->getsockopt(ZMQ_RCVMORE, &more, &more_size); - } -} - -void OutputUHD::SendOkReply(zmq::socket_t *pSocket) -{ - zmq::message_t msg(2); - char repCode[2] = {'o', 'k'}; - memcpy ((void*) msg.data(), repCode, 2); - pSocket->send(msg, 0); -} - -void OutputUHD::SendFailReply(zmq::socket_t *pSocket, const std::string &error) -{ - zmq::message_t msg1(4); - char repCode[4] = {'f', 'a', 'i', 'l'}; - memcpy ((void*) msg1.data(), repCode, 4); - pSocket->send(msg1, ZMQ_SNDMORE); - - zmq::message_t msg2(error.length()); - memcpy ((void*) msg2.data(), error.c_str(), error.length()); - pSocket->send(msg2, 0); -} - -//TODO: Should be implemented as an alternative to RemoteControllerTelnet and -//moved to the RemoteControl.h/cpp file instead. -void OutputUHD::ZmqCtrl() -{ - // create zmq reply socket for receiving ctrl parameters - zmq::socket_t repSocket(*m_pContext, ZMQ_REP); - std::cout << "Starting output UHD control thread" << std::endl; - try - { - // connect the socket - int hwm = 100; - int linger = 0; - repSocket.setsockopt(ZMQ_RCVHWM, &hwm, sizeof(hwm)); - repSocket.setsockopt(ZMQ_SNDHWM, &hwm, sizeof(hwm)); - repSocket.setsockopt(ZMQ_LINGER, &linger, sizeof(linger)); - repSocket.bind(m_zmqCtrlEndpoint.c_str()); - - // create pollitem that polls the ZMQ sockets - zmq::pollitem_t pollItems[] = { {repSocket, 0, ZMQ_POLLIN, 0} }; - for(;;) - { - zmq::poll(pollItems, 1, 100); - std::vector<std::string> msg; - if (pollItems[0].revents & ZMQ_POLLIN) - { - RecvAll(&repSocket, msg); - std::string module((char*)msg[0].data(), msg[0].size()); - if (module == "uhd") - { - if (msg.size() < 2) - { - SendFailReply(&repSocket, "Wrong request format"); - continue; - } - - std::string param((char*) msg[1].data(), msg[1].size()); - if (msg.size() == 2 && param == "ping") - { - SendOkReply(&repSocket); - } - else if (msg.size() != 3) - { - SendFailReply(&repSocket, "Wrong request format"); - } - else - { - std::string value((char*) msg[2].data(), msg[2].size()); - try - { - set_parameter(param, value); - SendOkReply(&repSocket); - } - catch (ParameterError &err) - { - SendFailReply(&repSocket, err.what()); - } - } - } - } - - // check if thread is interrupted - boost::this_thread::interruption_point(); - } - } - catch (boost::thread_interrupted&) {} - catch (zmq::error_t &e) - { - std::cerr << "ZMQ error: " << std::string(e.what()) << std::endl; - } - repSocket.close(); -} diff --git a/src/OutputUHD.h b/src/OutputUHD.h index 25f7476..60dfc65 100644 --- a/src/OutputUHD.h +++ b/src/OutputUHD.h @@ -48,7 +48,6 @@ DESCRIPTION: #include <boost/shared_ptr.hpp> #include <list> #include <string> -#include <zmq.hpp> #include "Log.h" #include "ModOutput.h" @@ -184,9 +183,7 @@ class OutputUHD: public ModOutput, public RemoteControllable { OutputUHD( OutputUHDConfig& config, - Logger& logger, - zmq::context_t *pContext, - const std::string &zmqCtrlEndpoint); + Logger& logger); ~OutputUHD(); int process(Buffer* dataIn, Buffer* dataOut); @@ -226,20 +223,9 @@ class OutputUHD: public ModOutput, public RemoteControllable { bool myMuting; private: - // zmq receiving method - //TODO: Should be implemented as an alternative to RemoteControllerTelnet and - //moved to the RemoteControl.h/cpp file instead. - void ZmqCtrl(void); - void RecvAll(zmq::socket_t* pSocket, std::vector<std::string> &message); - void SendOkReply(zmq::socket_t *pSocket); - void SendFailReply(zmq::socket_t *pSocket, const std::string &error); - // data int myStaticDelay; - std::vector<complexf> m_delayBuf; - zmq::context_t *m_pContext; - std::string m_zmqCtrlEndpoint; - boost::thread *m_pZmqRepThread; + std::vector<complexf> myDelayBuf; size_t lastLen; }; diff --git a/src/RemoteControl.cpp b/src/RemoteControl.cpp index 5bbd2f8..c7c5914 100644 --- a/src/RemoteControl.cpp +++ b/src/RemoteControl.cpp @@ -246,3 +246,145 @@ void RemoteControllerTelnet::reply(tcp::socket& socket, string message) ignored_error); } + +#if defined(HAVE_INPUT_ZEROMQ) + +void