Fix SensorSystem issues (#267)

* Fix update of subsystem config

* Make sure database starts handling new systems and subsystems

* Avoid registering subsystem twice

sensorhub-core/src/main/java/org/sensorhub/impl/processing/AbstractProcessModule.java

@@ -115,11 +115,14 @@ protected void afterInit() throws SensorHubException
     protected void beforeStart() throws SensorHubException
     {
         super.beforeStart();
-
+
+        if(getParentSystem() != null && !getParentSystem().isEnabled())
+            throw new ProcessingException("Parent system must be started");
+
         // register sensor with registry if attached to a hub and we have no parent
         try
         {
-            if (hasParentHub() && getParentHub().getSystemDriverRegistry() != null)
+            if (hasParentHub() && getParentHub().getSystemDriverRegistry() != null && (getParentSystem() == null || getParentSystem().isEnabled()))
                 getParentHub().getSystemDriverRegistry().register(this).get(); // for now, block here until init is also async
         }
         catch (InterruptedException e)

sensorhub-core/src/main/java/org/sensorhub/impl/processing/AbstractProcessWrapperModule.java

@@ -81,10 +81,13 @@ protected void beforeStart() throws SensorHubException
     {
         super.beforeStart();
 
+        if(getParentSystem() != null && !getParentSystem().isEnabled())
+            throw new ProcessingException("Parent system must be started");
+
         // register sensor with registry if attached to a hub and we have no parent
         try
         {
-            if (hasParentHub() && getParentHub().getSystemDriverRegistry() != null)
+            if (hasParentHub() && getParentHub().getSystemDriverRegistry() != null && (getParentSystem() == null || getParentSystem().isEnabled()))
                 getParentHub().getSystemDriverRegistry().register(this).get(); // for now, block here until init is also async
         }
         catch (InterruptedException e)

sensorhub-core/src/main/java/org/sensorhub/impl/sensor/AbstractSensorModule.java

@@ -222,11 +222,14 @@ protected void afterInit() throws SensorHubException
     protected void beforeStart() throws SensorHubException
     {
         super.beforeStart();
-
+
+        if(getParentSystem() != null && !getParentSystem().isEnabled())
+            throw new SensorException("Parent system must be started");
+
         // register sensor with registry if attached to a hub and we have no parent
         try
         {
-            if (hasParentHub() && getParentHub().getSystemDriverRegistry() != null)
+            if (hasParentHub() && getParentHub().getSystemDriverRegistry() != null && (getParentSystem() == null || getParentSystem().isEnabled()))
                 getParentHub().getSystemDriverRegistry().register(this).get(); // for now, block here until init is also async
         }
         catch (InterruptedException e)

sensorhub-core/src/main/java/org/sensorhub/impl/sensor/SensorSystem.java

@@ -57,8 +57,8 @@ public class SensorSystem extends AbstractSensorModule<SensorSystemConfig> imple
     private static final String URN_PREFIX = "urn:";
 
     Collection<IDataProducerModule<?>> subsystems = new ArrayList<>();
-    
-    
+
+
     @Override
     protected void doInit() throws SensorHubException
     {
@@ -80,16 +80,13 @@ protected void doInit() throws SensorHubException
             }
         }
 
-        // load and init all subsystem modules
-        subsystems.clear();
-        for (SystemMember member: config.subsystems)
+        // Init all subsystem modules
+        for (var module: subsystems)
         {
-            var module = (IDataProducerModule<?>)loadModule(member.config);
             if (module != null)
             {
                 try
                 {
-                    subsystems.add(module);
                     module.init();
                 }
                 catch (Exception e)
@@ -172,10 +169,23 @@ private IModule<?> loadModule(ModuleConfig config)
     protected void handleEvent(Event e)
     {
         if (e instanceof ModuleEvent)
+        {
             eventHandler.publish(e);
+            if(((ModuleEvent) e).getType() == ModuleEvent.Type.CONFIG_CHANGED)
+            {
+                var moduleConfig = ((ModuleEvent)e).getModule().getConfiguration();
+                for(SystemMember member : config.subsystems)
+                {
+                    if(moduleConfig.id.equals(member.config.id))
+                    {
+                        member.config = moduleConfig;
+                        break;
+                    }
+                }
+            }
+        }
     }
 
-
     @Override
     protected void updateSensorDescription()
     {
@@ -189,21 +199,25 @@ protected void updateSensorDescription()
 
 
     @Override
-    protected void doStart() throws SensorHubException
-    {
-        for (var member: subsystems)
-        {
-            try
+    protected void setState(ModuleState newState) {
+        super.setState(newState);
+
+        // Ensure that autoStart starts modules after Sensor System is enabled
+        if (newState == ModuleState.STARTED) {
+            for (var member: subsystems)
             {
-                if (member.getConfiguration().autoStart)
+                try
                 {
-                    member.waitForState(ModuleState.INITIALIZED, 10000);
-                    member.start();
+                    if (member.getConfiguration().autoStart)
+                    {
+                        member.waitForState(ModuleState.INITIALIZED, 10000);
+                        member.start();
+                    }
+                }
+                catch (Exception e)
+                {
+                    reportError("Cannot start subsystem " + MsgUtils.moduleString(member), e);
                 }
-            }
-            catch (Exception e)
-            {
-                reportError("Cannot start subsystem " + MsgUtils.moduleString(member), e);
             }
         }
     }
@@ -242,6 +256,19 @@ public boolean isConnected()
         return true;
     }
 
