cosmos 4.5.2 → 5.0.2.pre.beta2

data/lib/cosmos/tools/cmd_tlm_server/cmd_tlm_server.rb

@@ -1,785 +0,0 @@
-
-# encoding: ascii-8bit
-
-# Copyright 2014 Ball Aerospace & Technologies Corp.
-# All Rights Reserved.
-#
-# This program is free software; you can modify and/or redistribute it
-# under the terms of the GNU General Public License
-# as published by the Free Software Foundation; version 3 with
-# attribution addendums as found in the LICENSE.txt
-
-require 'cosmos/io/json_drb'
-require 'cosmos/tools/cmd_tlm_server/api'
-require 'cosmos/tools/cmd_tlm_server/cmd_tlm_server_config'
-require 'cosmos/tools/cmd_tlm_server/background_tasks'
-require 'cosmos/tools/cmd_tlm_server/commanding'
-require 'cosmos/tools/cmd_tlm_server/interfaces'
-require 'cosmos/tools/cmd_tlm_server/packet_logging'
-require 'cosmos/tools/cmd_tlm_server/routers'
-require 'cosmos/tools/cmd_tlm_server/replay_backend'
-
-module Cosmos
-  # Provides the interface for all applications to get the latest telemetry and
-  # to send commands.
-  class CmdTlmServer
-    include Api
-
-    # instance_attr_reader attributes are used by other classes and are thus
-    # made available directly on the CmdTlmServer class
-
-    # @return [BackgroundTasks] Access to the background tasks
-    instance_attr_reader :background_tasks
-    # @return [Commanding] Allows for sending commands to targets and
-    #   interfaces
-    instance_attr_reader :commanding
-    # @return [Interfaces] Access to the interfaces
-    instance_attr_reader :interfaces
-    # @return [PacketLogging] Access to the packet loggers
-    instance_attr_reader :packet_logging
-    # @return [Routers] Access to the routers
-    instance_attr_reader :routers
-    # @return [ReplayBackend] Access to replay logic
-    instance_attr_reader :replay_backend
-    # @return [MessageLog] Message log for the CmdTlmServer
-    instance_attr_reader :message_log
-    # @return [JsonDRb] Provides access to the server for all tools both
-    #   internal and external
-    instance_attr_accessor :json_drb
-    # @return [String] CmdTlmServer title as set in the config file
-    instance_attr_accessor :title
-    # @return [Symbol] mode :CMD_TLM_SERVER or :REPLAY
-    instance_attr_accessor :mode
-
-    # attr_reader attributes are only used by CmdTlmServer internally and are
-    # thus only available as attributes on the singleton
-
-    # @return [Mutex] Synchronization object around limits events
-    attr_reader :limits_event_queue_mutex
-    # @return [Hash<Integer, Array<Queue, Integer>>] The limits event queues
-    #   hashed by id. Returns an array containing the queue followed by the
-    #   queue size.
-    attr_reader :limits_event_queues
-    # @return [Integer] The next limits event queue id when
-    #   subscribe_limits_event is called. This ID must be used in the
-    #   limits_event_queues hash to access the queue.
-    attr_accessor :next_limits_event_queue_id
-    # @return [Mutex] Synchronization object around packet data events
-    attr_reader :packet_data_queue_mutex
-    # @return [Hash<Integer, Array<Queue, Integer>>] The packet data queues
-    #   hashed by id. Returns an array containing the queue followed by the
-    #   queue size.
-    attr_reader :packet_data_queues
-    # @return [Integer] The next packet data queue id when
-    #   subscribe_packet_data is called. This ID must be used in the
-    #   packet_data_queues hash to access the queue.
-    attr_accessor :next_packet_data_queue_id
-    # @return [Mutex] Synchronization object around server messages
-    attr_reader :server_message_queue_mutex
-    # @return [Hash<Integer, Array<Queue, Integer>>] The server message queues
-    #   hashed by id. Returns an array containing the queue followed by the
-    #   queue size.
