Implemented new command-response-based interface for the TargetController

src/TargetController/CommandManager.hpp

@@ -0,0 +1,68 @@
+#pragma once
+
+#include <memory>
+#include <chrono>
+#include <optional>
+
+#include "Commands/Command.hpp"
+#include "Responses/Response.hpp"
+#include "Responses/Error.hpp"
+#include "TargetControllerComponent.hpp"
+
+#include "src/Exceptions/Exception.hpp"
+
+#include "src/Logger/Logger.hpp"
+
+namespace Bloom::TargetController
+{
+    class CommandManager
+    {
+    public:
+        template<class CommandType>
+            requires
+                std::is_base_of_v<Commands::Command, CommandType>
+                && std::is_base_of_v<Responses::Response, typename CommandType::SuccessResponseType>
+        auto sendCommandAndWaitForResponse(
+            std::unique_ptr<CommandType> command,
+            std::chrono::milliseconds timeout
+        ) {
+            using SuccessResponseType = typename CommandType::SuccessResponseType;
+
+            Logger::debug("Issuing " + CommandType::name + " command to TargetController");
+
+            const auto commandId = command->id;
+            TargetControllerComponent::registerCommand(std::move(command));
+
+            auto optionalResponse = TargetControllerComponent::waitForResponse(commandId, timeout);
+
+            if (!optionalResponse.has_value()) {
+                Logger::debug(
+                    "Timed out whilst waiting for TargetController to respond to " + CommandType::name + " command"
+                );
+                throw Exceptions::Exception("Command timed out");
+            }
+
+            auto& response = optionalResponse.value();
+
+            if (response->getType() == Responses::ResponseType::ERROR) {
+                const auto errorResponse = dynamic_cast<Responses::Error*>(response.get());
+
+                Logger::debug(
+                    "TargetController returned error in response to " + CommandType::name + " command. Error: "
+                        + errorResponse->errorMessage
+                );
+                throw Exceptions::Exception(errorResponse->errorMessage);
+            }
+
+            // Only downcast if the command's SuccessResponseType is not the generic Response type.
+            if constexpr (!std::is_same_v<SuccessResponseType, Responses::Response>) {
+                assert(response->getType() == SuccessResponseType::type);
+                return std::unique_ptr<SuccessResponseType>(
+                    dynamic_cast<SuccessResponseType*>(response.release())
+                );
+            }
+
+            return std::move(response);
+        }
+    };
+}

src/TargetController/Commands/Command.hpp

@@ -0,0 +1,42 @@
+#pragma once
+
+#include <string>
+#include <atomic>
+#include <cstdint>
+
+#include "CommandTypes.hpp"
+
+#include "src/TargetController/Responses/Response.hpp"
+
+namespace Bloom::TargetController::Commands
+{
+    using CommandIdType = int;
+    static_assert(std::atomic<CommandIdType>::is_always_lock_free);
+
+    class Command
+    {
+    public:
+        using SuccessResponseType = Responses::Response;
+
+        CommandIdType id = ++(Command::lastCommandId);
+
+        static constexpr CommandType type = CommandType::GENERIC;
+        static inline const std::string name = "GenericCommand";
+
+        Command() = default;
+        virtual ~Command() = default;
+
+        Command(const Command& other) = default;
+        Command(Command&& other) = default;
+
+        Command& operator = (const Command& other) = default;
+        Command& operator = (Command&& other) = default;
+
+        [[nodiscard]] virtual CommandType getType() const {
+            return Command::type;
+        }
+
+    private:
+        static inline std::atomic<CommandIdType> lastCommandId = 0;
+    };
+}

src/TargetController/Commands/CommandTypes.hpp

@@ -0,0 +1,11 @@
+#pragma once
+
+#include <cstdint>
+
+namespace Bloom::TargetController::Commands
+{
+    enum class CommandType: std::uint8_t
+    {
+        GENERIC,
+    };
+}

src/TargetController/Responses/Error.hpp

@@ -0,0 +1,22 @@
+#pragma once
+
+#include "Response.hpp"
+
+namespace Bloom::TargetController::Responses
+{
+    class Error: public Response
+    {
+    public:
+        static constexpr ResponseType type = ResponseType::ERROR;
+
+        std::string errorMessage;
+
+        explicit Error(const std::string& errorMessage)
+            : errorMessage(errorMessage)
+        {}
+
+        [[nodiscard]] ResponseType getType() const override {
+            return Error::type;
+        }
+    };
+}

