class Telemetry::Server

# File lib/telemetry/server.rb, line 10
def initialize(io=TCP::Server.new(20001))
    super(self.class.name,Orocos::Async.event_loop)
    @io = io
    @objects = Hash.new

    event_loop.every WATCHDOG_PERIOD do
        @objects.each_pair do |key,val|
            if(Time.now-val.last_refresh > FORCE_REFRESH_PERIOD)
                Array(val.listeners).each do |listener|
                    next if !listener || !listener.last_args
                    listener.call *listener.last_args
                end
            end
        end
    end

    annotations = {:type => :error}
    event_loop.on_error(Exception) do |e|
        write_nonblock(0,e,annotations) do |bytes,error|
        end
    end
end

# File lib/telemetry/server.rb, line 149
def close
    @io.close
end

# File lib/telemetry/server.rb, line 51
def forward(obj,period)
    if obj.respond_to?(:on_state_change)
        forward_task(obj,period)
    elsif obj.respond_to?(:on_data)
        forward_port(obj,period)
    elsif obj.respond_to?(:on_change)
        forward_property(obj,period)
    else
        raise "Do not know how to forward #{obj}"
    end
end

# File lib/telemetry/server.rb, line 99
def forward_port(port,period)
    annotations = Hash.new
    annotations[:task_name] = port.task.name
    annotations[:port_name] = port.name
    annotations[:period] = period

    port.once_on_reachable do
        # ignore input ports
        next if port.respond_to?(:input?) && port.input?
        Telemetry.info "forwarding #{port.full_name}"
        listener = port.on_raw_data(:period => period) do |data|
            next unless port.reachable? # this is needed because of watchdog
            annotations[:type_name] = port.type_name
            write_nonblock(@objects[port].id,data,annotations) do |bytes,error|
                obj = @objects[port]
                obj.last_refresh = Time.now if obj
            end
        end
        @objects[port] = ObjectInfo.new(@objects.size,listener,Time.now)
    end
end

# File lib/telemetry/server.rb, line 121
def forward_property(property,period)
    annotations = Hash.new
    annotations[:task_name] = property.task.name
    annotations[:property_name] = property.name
    annotations[:period] = period

    Telemetry.info "forwarding #{property.full_name}"
    listener = property.on_raw_change(:period => period) do |data|
        annotations[:type_name] = property.type_name
        next unless property.reachable? # this is needed because of watchdog
        write_nonblock(@objects[property].id,data,annotations) do |bytes,error|
            obj = @objects[property]
            obj.last_refresh = Time.now if obj
        end
    end
    @objects[property] = ObjectInfo.new(@objects.size,listener,Time.now)
end

# File lib/telemetry/server.rb, line 63
def forward_task(task,period)
    annotations = Hash.new
    annotations[:task_name] = task.name
    annotations[:period] = period
    listener1 = task.on_state_change() do |state|
        next unless task.reachable?
        annotations[:type] = :task_state
        write_nonblock(@objects[task].id,state,annotations)
        @objects[task].last_refresh = Time.now
    end
    listener2 = task.on_error() do |error|
        # retransmit errors
        annotations[:type] = :error
        write_nonblock(@objects[task].id,error,annotations)
        @objects[task].last_refresh = Time.now
    end
    listener3 = task.on_port_reachable() do |port_name|
        forward_port(task.port(port_name,:period => period),period)
        @objects[task].last_refresh = Time.now
    end
    listener4 = task.on_port_unreachable() do |port_name|
        remove(task.port(port_name))
    end
    listener5 = task.on_property_reachable() do |property_name|
        forward_property(task.property(property_name),period)
    end
    listener6 = task.on_property_unreachable() do |property_name|
        remove(task.property(property_name))
    end
    listener7 = task.on_unreachable() do
        annotations[:type] = :unreachable
        write_nonblock(0,nil,annotations)
    end
    @objects[task] = ObjectInfo.new(@objects.size,[listener1,listener2],Time.now)
end

# File lib/telemetry/server.rb, line 139
def forwarding?(obj)
    @objects.has_key?(obj)
end

# File lib/telemetry/server.rb, line 143
def remove(obj)
    return unless @objects[obj]
    Array(@objects[obj].listeners).map(&:stop)
    @objects.delete(obj)
end

# File lib/telemetry/server.rb, line 43
def write(id,obj,annotations={})
    write_msg(id,Outgoing::Message.new(obj,annotations))
end

# File lib/telemetry/server.rb, line 33
def write_msg(id,msg = Outgoing::Message.new)         
   @io.write id,msg.serialize
rescue Exception => e
    puts "cannot serialize #{msg} because of #{e}"
end

# File lib/telemetry/server.rb, line 39
def write_msg_nonblock(id,msg = Outgoing::Message.new,&block)
    @io.write_nonblock id,msg.serialize,&block
end

# File lib/telemetry/server.rb, line 47
def write_nonblock(id,obj,annotations={},&block)
    write_msg_nonblock(id,Outgoing::Message.new(obj,annotations),&block)
end