+    @Override
+    public void setConfiguration(SensorSystemConfig config) {
+        super.setConfiguration(config);
+
+        // Load all subsystem modules from config
+        subsystems.clear();
+        for (SystemMember member : config.subsystems) {
+            var module = (IDataProducerModule<?>) loadModule(member.config);
+            if (module != null) {
+                subsystems.add(module);
+            }
+        }
+    }
 
     @Override
     public synchronized void loadState(IModuleStateManager loader) throws SensorHubException
@@ -286,14 +313,14 @@ protected void generateXmlIDFromUUID(String uuid)
     public Map<String, ? extends IDataProducerModule<?>> getMembers()
     {
         return subsystems != null ?
-            subsystems.stream().collect(ImmutableMap.toImmutableMap(this::getMemberName, e -> e)) :
+            subsystems.stream().collect(ImmutableMap.toImmutableMap(this::getMemberId, e -> e)) :
             Collections.emptyMap();
     }
 
 
-    protected String getMemberName(IModule<?> member)
+    protected String getMemberId(IModule<?> member)
     {
-        return member.getName().toLowerCase().replaceAll("\\s+", "_");
+        return member.getLocalID();
     }
 
 }

sensorhub-core/src/main/java/org/sensorhub/impl/system/DefaultSystemRegistry.java

@@ -269,6 +269,7 @@ public synchronized void registerDatabase(String uid, IObsSystemDatabase db)
         {
             var procFilter = new SystemFilter.Builder()
                 .withUniqueIDs(uid)
+                .includeMembers(true)
                 .build();
 
             var dsFilter = new DataStreamFilter.Builder()
@@ -279,17 +280,18 @@ public synchronized void registerDatabase(String uid, IObsSystemDatabase db)
                 .withSystems(procFilter)
                 .build();
 
-            // Replace driver's transaction handler so that new IObsSystemDatabase handles driver
-            var systemFilter = new SystemFilter.Builder()
+            var topLevelSystemsFilter = new SystemFilter.Builder()
                 .withUniqueIDs(uid)
-                .includeMembers(true)
+                .withNoParent()
                 .build();
-            systemStateDb.getSystemDescStore().selectEntries(systemFilter).forEach(desc ->
+
+            // Replace driver's transaction handler so that new IObsSystemDatabase handles driver
+            systemStateDb.getSystemDescStore().selectEntries(topLevelSystemsFilter).forEach(desc ->
                     register(getDriverHandler(desc.getValue().getUniqueIdentifier()).driver));
-            
+
             systemStateDb.getDataStreamStore().removeEntries(dsFilter);
             systemStateDb.getCommandStreamStore().removeEntries(csFilter);
-            var count = systemStateDb.getSystemDescStore().removeEntries(procFilter);
+            var count = systemStateDb.getSystemDescStore().removeEntries(topLevelSystemsFilter);
 
             if (count > 0)
                 log.info("Database #{} now handles system {}. Removing all records from state DB", db.getDatabaseNum(), uid);

sensorhub-core/src/main/java/org/sensorhub/impl/system/SystemDriverTransactionHandler.java

@@ -100,8 +100,7 @@ protected void doFinishRegister(ISystemDriver driver) throws DataStoreException
         {
             for (var member: ((ISystemGroupDriver<?>)driver).getMembers().values())
             {
-                if (!(member instanceof IModule<?>)) // don't register submodules as they'll register themselves
-                    doRegisterMember(member, driver.getCurrentDescription().getValidTime());
+                doRegisterMember(member, driver.getCurrentDescription().getValidTime());
             }
         }
 
@@ -188,7 +187,6 @@ protected synchronized boolean doRegisterMember(ISystemDriver driver, TimeExtent
     {
         Asserts.checkNotNull(driver, ISystemDriver.class);
         var uid = OshAsserts.checkValidUID(driver.getUniqueIdentifier());
-        boolean isNew = false;
 
         var procWrapper = new SystemWrapper(driver.getCurrentDescription())
             .hideOutputs()
@@ -199,17 +197,23 @@ protected synchronized boolean doRegisterMember(ISystemDriver driver, TimeExtent
             procWrapper.defaultToValidTime(validTime);
         else
             procWrapper.defaultToValidFromNow();
-        
+
         // add or update existing system entry
         var newMemberHandler = (SystemDriverTransactionHandler)addOrUpdateMember(procWrapper);
-        
+
         // replace and cleanup old handler
         var oldMemberHandler = memberHandlers.get(uid);
-        if (oldMemberHandler != null)
+        boolean isNew = oldMemberHandler == null;
+        if (!isNew)
         {
-            driver.unregisterListener(oldMemberHandler);
-            isNew = false;
+            // only allow same member driver to re-register with same UID
+            ISystemDriver registeredDriver = oldMemberHandler.driver;
+            if (registeredDriver != null && registeredDriver != driver)
+                throw new IllegalArgumentException("A subsystem with UID " + uid + " is already registered");
+
+            driver.unregisterListener(memberHandlers.get(uid));
         }
+
         memberHandlers.put(uid, newMemberHandler);
 
         // register/update driver sub-components
@@ -463,7 +467,7 @@ public void handleEvent(Event e)
             {
                 var driverUid = driver.getUniqueIdentifier();
                 var eventUid = ((SystemEvent) e).getSystemUID();
-                
+
                 // assign internal ID before event is dispatched
                 ((SystemEvent)e).assignSystemID(sysKey.getInternalID());