src/TargetController/Responses/Response.hpp

@@ -0,0 +1,25 @@
+#pragma once
+
+#include "ResponseTypes.hpp"
+
+namespace Bloom::TargetController::Responses
+{
+    class Response
+    {
+    public:
+        static constexpr ResponseType type = ResponseType::GENERIC;
+
+        Response() = default;
+        virtual ~Response() = default;
+
+        Response(const Response& other) = default;
+        Response(Response&& other) = default;
+
+        Response& operator = (const Response& other) = default;
+        Response& operator = (Response&& other) = default;
+
+        [[nodiscard]] virtual ResponseType getType() const {
+            return Response::type;
+        }
+    };
+}

src/TargetController/Responses/ResponseTypes.hpp

@@ -0,0 +1,12 @@
+#pragma once
+
+#include <cstdint>
+
+namespace Bloom::TargetController::Responses
+{
+    enum class ResponseType: std::uint8_t
+    {
+        GENERIC,
+        ERROR,
+    };
+}

src/TargetController/TargetControllerComponent.cpp

@@ -20,6 +20,9 @@ namespace Bloom::TargetController
     using namespace Bloom::Events;
     using namespace Bloom::Exceptions;
 
+    using Commands::Command;
+    using Commands::CommandIdType;
+    using Responses::Response;
     TargetControllerComponent::TargetControllerComponent(
         const ProjectConfig& projectConfig,
         const EnvironmentConfig& environmentConfig
@@ -41,7 +44,10 @@ namespace Bloom::TargetController
                         this->fireTargetEvents();
                     }
 
-                    this->eventListener->waitAndDispatch(60);
+                    TargetControllerComponent::notifier.waitForNotification(std::chrono::milliseconds(60));
+
+                    this->processQueuedCommands();
+                    this->eventListener->dispatchCurrentEvents();
 
                 } catch (const DeviceFailure& exception) {
                     /*
@@ -76,6 +82,48 @@ namespace Bloom::TargetController
         this->shutdown();
     }
 
+    void TargetControllerComponent::registerCommand(std::unique_ptr<Command> command) {
+        auto commandQueueLock = TargetControllerComponent::commandQueue.acquireLock();
+        TargetControllerComponent::commandQueue.getValue().push(std::move(command));
+        TargetControllerComponent::notifier.notify();
+    }
+
+    std::optional<std::unique_ptr<Responses::Response>> TargetControllerComponent::waitForResponse(
+        CommandIdType commandId,
+        std::optional<std::chrono::milliseconds> timeout
+    ) {
+        auto response = std::unique_ptr<Response>(nullptr);
+
+        const auto predicate = [commandId, &response] {
+            auto& responsesByCommandId = TargetControllerComponent::responsesByCommandId.getValue();
+            auto responseIt = responsesByCommandId.find(commandId);
+
+            if (responseIt != responsesByCommandId.end()) {
+                response.swap(responseIt->second);
+                responsesByCommandId.erase(responseIt);
+
+                return true;
+            }
+
+            return false;
+        };
+
+        auto responsesByCommandIdLock = TargetControllerComponent::responsesByCommandId.acquireLock();
+
+        if (timeout.has_value()) {
+            TargetControllerComponent::responsesByCommandIdCv.wait_for(
+                responsesByCommandIdLock,
+                timeout.value(),
+                predicate
+            );
+
+        } else {
+            TargetControllerComponent::responsesByCommandIdCv.wait(responsesByCommandIdLock, predicate);
+        }
+
+        return (response != nullptr) ? std::optional(std::move(response)) : std::nullopt;
+    }
+
     void TargetControllerComponent::startup() {
         this->setName("TC");
         Logger::info("Starting TargetController");
@@ -102,6 +150,151 @@ namespace Bloom::TargetController
         this->resume();
     }
 
