class Telemetry::Client

# File lib/telemetry/client.rb, line 43
def initialize(*ios)
    super(self.class.name,::Orocos::Async.event_loop)
    ios << TCP::Client.new("localhost",20001) if ios.empty?
    @ios = ios.flatten
    @dummy_replay = DummyReplay.new
    @name_service_async = Orocos::Async::Local::NameService.new
    @name_service = Orocos::Local::NameService.new
    @name_service.name = "Telemetry"
    @name_service_async.name = "Telemetry"
    @last_alive = nil

    @ios.each do |io|
        p = Proc.new do |str,error|
            @last_alive = Time.now
            if error
                puts error
                io.close unless io.closed?
            end
            msg = begin
                      Incoming::Message.new(str) if str
                  rescue ArgumentError => e
                      Vizkit.warn e
                      nil
                  rescue Exception => e
                      puts e.class
                      io.close
                      puts "message broken puts #{str[0..100].inspect}"
                      Vizkit.error e
                      nil
                  end
            event_loop.async_with_options(io.method(:gets),{:sync_key => io,:known_errors =>[IOError,Errno::EBADF]},&p)
            next unless msg
            emit_data(msg.data,msg.annotations)

            if msg.annotations.has_key?(:port_name)
                port_msg(msg)
            elsif msg.annotations.has_key?(:property_name)
                property_msg(msg)
            elsif msg.annotations.has_key?(:type) && msg.annotations[:type] == :task_state
                task = task_msg(msg)
                task.current_state = msg.data
            elsif msg.annotations.has_key?(:type) && msg.annotations[:type] == :task_unreachable
                task = task_msg(msg)
                task.current_state = :Unreachable
            elsif msg.annotations.has_key?(:type) && msg.annotations[:type] == :error
                Telemetry.warn "Server Eventloop: #{msg.data}"
                if msg.annotations.has_key?(:task_name)
                    task = task_msg(msg)
                    task.current_state=msg.data.to_s
                end
            end
        end
        event_loop.async_with_options(io.method(:gets),{:sync_key => io,:known_errors =>[IOError,Errno::EBADF,RuntimeError]},&p)
    end
    event_loop.every(WATCHDOG_PERIOD) do
        io = @ios.find do |io|
            !io.closed?
        end
        if !io
            @name_service.each_task do |task|
                task.current_state = :TIMEOUT
            end
        elsif @last_alive && Time.now - @last_alive > SERVER_TIMEOUT
            @last_alive = nil
            @ios.map &:close
            @name_service.each_task do |task|
                task.current_state = :TIMEOUT
            end
        end
    end
end

# File lib/telemetry/client.rb, line 164
def close
    @ios.map(&:close)
end

# File lib/telemetry/client.rb, line 130
def port_msg(msg)
    if msg.data.is_a?(Exception)
        Vizkit.warn "error on port #{msg.annotations[:task_name]}.#{msg.annotations[:port_name]}:#{msg.data}"
        return
    end
    task = task_msg(msg)
    port_name = msg.annotations[:port_name]
    raise "port has no name" if !port_name || port_name.empty?
    if !task.has_port?(port_name)
        stream = Stream.new("#{task.basename}.#{port_name}",msg.data.class)
        task.add_port("Telemetry",stream).tracked = true
    end
    port = task.port(port_name)
    port.write(msg.data)
    port
end

# File lib/telemetry/client.rb, line 147
def property_msg(msg)
    if msg.data.is_a?(Exception)
        Vizkit.warn "error on property #{msg.annotations[:task_name]}.#{msg.annotations[:port_name]}:#{msg.data}"
        return
    end
    task = task_msg(msg)
    prop_name = msg.annotations[:property_name]
    raise "property has no name" if !prop_name|| prop_name.empty?
    if !task.has_property?(prop_name)
        stream = Stream.new("#{task.basename}.#{prop_name}",msg.data.class,{"rock_stream_type" => "property"})
        task.add_property("Telemetry",stream).tracked = true
    end
    prop = task.property(prop_name)
    prop.write(msg.data)
    prop
end

# File lib/telemetry/client.rb, line 115
def task_msg(msg)
    name = msg.annotations[:task_name]
    raise "task has no name" if !name || name.empty?
    task = if @name_service.names.include? name
               @name_service.get(name)
           else
               t = Orocos::Log::TaskContext.new(@dummy_replay,name,"Telemetry","")
               t.current_state = :REACHABLE
               @name_service.register t
               @name_service_async.register t
               t
           end
    task
end