secs-gem/clients/cpp/include/secsgem_client/equipment.hpp

#pragma once

// secsgem_client::Equipment — drive a secs_gemd SECS/GEM daemon from C++.
//
// The C++ twin of the Python client (clients/python): name-based, plain-
// typed, no SEMI knowledge required. Header-only over the generated gRPC
// stubs; link grpc++ + the generated proto objects (see clients/cpp/README).
//
//   secsgem_client::Equipment eq("localhost:50051");
//   eq.set("ChamberPressure", 2.5);
//   eq.fire("ProcessStarted");
//   eq.on("START", [&](const secsgem_client::Command& cmd) {
//     run_recipe(cmd.params.at("PPID"));
//     eq.fire("ProcessStarted");          // the host's completion signal
//   });
//   eq.listen();                          // or listen_async() + stop()

#include <grpcpp/grpcpp.h>

#include <atomic>
#include <chrono>
#include <cstdint>
#include <functional>
#include <map>
#include <memory>
#include <mutex>
#include <optional>
#include <stdexcept>
#include <string>
#include <thread>
#include <type_traits>
#include <variant>
#include <vector>

#include "secsgem/v1/equipment.grpc.pb.h"
#include "secsgem/v1/equipment.pb.h"

namespace secsgem_client {

namespace pb = secsgem::v1;

// Plain value: what you put in and what you get back. (Lists arrive as
// their text-free underlying values only via the daemon's scalar rules;
// nested lists are rare in tool code — extend when needed.)
using Value = std::variant<bool, int64_t, double, std::string,
                           std::vector<uint8_t>>;

class SecsGemError : public std::runtime_error {
 public:
  SecsGemError(int code, const std::string& msg)
      : std::runtime_error(msg), code_(code) {}
  int code() const { return code_; }

 private:
  int code_;
};

struct Command {
  std::string id;
  std::string name;
  std::map<std::string, Value> params;
};

struct Health {
  std::string link;           // "DISCONNECTED" | "CONNECTED" | "SELECTED"
  std::string control_state;  // "HOST_OFFLINE" | "ONLINE_REMOTE" | ...
  uint32_t spool_depth = 0;
};

namespace detail {

inline pb::Value to_value(const Value& v) {
  pb::Value out;
  if (std::holds_alternative<bool>(v)) out.set_boolean(std::get<bool>(v));
  else if (std::holds_alternative<int64_t>(v)) out.set_integer(std::get<int64_t>(v));
  else if (std::holds_alternative<double>(v)) out.set_real(std::get<double>(v));
  else if (std::holds_alternative<std::string>(v)) out.set_text(std::get<std::string>(v));
  else {
    const auto& b = std::get<std::vector<uint8_t>>(v);
    out.set_binary(std::string(b.begin(), b.end()));
  }
  return out;
}

inline Value from_value(const pb::Value& v) {
  switch (v.kind_case()) {
    case pb::Value::kBoolean: return v.boolean();
    case pb::Value::kInteger: return static_cast<int64_t>(v.integer());
    case pb::Value::kReal:    return v.real();
    case pb::Value::kText:    return v.text();
    case pb::Value::kBinary:
      return std::vector<uint8_t>(v.binary().begin(), v.binary().end());
    default:                  return std::string{};  // unset / list: see header note
  }
}

// Accept any sane C++ literal without variant-conversion ambiguity
// (e.g. a bare `7` would be ambiguous between int64_t and double).
template <typename T>
Value make_value(T&& v) {
  using D = std::decay_t<T>;
  if constexpr (std::is_same_v<D, bool>) return Value(v);
  else if constexpr (std::is_integral_v<D>) return Value(static_cast<int64_t>(v));
  else if constexpr (std::is_floating_point_v<D>) return Value(static_cast<double>(v));
  else if constexpr (std::is_same_v<D, std::vector<uint8_t>>) return Value(std::forward<T>(v));
  else return Value(std::string(std::forward<T>(v)));
}

inline void check(const pb::Ack& ack) {
  if (ack.code() != pb::Ack::ACCEPT)
    throw SecsGemError(ack.code(), ack.message().empty()
                                       ? pb::Ack::Code_Name(ack.code())
                                       : ack.message());
}

inline void check(const grpc::Status& st) {
  if (!st.ok()) throw SecsGemError(pb::Ack::PARAMETER_INVALID, st.error_message());
}

}  // namespace detail

class Equipment {
 public:
  explicit Equipment(const std::string& address = "localhost:50051",
                     std::chrono::seconds connect_timeout = std::chrono::seconds(10)) {
    channel_ = grpc::CreateChannel(address, grpc::InsecureChannelCredentials());
    if (!channel_->WaitForConnected(
            std::chrono::system_clock::now() + connect_timeout))
      throw SecsGemError(pb::Ack::CANNOT_DO_NOW, "no daemon at " + address);
    stub_ = pb::Equipment::NewStub(channel_);
  }

  ~Equipment() { stop(); }

  // ---- report state to the host -------------------------------------------

  template <typename T>
  void set(const std::string& name, T&& value) {
    set({{name, detail::make_value(std::forward<T>(value))}});
  }

  void set(const std::map<std::string, Value>& values) {
    pb::VariableUpdate req;
    for (const auto& [name, v] : values)
      (*req.mutable_values())[name] = detail::to_value(v);
    pb::Ack ack;
    grpc::ClientContext ctx;
    detail::check(stub_->SetVariables(&ctx, req, &ack));
    detail::check(ack);
  }