+    std::map<
+        std::string,
+        std::function<std::unique_ptr<DebugTool>()>
+    > TargetControllerComponent::getSupportedDebugTools() {
+        return std::map<std::string, std::function<std::unique_ptr<DebugTool>()>> {
+            {
+                "atmel-ice",
+                [] {
+                    return std::make_unique<DebugToolDrivers::AtmelIce>();
+                }
+            },
+            {
+                "power-debugger",
+                [] {
+                    return std::make_unique<DebugToolDrivers::PowerDebugger>();
+                }
+            },
+            {
+                "snap",
+                [] {
+                    return std::make_unique<DebugToolDrivers::MplabSnap>();
+                }
+            },
+            {
+                "pickit-4",
+                [] {
+                    return std::make_unique<DebugToolDrivers::MplabPickit4>();
+                }
+            },
+            {
+                "xplained-pro",
+                [] {
+                    return std::make_unique<DebugToolDrivers::XplainedPro>();
+                }
+            },
+            {
+                "xplained-mini",
+                [] {
+                    return std::make_unique<DebugToolDrivers::XplainedMini>();
+                }
+            },
+            {
+                "xplained-nano",
+                [] {
+                    return std::make_unique<DebugToolDrivers::XplainedNano>();
+                }
+            },
+            {
+                "curiosity-nano",
+                [] {
+                    return std::make_unique<DebugToolDrivers::CuriosityNano>();
+                }
+            },
+        };
+    }
+
+    std::map<
+        std::string,
+        std::function<std::unique_ptr<Targets::Target>()>
+    > TargetControllerComponent::getSupportedTargets() {
+        using Avr8TargetDescriptionFile = Targets::Microchip::Avr::Avr8Bit::TargetDescription::TargetDescriptionFile;
+
+        auto mapping = std::map<std::string, std::function<std::unique_ptr<Targets::Target>()>>({
+            {
+                "avr8",
+                [] {
+                    return std::make_unique<Targets::Microchip::Avr::Avr8Bit::Avr8>();
+                }
+            },
+        });
+
+        // Include all targets from AVR8 target description files
+        auto avr8PdMapping = Avr8TargetDescriptionFile::getTargetDescriptionMapping();
+
+        for (auto mapIt = avr8PdMapping.begin(); mapIt != avr8PdMapping.end(); mapIt++) {
+            // Each target signature maps to an array of targets, as numerous targets can possess the same signature.
+            auto targets = mapIt.value().toArray();
+
+            for (auto targetIt = targets.begin(); targetIt != targets.end(); targetIt++) {
+                auto targetName = targetIt->toObject().find("targetName").value().toString()
+                    .toLower().toStdString();
+                auto targetSignatureHex = mapIt.key().toLower().toStdString();
+
+                if (!mapping.contains(targetName)) {
+                    mapping.insert({
+                        targetName,
+                        [targetName, targetSignatureHex] {
+                            return std::make_unique<Targets::Microchip::Avr::Avr8Bit::Avr8>(
+                                targetName,
+                                Targets::Microchip::Avr::TargetSignature(targetSignatureHex)
+                            );
+                        }
+                    });
+                }
+            }
+        }
+
+        return mapping;
+    }
+
+    void TargetControllerComponent::processQueuedCommands() {
+        auto commands = std::queue<std::unique_ptr<Command>>();
+
+        {
+            auto queueLock = TargetControllerComponent::commandQueue.acquireLock();
+            commands.swap(TargetControllerComponent::commandQueue.getValue());
+        }
+
+        while (!commands.empty()) {
+            const auto command = std::move(commands.front());
+            commands.pop();
+
+            const auto commandId = command->id;
+            const auto commandType = command->getType();
+
+            try {
+                if (!this->commandHandlersByCommandType.contains(commandType)) {
+                    throw Exception("No handler registered for this command.");
+                }
+
+                this->registerCommandResponse(
+                    commandId,
+                    this->commandHandlersByCommandType.at(commandType)(*(command.get()))
+                );
+
+            } catch (const Exception& exception) {
+                this->registerCommandResponse(
+                    commandId,
+                    std::make_unique<Responses::Error>(exception.getMessage())
+                );
+            }
+        }
+    }
+
+    void TargetControllerComponent::registerCommandResponse(
+        CommandIdType commandId,
+        std::unique_ptr<Response> response
+    ) {
+        auto responseMappingLock = TargetControllerComponent::responsesByCommandId.acquireLock();
+        TargetControllerComponent::responsesByCommandId.getValue().insert(
+            std::pair(commandId, std::move(response))
+        );
+        TargetControllerComponent::responsesByCommandIdCv.notify_all();
+    }
+
     void TargetControllerComponent::checkUdevRules() {
         auto bloomRulesPath = std::string("/etc/udev/rules.d/99-bloom.rules");
         auto latestBloomRulesPath = Paths::resourcesDirPath() + "/UDevRules/99-bloom.rules";
@@ -283,8 +476,8 @@ namespace Bloom::TargetController
         auto debugToolName = this->environmentConfig.debugToolConfig.name;
         auto targetName = this->environmentConfig.targetConfig.name;
 