RemoteControllerZmq::restart() +{ + m_restarter_thread = boost::thread(&RemoteControllerZmq::restart_thread, this); +} + +// This runs in a separate thread, because +// it would take too long to be done in the main loop +// thread. +void RemoteControllerZmq::restart_thread() +{ + m_running = false; + + if (!m_endpoint.empty()) { + m_child_thread.interrupt(); + m_child_thread.join(); + } + + m_child_thread = boost::thread(&RemoteControllerZmq::process, this); +} + +void RemoteControllerZmq::recv_all(zmq::socket_t* pSocket, std::vector<std::string> &message) +{ + int more = -1; + size_t more_size = sizeof(more); + + while (more != 0) + { + zmq::message_t msg; + pSocket->recv(&msg); + message.push_back(std::string((char*)msg.data(), msg.size())); + pSocket->getsockopt(ZMQ_RCVMORE, &more, &more_size); + } +} + +void RemoteControllerZmq::send_ok_reply(zmq::socket_t *pSocket) +{ + zmq::message_t msg(2); + char repCode[2] = {'o', 'k'}; + memcpy ((void*) msg.data(), repCode, 2); + pSocket->send(msg, 0); +} + +void RemoteControllerZmq::send_fail_reply(zmq::socket_t *pSocket, const std::string &error) +{ + zmq::message_t msg1(4); + char repCode[4] = {'f', 'a', 'i', 'l'}; + memcpy ((void*) msg1.data(), repCode, 4); + pSocket->send(msg1, ZMQ_SNDMORE); + + zmq::message_t msg2(error.length()); + memcpy ((void*) msg2.data(), error.c_str(), error.length()); + pSocket->send(msg2, 0); +} + +void RemoteControllerZmq::process() +{ + // create zmq reply socket for receiving ctrl parameters + zmq::socket_t repSocket(m_zmqContext, ZMQ_REP); + std::cout << "Starting zmq remote control thread" << std::endl; + try + { + // connect the socket + int hwm = 100; + int linger = 0; + repSocket.setsockopt(ZMQ_RCVHWM, &hwm, sizeof(hwm)); + repSocket.setsockopt(ZMQ_SNDHWM, &hwm, sizeof(hwm)); + repSocket.setsockopt(ZMQ_LINGER, &linger, sizeof(linger)); + repSocket.bind(m_endpoint.c_str()); + + // create pollitem that polls the ZMQ sockets + zmq::pollitem_t pollItems[] = { {repSocket, 0, ZMQ_POLLIN, 0} }; + for(;;) + { + zmq::poll(pollItems, 1, 100); + std::vector<std::string> msg; + if (pollItems[0].revents & ZMQ_POLLIN) + { + recv_all(&repSocket, msg); + std::string command((char*)msg[0].data(), msg[0].size()); + + if (msg.size() == 1 && command == "ping") + { + send_ok_reply(&repSocket); + } + else if (msg.size() == 3 && command == "get") + { + std::string module((char*) msg[1].data(), msg[1].size()); + std::string parameter((char*) msg[2].data(), msg[2].size()); + + try + { + std::string value = get_param_(module, parameter); + zmq::message_t *pMsg = new zmq::message_t(value.size()); + memcpy ((void*) pMsg->data(), value.data(), value.size()); + repSocket.send(*pMsg, 0); + delete pMsg; + } + catch (ParameterError &err) + { + send_fail_reply(&repSocket, err.what()); + } + } + else if (msg.size() == 4 && command == "set") + { + std::string module((char*) msg[1].data(), msg[1].size()); + std::string parameter((char*) msg[2].data(), msg[2].size()); + std::string value((char*) msg[3].data(), msg[3].size()); + + try + { + set_param_(module, parameter, value); + send_ok_reply(&repSocket); + } + catch (ParameterError &err) + { + send_fail_reply(&repSocket, err.what()); + } + } + else + send_fail_reply(&repSocket, "Unsupported command"); + } + + // check if thread is interrupted + boost::this_thread::interruption_point(); + } + } + catch (boost::thread_interrupted&) {} + catch (zmq::error_t &e) + { + std::cerr << "ZMQ error: " << std::string(e.what()) << std::endl; + } + catch (std::exception& e) + { + std::cerr << "Remote control caught exception: " << e.what() << std::endl; + m_fault = true; + } + repSocket.close(); +} +#endif diff --git a/src/RemoteControl.h b/src/RemoteControl.h index 09e7492..7c830b2 100644 --- a/src/RemoteControl.h +++ b/src/RemoteControl.h @@ -29,6 +29,14 @@ #ifndef _REMOTECONTROL_H #define _REMOTECONTROL_H +#ifdef HAVE_CONFIG_H +# include "config.h" +#endif + +#if