MARTe-Integrated-Components/Common/Client/go/wshub/calibration.go

package wshub

import (
	"encoding/json"
	"log"
	"math"
	"regexp"
	"sort"
	"strings"
	"sync"
	"unicode/utf8"
)

// arrayIndexSuffix matches a trailing "[digits]" at the very end of a signal
// name, used to strip array-element suffixes so one entry covers the whole
// array.  The regexp is anchored to the end of the string and requires digits,
// so it only removes a well-formed trailing element index: "Adc[3]" → "Adc",
// "[0]" → "", "A[1]B" → "A[1]B" (no match).
//
// Known difference vs C++: the C++ hub uses strchr(signal,'[') which finds the
// FIRST '[' anywhere in the name, so C++ reduces "A[1]B" to "A" while this
// regexp leaves it unchanged.  Both implementations agree on the common cases
// ("Name[i]" and "[i]" alone) that arise from real UDPS signal names.
var arrayIndexSuffix = regexp.MustCompile(`\[\d+\]$`)

// maxUnitLen bounds the calibration unit override.  Mirrored by kMaxUnitLen in
// the C++ StreamHub and MAX_UNIT_LEN in the SPA's calibration.js.
const maxUnitLen = 16

// CalConfig is one per-signal affine calibration: y = raw*Scale + Offset.
//
// The key is (Source label, base Signal name).  It is deliberately the source
// *label* and not the runtime id ("s1", "s2"): ids are assigned in add-order at
// startup, so a calibration keyed by id would rebind to a different source
// whenever the source list order changed.
type CalConfig struct {
	Source string  `json:"source"`
	Signal string  `json:"signal"`
	Scale  float64 `json:"scale"`
	Offset float64 `json:"offset"`
	Unit   string  `json:"unit,omitempty"`
}

// calKey builds the calTable map key.  NUL cannot occur in either component,
// so the concatenation is unambiguous.
func calKey(source, signal string) string { return source + "\x00" + signal }

// Normalise trims and validates the entry in place, reporting whether it is
// usable.  A zero or non-finite Scale is rejected because it makes the
// calibration non-invertible, which the trigger threshold path depends on.
func (c *CalConfig) Normalise() bool {
	c.Source = strings.TrimSpace(c.Source)
	c.Signal = strings.TrimSpace(c.Signal)
	// Strip a trailing "[digits]" suffix so one entry covers an entire array
	// signal.  "Adc[3]" → "Adc".  Must run before the empty check below so
	// that "[0]" → "" → rejected, matching C++ and JS behaviour.
	c.Signal = arrayIndexSuffix.ReplaceAllString(c.Signal, "")
	if c.Source == "" || c.Signal == "" {
		return false
	}
	if math.IsNaN(c.Scale) || math.IsInf(c.Scale, 0) || c.Scale == 0 {
		return false
	}
	if math.IsNaN(c.Offset) || math.IsInf(c.Offset, 0) {
		return false
	}
	c.Unit = strings.TrimSpace(c.Unit)
	if len(c.Unit) > maxUnitLen {
		c.Unit = c.Unit[:maxUnitLen]
		// The byte cut may land mid-rune.  Drop any trailing partial rune so
		// the result is always valid UTF-8; json.Marshal would otherwise emit
		// replacement characters and break the save→load round-trip.
		for {
			r, size := utf8.DecodeLastRuneInString(c.Unit)
			if r != utf8.RuneError || size != 1 {
				break
			}
			c.Unit = c.Unit[:len(c.Unit)-1]
		}
	}
	return true
}

// IsIdentity reports whether the entry carries no information and can be
// dropped rather than stored and persisted.
func (c CalConfig) IsIdentity() bool {
	return c.Scale == 1 && c.Offset == 0 && c.Unit == ""
}

// calTable is the hub's calibration store, safe for concurrent use.
type calTable struct {
	mu      sync.RWMutex
	entries map[string]CalConfig
}

func newCalTable() *calTable {
	return &calTable{entries: make(map[string]CalConfig)}
}

// Set validates and stores one entry, reporting whether it was accepted.
// Storing an identity entry removes any existing one for that key.
func (t *calTable) Set(c CalConfig) bool {
	if !c.Normalise() {
		return false
	}
	t.mu.Lock()
	defer t.mu.Unlock()
	if c.IsIdentity() {
		delete(t.entries, calKey(c.Source, c.Signal))
	} else {
		t.entries[calKey(c.Source, c.Signal)] = c
	}
	return true
}