-        auto supportedDebugTools = TargetControllerComponent::getSupportedDebugTools();
+        static auto supportedDebugTools = this->getSupportedDebugTools();
-        auto supportedTargets = TargetControllerComponent::getSupportedTargets();
+        static auto supportedTargets = this->getSupportedTargets();
 
         if (!supportedDebugTools.contains(debugToolName)) {
             throw Exceptions::InvalidConfig(

src/TargetController/TargetControllerComponent.hpp

@@ -1,6 +1,10 @@
 #pragma once
 
 #include <memory>
+#include <queue>
+#include <condition_variable>
+#include <optional>
+#include <chrono>
 #include <map>
 #include <string>
 #include <functional>
@@ -8,6 +12,15 @@
 #include <QJsonArray>
 
 #include "src/Helpers/Thread.hpp"
+#include "src/Helpers/SyncSafe.hpp"
+#include "src/Helpers/ConditionVariableNotifier.hpp"
+
+// Commands
+#include "Commands/Command.hpp"
+
+// Responses
+#include "Responses/Response.hpp"
+
 #include "TargetControllerState.hpp"
 
 #include "src/DebugToolDrivers/DebugTools.hpp"
@@ -44,7 +57,24 @@ namespace Bloom::TargetController
          */
         void run();
 
+        static void registerCommand(std::unique_ptr<Commands::Command> command);
+
+        static std::optional<std::unique_ptr<Responses::Response>> waitForResponse(
+            Commands::CommandIdType commandId,
+            std::optional<std::chrono::milliseconds> timeout = std::nullopt
+        );
+
     private:
+        static inline SyncSafe<
+            std::queue<std::unique_ptr<Commands::Command>>
+        > commandQueue;
+
+        static inline SyncSafe<
+            std::map<Commands::CommandIdType, std::unique_ptr<Responses::Response>>
+        > responsesByCommandId;
+
+        static inline ConditionVariableNotifier notifier = ConditionVariableNotifier();
+        static inline std::condition_variable responsesByCommandIdCv = std::condition_variable();
         /**
          * The TC starts off in a suspended state. TargetController::resume() is invoked from the startup routine.
          */
@@ -61,6 +91,11 @@ namespace Bloom::TargetController
         std::unique_ptr<Targets::Target> target = nullptr;
         std::unique_ptr<DebugTool> debugTool = nullptr;
 
+        std::map<
+            Commands::CommandType,
+            std::function<std::unique_ptr<Responses::Response>(Commands::Command&)>
+        > commandHandlersByCommandType;
+
         EventListenerPointer eventListener = std::make_shared<EventListener>("TargetControllerEventListener");
 
         /**
@@ -85,116 +120,14 @@ namespace Bloom::TargetController
          */
         std::map<Targets::TargetMemoryType, Targets::TargetMemoryAddressRange> registerAddressRangeByMemoryType;
 
-        /**
+        template<class CommandType>
-         * Constructs a mapping of supported debug tool names to lambdas. The lambdas should *only* instantiate
+        void registerCommandHandler(std::function<std::unique_ptr<Responses::Response>(CommandType&)> callback) {
-         * and return an instance to the derived DebugTool class. They should not attempt to establish
+            auto parentCallback = [callback] (Commands::Command& command) {
-         * a connection to the device.
+                    // Downcast the command to the expected type
-         *
+                    return callback(dynamic_cast<CommandType&>(command));
-         * @return
-         */
-        static auto getSupportedDebugTools() {
-            static auto mapping = std::map<std::string, std::function<std::unique_ptr<DebugTool>()>> {
-                {
-                    "atmel-ice",
-                    [] {
-                        return std::make_unique<DebugToolDrivers::AtmelIce>();
-                    }
-                },
-                {
-                    "power-debugger",
-                    [] {
-                        return std::make_unique<DebugToolDrivers::PowerDebugger>();
-                    }
-                },
-                {
-                    "snap",
-                    [] {
-                        return std::make_unique<DebugToolDrivers::MplabSnap>();
-                    }
-                },
-                {
-                    "pickit-4",
-                    [] {
-                        return std::make_unique<DebugToolDrivers::MplabPickit4>();
-                    }
-                },
-                {
-                    "xplained-pro",
-                    [] {
-                        return std::make_unique<DebugToolDrivers::XplainedPro>();
-                    }
-                },
-                {
-                    "xplained-mini",
-                    [] {
-                        return std::make_unique<DebugToolDrivers::XplainedMini>();
-                    }
-                },
-                {
-                    "xplained-nano",
-                    [] {
-                        return std::make_unique<DebugToolDrivers::XplainedNano>();
-                    }
-                },
-                {
-                    "curiosity-nano",
-                    [] {
-                        return std::make_unique<DebugToolDrivers::CuriosityNano>();
-                    }
-                },
             };
 
