plugins: TCB adds cycle, next_cycle and reset to msg

- adds to ConveyorBeltCommand proto
  - reset: set to true to reset the TCB
  - next_cycle: the expected next cycle

- adds to ConveyorBeltStatus proto
  - cycle: the current cycle 

- in TriggeredConveyorBeltThread::init
  - use host_ip_address from config instead of hardcoded "eth0"
  - setConveyorBeltRunMode to stop & reset

- in TriggeredConveyorBeltThread::loop
  - if send_conveyor_command is set and cycle matches expectation
    - send conveyor command
  - else if send_reset_command is still set
    - send conveyor command ( this is for the case when the one in init was lost )

- in TriggeredConveyorBeltThread::clips start/stop belt
  - set requested_run_mode and send_conveyor_command flag

- in TriggeredConveyorBeltThread::receiveAndBufferConveyorStatusMsg
  - if cycle in received status matches expecation
    - increase cycle
    - reset send_conveyor_command_ flag 
    - reset send_reset_command_ flag
  - else if TCB is ahead of expectation 
    - set sent_reset_command flag

Author: moriarty

rockin/plugins/msgs/DeviceConveyorBelt.proto

@@ -7,10 +7,13 @@ enum RunMode
 message ConveyorBeltCommand
 {
 	optional RunMode mode = 1;
+	optional bool reset = 2;
+	required int32 next_cycle = 3;
 }
 
 message ConveyorBeltStatus
 {
 	required bool is_device_connected = 1;
 	optional RunMode mode = 2;
-}
+	required int32 cycle = 3;
+}

rockin/plugins/msgs/DeviceQualityControlCamera.proto

@@ -10,4 +10,4 @@ message QualityControlCameraStatus
 
     required bool is_device_connected = 1;
     optional State state = 2;
-}
+}

rockin/plugins/triggered_conveyor_belt/triggered_conveyor_belt_thread.cpp

@@ -36,8 +36,9 @@
 TriggeredConveyorBeltThread::TriggeredConveyorBeltThread() :
         Thread("TriggeredConveyorBeltThread", Thread::OPMODE_CONTINUOUS),
         zmq_context_(NULL), zmq_publisher_(NULL), zmq_camera_subscriber_(NULL),
-        zmq_conveyor_subscriber_(NULL), cfg_timer_interval_(40),
-        default_network_interface_("eth0"),
+        zmq_conveyor_subscriber_(NULL), cfg_timer_interval_(40), cycle_(0),
+        send_conveyor_command_(false), send_reset_command_(true),
+        requested_run_mode_(STOP),
         last_state_(QualityControlCameraStatus::NO_PLATE)
 {
 }
@@ -66,7 +67,7 @@ void TriggeredConveyorBeltThread::init()
             && config->exists("/llsfrb/triggered-conveyor-belt/conveyor_status_port"))
         {
             host_ip_address = config->get_string("/llsfrb/triggered-conveyor-belt/host");
-            host_command_port = "epgm://" + default_network_interface_ + ":" + boost::lexical_cast<std::string>(config->get_uint("/llsfrb/triggered-conveyor-belt/command_port"));
+            host_command_port = "epgm://" + host_ip_address + ":" + boost::lexical_cast<std::string>(config->get_uint("/llsfrb/triggered-conveyor-belt/command_port"));
             host_camera_status_port = "epgm://" + host_ip_address + ":" + boost::lexical_cast<std::string>(config->get_uint("/llsfrb/triggered-conveyor-belt/camera_status_port"));
             host_conveyor_status_port = "epgm://" + host_ip_address + ":" + boost::lexical_cast<std::string>(config->get_uint("/llsfrb/triggered-conveyor-belt/conveyor_status_port"));
 
@@ -116,6 +117,9 @@ void TriggeredConveyorBeltThread::init()
 
     fawkes::MutexLocker lock(clips_mutex);
 