  // No names = every configured variable.
  std::map<std::string, Value> get(const std::vector<std::string>& names = {}) {
    pb::VariableQuery req;
    for (const auto& n : names) req.add_names(n);
    pb::VariableSnapshot snap;
    grpc::ClientContext ctx;
    detail::check(stub_->GetVariables(&ctx, req, &snap));
    std::map<std::string, Value> out;
    for (const auto& [k, v] : snap.values()) out.emplace(k, detail::from_value(v));
    return out;
  }

  void fire(const std::string& event,
            const std::map<std::string, Value>& data = {}) {
    pb::Event req;
    req.set_name(event);
    for (const auto& [name, v] : data)
      (*req.mutable_data())[name] = detail::to_value(v);
    pb::Ack ack;
    grpc::ClientContext ctx;
    detail::check(stub_->FireEvent(&ctx, req, &ack));
    detail::check(ack);
  }

  void alarm(const std::string& name) { alarm_action(name, /*set=*/true); }
  void clear(const std::string& name) { alarm_action(name, /*set=*/false); }

  // ---- control state & health ----------------------------------------------

  std::string control_state() {
    pb::Empty req;
    pb::ControlState resp;
    grpc::ClientContext ctx;
    detail::check(stub_->GetControlState(&ctx, req, &resp));
    return pb::ControlState::State_Name(resp.state());
  }

  void request_control_state(const std::string& desired) {
    pb::ControlState::State s;
    if (!pb::ControlState::State_Parse(desired, &s))
      throw SecsGemError(pb::Ack::PARAMETER_INVALID,
                         "unknown control state '" + desired + "'");
    pb::ControlStateRequest req;
    req.set_desired(s);
    pb::Ack ack;
    grpc::ClientContext ctx;
    detail::check(stub_->RequestControlState(&ctx, req, &ack));
    detail::check(ack);
  }

  Health health() {
    pb::Empty req;
    grpc::ClientContext ctx;
    auto reader = stub_->WatchHealth(&ctx, req);
    pb::Health h;
    if (!reader->Read(&h))
      throw SecsGemError(pb::Ack::CANNOT_DO_NOW, "health stream ended");
    ctx.TryCancel();
    pb::Health drain;
    while (reader->Read(&drain)) {}
    (void)reader->Finish();  // CANCELLED — expected
    return {pb::Health::LinkState_Name(h.link()),
            pb::ControlState::State_Name(h.control_state()), h.spool_depth()};
  }

  // ---- react to the host -----------------------------------------------------

  void on(const std::string& command, std::function<void(const Command&)> fn) {
    handlers_[command] = std::move(fn);
  }

  // Consume host requests and dispatch to on() handlers. Blocks until stop().
  void listen() {
    grpc::ClientContext ctx;
    {
      std::lock_guard<std::mutex> lk(listen_mu_);
      listen_ctx_ = &ctx;
    }
    pb::SubscribeRequest req;
    req.set_client("secsgem_client_cpp");
    auto reader = stub_->Subscribe(&ctx, req);
    pb::HostRequest hr;
    while (!stopping_.load() && reader->Read(&hr)) {
      if (!hr.has_command()) continue;  // future HostRequest variants
      const auto& c = hr.command();
      Command cmd{c.id(), c.name(), {}};
      for (const auto& [k, v] : c.params()) cmd.params.emplace(k, detail::from_value(v));
      auto it = handlers_.find(cmd.name);
      if (it == handlers_.end()) it = handlers_.find("*");
      bool ok = true;
      if (it != handlers_.end()) {
        try {
          it->second(cmd);
        } catch (...) {
          ok = false;
        }
      }
      complete(cmd.id, ok);
    }
    (void)reader->Finish();
    {
      std::lock_guard<std::mutex> lk(listen_mu_);
      listen_ctx_ = nullptr;
    }
  }

  void listen_async() {
    listen_thread_ = std::thread([this] { listen(); });
  }

  void stop() {
    stopping_.store(true);
    {
      std::lock_guard<std::mutex> lk(listen_mu_);
      if (listen_ctx_) listen_ctx_->TryCancel();
    }
    if (listen_thread_.joinable()) listen_thread_.join();
  }

 private:
  void alarm_action(const std::string& name, bool set) {
    pb::Alarm req;
    req.set_name(name);
    pb::Ack ack;
    grpc::ClientContext ctx;
    detail::check(set ? stub_->SetAlarm(&ctx, req, &ack)
                      : stub_->ClearAlarm(&ctx, req, &ack));
    detail::check(ack);
  }

  void complete(const std::string& id, bool ok) {
    pb::CommandResult res;
    res.set_id(id);
    res.mutable_ack()->set_code(ok ? pb::Ack::ACCEPT : pb::Ack::REJECTED);
    pb::Ack ack;
    grpc::ClientContext ctx;
    (void)stub_->CompleteCommand(&ctx, res, &ack);  // audit-only
  }

  std::shared_ptr<grpc::Channel> channel_;
  std::unique_ptr<pb::Equipment::Stub> stub_;
  std::map<std::string, std::function<void(const Command&)>> handlers_;
  std::thread listen_thread_;
  std::atomic<bool> stopping_{false};
  std::mutex listen_mu_;
  grpc::ClientContext* listen_ctx_ = nullptr;
};

}  // namespace secsgem_client