-    attr_reader :server_message_queues
-    # @return [Integer] The next server message queue id when
-    #   subscribe_server_messages is called. This ID must be used in the
-    #   server_message_queues hash to access the queue.
-    attr_accessor :next_server_message_queue_id
-    # @return [Boolean] Whether the server was created in disconnect mode
-    attr_reader :disconnect
-
-    # The default configuration file name
-    DEFAULT_CONFIG_FILE = File.join(Cosmos::USERPATH, 'config', 'tools', 'cmd_tlm_server', 'cmd_tlm_server.txt')
-    # The maximum number of limits events that are queued. Used when
-    # subscribing to limits events.
-    DEFAULT_LIMITS_EVENT_QUEUE_SIZE = 1000
-    # The maximum number of packets that are queued. Used when subscribing to
-    # packet data.
-    DEFAULT_PACKET_DATA_QUEUE_SIZE = 1000
-    # The maximum number of server messages that are queued. Used when subscribing to
-    # server messages.
-    DEFAULT_SERVER_MESSAGES_QUEUE_SIZE = 1000
-
-    @@instance = nil
-    @@meta_callback = nil
-
-    # Get the instance of the CmdTlmServer
-    def self.instance
-      @@instance
-    end
-
-    # Set the meta callback
-    def self.meta_callback=(meta_callback)
-      @@meta_callback = meta_callback
-    end
-
-    # Constructor for a CmdTlmServer.  Initializes all internal state and
-    # starts up the sever
-    #
-    # @param config_file [String] The name of the server configuration file
-    #   which must be in the config/tools/cmd_tlm_server directory.
-    # @param production [Boolean] Whether the server should be placed in
-    #   'production' mode which does various things to protect the server
-    #   including disabling the ability to stop logging.
-    # @param disconnect [Boolean] Whether to start the server in a disconnected
-    #   stand-alone mode which does not actually use the interfaces to send and
-    #   receive data. This is useful for testing scripts when actual hardware
-    #   is not available.
-    # @param mode [Symbol] :CMD_TLM_SERVER or :REPLAY - Defines overall mode
-    # @param replay_routers [Boolean] Whether to keep existing routers when starting
-    #   the server in REPLAY mode. Default is false which means to clear all
-    #   existing routers and simply create the preidentified routers.
-    def initialize(
-      config_file = DEFAULT_CONFIG_FILE,
-      production = false,
-      disconnect = false,
-      mode = :CMD_TLM_SERVER,
-      replay_routers = false)
-
-      @@instance = self
-      @packet_logging = nil # Removes warnings
-      @mode = mode
-
-      super() # For Api
-
-      Logger.info "COSMOS Version: #{COSMOS_VERSION}"
-
-      @disconnect = disconnect
-
-      @limits_event_queue_mutex = Mutex.new
-      @limits_event_queues = {}
-      @next_limits_event_queue_id = 1
-      @packet_data_queue_mutex = Mutex.new
-      @packet_data_queues = {}
-      @next_packet_data_queue_id = 1
-      @server_message_queue_mutex = Mutex.new
-      @server_message_queues = {}
-      @next_server_message_queue_id = 1
-
-      # Process cmd_tlm_server.txt
-      @config = CmdTlmServerConfig.new(config_file)
-      @background_tasks = BackgroundTasks.new(@config)
-      @commanding = Commanding.new(@config)
-      @interfaces = Interfaces.new(@config, method(:identified_packet_callback))
-      @packet_logging = PacketLogging.new(@config)
-      @routers = Routers.new(@config)
-      @replay_backend = ReplayBackend.new(@config)
-      @title = @config.title
-      if @mode != :CMD_TLM_SERVER
-        @title.gsub!("Command and Telemetry Server", "Replay")
-      end
-      @stop_callback = nil
-      @reload_callback = nil
-
-      # Set Threads to kill CTS if they throw an exception
-      Thread.abort_on_exception = true
-
-      # Don't start the DRb service or the telemetry monitoring thread
-      # if we started the server in disconnect mode
-      @json_drb = nil
-      unless @disconnect