// Replace swaps the whole table for the given entries, silently dropping the
// invalid and identity ones.  Used by config load and reload.
func (t *calTable) Replace(list []CalConfig) {
	next := make(map[string]CalConfig, len(list))
	for _, c := range list {
		if !c.Normalise() || c.IsIdentity() {
			continue
		}
		next[calKey(c.Source, c.Signal)] = c
	}
	t.mu.Lock()
	t.entries = next
	t.mu.Unlock()
}

// List returns the entries sorted by source then signal, so both the wire
// message and the config file have a stable order.
func (t *calTable) List() []CalConfig {
	t.mu.RLock()
	out := make([]CalConfig, 0, len(t.entries))
	for _, c := range t.entries {
		out = append(out, c)
	}
	t.mu.RUnlock()
	sort.Slice(out, func(i, j int) bool {
		if out[i].Source != out[j].Source {
			return out[i].Source < out[j].Source
		}
		return out[i].Signal < out[j].Signal
	})
	return out
}

// ─── Config file codec ────────────────────────────────────────────────────────

// configFileEntry is the union of a source block and a calibration block.
//
// The file is one FLAT array of FLAT objects — never a nested one.  The C++
// StreamHub's LoadSourcesFile is a hand-rolled scanner that takes each "{" up
// to the next "}" as one object, so a nested block would truncate the parse.
// Scale and Offset are pointers so that an absent field can be told apart from
// an explicit zero and defaulted to the identity values.
type configFileEntry struct {
	// Source fields.
	Label          string `json:"label,omitempty"`
	Addr           string `json:"addr,omitempty"`
	MulticastGroup string `json:"multicastGroup,omitempty"`
	DataPort       int    `json:"dataPort,omitempty"`
	// Calibration fields.
	Source string   `json:"source,omitempty"`
	Signal string   `json:"signal,omitempty"`
	Scale  *float64 `json:"scale,omitempty"`
	Offset *float64 `json:"offset,omitempty"`
	Unit   string   `json:"unit,omitempty"`
}

// parseConfigFile splits the flat array into sources and calibration entries.
// A block with "addr" is a source, one with "signal" is a calibration; anything
// else is skipped with a warning.
func parseConfigFile(data []byte) ([]SourceConfig, []CalConfig, error) {
	var raw []configFileEntry
	if err := json.Unmarshal(data, &raw); err != nil {
		return nil, nil, err
	}
	srcs := make([]SourceConfig, 0, len(raw))
	cals := make([]CalConfig, 0, len(raw))
	for _, e := range raw {
		switch {
		case e.Addr != "":
			srcs = append(srcs, SourceConfig{
				Label:          e.Label,
				Addr:           e.Addr,
				MulticastGroup: e.MulticastGroup,
				DataPort:       e.DataPort,
			})
		case e.Signal != "":
			c := CalConfig{Source: e.Source, Signal: e.Signal, Scale: 1, Offset: 0, Unit: e.Unit}
			if e.Scale != nil {
				c.Scale = *e.Scale
			}
			if e.Offset != nil {
				c.Offset = *e.Offset
			}
			if !c.Normalise() {
				log.Printf("wshub: skipping invalid calibration entry %q/%q", e.Source, e.Signal)
				continue
			}
			cals = append(cals, c)
		default:
			log.Printf("wshub: skipping unrecognised config block")
		}
	}
	return srcs, cals, nil
}

// encodeConfigFile renders the sources followed by the calibration entries as
// one flat array, in the indented shape the existing files already use.
func encodeConfigFile(srcs []SourceConfig, cals []CalConfig) ([]byte, error) {
	out := make([]configFileEntry, 0, len(srcs)+len(cals))
	for _, s := range srcs {
		out = append(out, configFileEntry{
			Label:          s.Label,
			Addr:           s.Addr,
			MulticastGroup: s.MulticastGroup,
			DataPort:       s.DataPort,
		})
	}
	for _, c := range cals {
		scale, offset := c.Scale, c.Offset
		out = append(out, configFileEntry{
			Source: c.Source,
			Signal: c.Signal,
			Scale:  &scale,
			Offset: &offset,
			Unit:   c.Unit,
		})
	}
	return json.MarshalIndent(out, "", "  ")
}