-            return mapping;
+            this->commandHandlersByCommandType.insert(std::pair(CommandType::type, parentCallback));
-        }
-
-        /**
-         * Constructs a mapping of supported target names to lambdas. The lambdas should instantiate and return an
-         * instance to the appropriate Target class.
-         *
-         * @return
-         */
-        static auto getSupportedTargets() {
-            static auto mapping = std::map<std::string, std::function<std::unique_ptr<Targets::Target>()>>();
-
-            if (mapping.empty()) {
-                mapping = {
-                    {
-                        "avr8",
-                        [] {
-                            return std::make_unique<Targets::Microchip::Avr::Avr8Bit::Avr8>();
-                        }
-                    },
-                };
-
-                // Include all targets from AVR8 target description files
-                auto avr8PdMapping =
-                    Targets::Microchip::Avr::Avr8Bit::TargetDescription::TargetDescriptionFile::getTargetDescriptionMapping();
-
-                for (auto mapIt = avr8PdMapping.begin(); mapIt != avr8PdMapping.end(); mapIt++) {
-                    // Each target signature maps to an array of targets, as numerous targets can possess the same signature.
-                    auto targets = mapIt.value().toArray();
-
-                    for (auto targetIt = targets.begin(); targetIt != targets.end(); targetIt++) {
-                        auto targetName = targetIt->toObject().find("targetName").value().toString()
-                            .toLower().toStdString();
-                        auto targetSignatureHex = mapIt.key().toLower().toStdString();
-
-                        if (!mapping.contains(targetName)) {
-                            mapping.insert({
-                                targetName,
-                                [targetName, targetSignatureHex] {
-                                    return std::make_unique<Targets::Microchip::Avr::Avr8Bit::Avr8>(
-                                        targetName,
-                                        Targets::Microchip::Avr::TargetSignature(targetSignatureHex)
-                                    );
-                                }
-                            });
-                        }
-                    }
-                }
-            }
-
-            return mapping;
         }
 
         /**
@@ -215,6 +148,27 @@ namespace Bloom::TargetController
          */
         void startup();
 
+        /**
+         * Constructs a mapping of supported debug tool names to lambdas. The lambdas should *only* instantiate
+         * and return an instance to the derived DebugTool class. They should not attempt to establish
+         * a connection to the device.
+         *
+         * @return
+         */
+        std::map<std::string, std::function<std::unique_ptr<DebugTool>()>> getSupportedDebugTools();
+
+        /**
+         * Constructs a mapping of supported target names to lambdas. The lambdas should instantiate and return an
+         * instance to the appropriate Target class.
+         *
+         * @return
+         */
+        std::map<std::string, std::function<std::unique_ptr<Targets::Target>()>> getSupportedTargets();
+
+        void processQueuedCommands();
+
+        void registerCommandResponse(Commands::CommandIdType commandId, std::unique_ptr<Responses::Response> response);
+
         /**
          * Installs Bloom's udev rules on user's machine. Rules are copied from build/Distribution/Resources/UdevRules
          * to /etc/udev/rules.d/. This method will report an error if Bloom isn't running as root (as root privileges

src/TargetController/TargetControllerConsole.hpp

@@ -3,6 +3,7 @@
 #include <cstdint>
 #include <optional>
 
+#include "CommandManager.hpp"
 #include "TargetControllerState.hpp"
 
 #include "src/EventManager/EventListener.hpp"
@@ -171,6 +172,7 @@ namespace Bloom::TargetController
         void resetTarget();
 
     private:
+        CommandManager commandManager = CommandManager();
         EventListener& eventListener;
 
         std::chrono::milliseconds defaultTimeout = std::chrono::milliseconds(20000);