+    logger->log_info("TriggeredConveyorBelt", "Sending reset to Device");
+    setConveyorBeltRunMode(requested_run_mode_);
+
     clips->add_function("conveyor-belt-start-belt", sigc::slot<void>(sigc::mem_fun(*this, &TriggeredConveyorBeltThread::clips_start_belt)));
     clips->add_function("conveyor-belt-stop-belt", sigc::slot<void>(sigc::mem_fun(*this, &TriggeredConveyorBeltThread::clips_stop_belt)));
     clips->add_function("conveyor-belt-is-running", sigc::slot<bool>(sigc::mem_fun(*this, &TriggeredConveyorBeltThread::clips_is_belt_running)));
@@ -150,6 +154,18 @@ void TriggeredConveyorBeltThread::loop()
     boost::this_thread::sleep(boost::posix_time::milliseconds(cfg_timer_interval_));
     receiveAndBufferConveyorStatusMsg();
     receiveAndBufferCameraStatusMsg();
+
+    fawkes::MutexLocker lock(clips_mutex);
+    if (send_conveyor_command_)
+    {
+        int next_cycle;
+        next_cycle = cycle_ + 1;
+        if (next_cycle == last_conveyor_status_msg_.cycle())
+            return;
+        setConveyorBeltRunMode(requested_run_mode_);
+    } else if (send_reset_command_){
+        setConveyorBeltRunMode(requested_run_mode_);
+    }
 }
 
 bool TriggeredConveyorBeltThread::clips_is_belt_running()
@@ -187,18 +203,20 @@ bool TriggeredConveyorBeltThread::clips_is_camera_connected()
 
 void TriggeredConveyorBeltThread::clips_start_belt()
 {
-    setConveyorBeltRunMode(START);
+    fawkes::MutexLocker lock(clips_mutex);
+    requested_run_mode_ = START;
+    send_conveyor_command_ = true;
 }
 
 void TriggeredConveyorBeltThread::clips_stop_belt()
 {
-    setConveyorBeltRunMode(STOP);
+    fawkes::MutexLocker lock(clips_mutex);
+    requested_run_mode_ = STOP;
+    send_conveyor_command_ = true;
 }
 
 void TriggeredConveyorBeltThread::setConveyorBeltRunMode(RunMode mode)
 {
-    logger->log_info("TriggeredConveyorBelt", "Set run mode: %d", mode);
-
     boost::posix_time::time_duration time_diff;
 
     // prevent sending to many messages to the device
@@ -210,7 +228,10 @@ void TriggeredConveyorBeltThread::setConveyorBeltRunMode(RunMode mode)
     ConveyorBeltCommand command_msg;
     std::string serialized_string;
 
+    command_msg.set_next_cycle(cycle_+1);
     command_msg.set_mode(mode);
+    if (send_reset_command_)
+        command_msg.set_reset(true);
 
     zmq::message_t *query = NULL;
     try
@@ -222,8 +243,6 @@ void TriggeredConveyorBeltThread::setConveyorBeltRunMode(RunMode mode)
 
         last_sent_command_timestamp_ = boost::posix_time::microsec_clock::local_time();
 
-        logger->log_info("TriggeredConveyorBelt", "Set run mode: %d", command_msg.mode());
-
         delete query;
     } catch (fawkes::Exception &e)
     {
@@ -248,6 +267,15 @@ void TriggeredConveyorBeltThread::receiveAndBufferConveyorStatusMsg()
             if (last_conveyor_status_msg_.ParseFromArray(zmq_conveyor_msg_.data(),
                                                          zmq_conveyor_msg_.size()))
             {
+                int expected_cycle = cycle_ + 1;
+                if (last_conveyor_status_msg_.cycle() == expected_cycle){
+                    cycle_++;
+                    send_conveyor_command_ = false;
+                    send_reset_command_ = false;
+                } else if (last_conveyor_status_msg_.cycle() > expected_cycle)
+                {
+                    send_reset_command_ = true;
+                }
                 prev_conveyor_update_timestamp_ = boost::posix_time::microsec_clock::local_time();
             }
         } else

rockin/plugins/triggered_conveyor_belt/triggered_conveyor_belt_thread.h

@@ -58,10 +58,12 @@ class TriggeredConveyorBeltThread : public fawkes::Thread, public fawkes::Loggin
         zmq::socket_t *zmq_camera_subscriber_;
         zmq::socket_t *zmq_conveyor_subscriber_;
         unsigned int cfg_timer_interval_;
+        unsigned int cycle_;
 
-        std::string default_network_interface_;
-
+        bool send_conveyor_command_;
+        bool send_reset_command_;
         ConveyorBeltStatus last_conveyor_status_msg_;
+        RunMode requested_run_mode_;
         QualityControlCameraStatus last_camera_status_msg_;
         QualityControlCameraStatus::State last_state_;