defined(HAVE_INPUT_ZEROMQ) +#include <zmq.hpp> +#endif + #include <list> #include <map> #include <string> @@ -85,6 +93,42 @@ class BaseRemoteController { virtual ~BaseRemoteController() {} }; +class RemoteControllers { +/* Holds all our remote controllers, i.e. we may have more than + * one type of controller running. +*/ + public: + RemoteControllers() {} + virtual ~RemoteControllers() {} + + void add_controller(BaseRemoteController *rc) { + m_controllers.push_back(rc); + } + + void add_controllable(RemoteControllable *rc) { + for (std::list<BaseRemoteController*>::iterator it = m_controllers.begin(); + it != m_controllers.end(); ++it) { + (*it)->enrol(rc); + } + } + + void check_faults() { + for (std::list<BaseRemoteController*>::iterator it = m_controllers.begin(); + it != m_controllers.end(); ++it) { + if ((*it)->fault_detected()) + { + fprintf(stderr, + "Detected Remote Control fault, restarting it\n"); + (*it)->restart(); + } + } + } + size_t get_no_controllers() { return m_controllers.size(); } + + private: + std::list<BaseRemoteController*> m_controllers; +}; + /* Objects that support remote control must implement the following class */ class RemoteControllable { public: @@ -100,8 +144,8 @@ class RemoteControllable { virtual std::string get_rc_name() const { return m_name; } /* Tell the controllable to enrol at the given controller */ - virtual void enrol_at(BaseRemoteController& controller) { - controller.enrol(this); + virtual void enrol_at(RemoteControllers& controllers) { + controllers.add_controllable(this); } /* Return a list of possible parameters that can be set */ @@ -254,6 +298,89 @@ class RemoteControllerTelnet : public BaseRemoteController { int m_port; }; +#if defined(HAVE_INPUT_ZEROMQ) +/* Implements a Remote controller using zmq transportlayer + * that listens on localhost + */ +class RemoteControllerZmq : public BaseRemoteController { + public: + RemoteControllerZmq() + : m_running(false), m_fault(false), + m_zmqContext(1), + m_endpoint("") { } + + RemoteControllerZmq(std::string endpoint) + : m_running(true), m_fault(false), + m_child_thread(&RemoteControllerZmq::process, this), + m_zmqContext(1), + m_endpoint(endpoint) + { } + + ~RemoteControllerZmq() { + m_running = false; + m_fault = false; + if (!m_endpoint.empty()) { + m_child_thread.interrupt(); + m_child_thread.join(); + } + } + + void enrol(RemoteControllable* controllable) { + m_cohort.push_back(controllable); + } + + virtual bool fault_detected() { return m_fault; } + + virtual void restart(); + + private: + void restart_thread(); + + void recv_all(zmq::socket_t* pSocket, std::vector<std::string> &message); + void send_ok_reply(zmq::socket_t *pSocket); + void send_fail_reply(zmq::socket_t *pSocket, const std::string &error); + void process(); + + + RemoteControllerZmq& operator=(const RemoteControllerZmq& other); + RemoteControllerZmq(const RemoteControllerZmq& other); + + RemoteControllable* get_controllable_(std::string name) { + for (std::list<RemoteControllable*>::iterator it = m_cohort.begin(); + it != m_cohort.end(); ++it) { + if ((*it)->get_rc_name() == name) + { + return *it; + } + } + throw ParameterError("Module name unknown"); + } + + std::string get_param_(std::string name, std::string param) { + RemoteControllable* controllable = get_controllable_(name); + return controllable->get_parameter(param); + } + + void set_param_(std::string name, std::string param, std::string value) { + RemoteControllable* controllable = get_controllable_(name); + return controllable->set_parameter(param, value); + } + + bool m_running; + + /* This is set to true if a fault occurred */ + bool m_fault; + boost::thread m_restarter_thread; + + boost::thread m_child_thread; + + /* This controller commands the controllables in the cohort */ + std::list<RemoteControllable*> m_cohort; + + zmq::context_t m_zmqContext; + std::string m_endpoint; +}; +#endif /* The Dummy remote controller does nothing, and never fails */ |