-        System.telemetry # Make sure definitions are loaded by starting anything
-
-        @@meta_callback.call() if @@meta_callback and @config.metadata
-
-        # Start DRb with access control
-        @json_drb = JsonDRb.new
-        @json_drb.acl = System.acl if System.acl
-
-        # In production we start logging and don't allow the user to stop it
-        # We also disallow setting telemetry and disconnecting from interfaces
-        if production
-          @api_whitelist.delete('stop_logging')
-          @api_whitelist.delete('stop_cmd_log')
-          @api_whitelist.delete('stop_tlm_log')
-          @interfaces.all.each do |name, interface|
-            interface.disable_disconnect = true
-          end
-          @routers.all.each do |name, interface|
-            interface.disable_disconnect = true
-          end
-        end
-        @json_drb.method_whitelist = @api_whitelist
-        begin
-          if @mode == :CMD_TLM_SERVER
-            @json_drb.start_service(System.listen_hosts['CTS_API'], System.ports['CTS_API'], self, 1000, System)
-          else
-            @json_drb.start_service(System.listen_hosts['REPLAY_API'], System.ports['REPLAY_API'], self, 1000, System)
-          end
-        rescue Exception
-          # Call packet_logging shutdown here to explicitly kill the logging
-          # threads since this CTS is not going to launch
-          @packet_logging.shutdown
-          if @mode == :CMD_TLM_SERVER
-            raise FatalError.new("Error starting JsonDRb on port #{System.ports['CTS_API']}.\nPerhaps a Command and Telemetry Server is already running?")
-          else
-            raise FatalError.new("Error starting JsonDRb on port #{System.ports['REPLAY_API']}.\nPerhaps another Replay is already running?")
-          end
-        end
-
-        if @mode == :CMD_TLM_SERVER
-          @routers.add_preidentified('PREIDENTIFIED_ROUTER', System.ports['CTS_PREIDENTIFIED'])
-          @routers.add_cmd_preidentified('PREIDENTIFIED_CMD_ROUTER', System.ports['CTS_CMD_ROUTER'])
-        else
-          # Create dummy interface for Replay so we can attach the preidentified routers to it.
-          # This is needed because interfaces are not mapped to targets when loading a saved_config.
-          # Since interfaces are used to access the routers, nothing is send out the preidentified
-          # interface port and TlmGrapher (most notably) does not work.
-          @replay_interface = Interface.new
-          @replay_interface.name = "REPLAY"
-          @routers.all.clear unless replay_routers
-          @replay_interface.routers << @routers.add_preidentified('PREIDENTIFIED_ROUTER', System.ports['REPLAY_PREIDENTIFIED'])
-          @replay_interface.cmd_routers << @routers.add_cmd_preidentified('PREIDENTIFIED_CMD_ROUTER', System.ports['REPLAY_CMD_ROUTER'])
-        end
-        System.telemetry.limits_change_callback = method(:limits_change_callback)
-        @routers.start
-
-        start(production)
-      end
-    end
-
-    # Map any targets without interfaces to the dummy replay interface.
-    # Targets will only have an interface already mapped if the replay_routers
-    # flag was passed to the server.
-    def replay_map_targets_to_interfaces
-      # Try to map existing interfaces to targets
-      if @interfaces
-        @interfaces.all.each do |name, interface|
-          interface.target_names.each do |target|
-            System.targets[target].interface = interface
-          end
-        end
-      end
-      # If any remaing targets don't have an interface map to the @replay_interface
-      System.targets.each do |name, target|
-        target.interface = @replay_interface unless target.interface
-      end
-    end
-
-    # Properly shuts down the command and telemetry server by stoping the
-    # JSON-RPC server, background tasks, routers, and interfaces. Also kills
-    # the packet staleness monitor thread.  This is final and the server cannot be
-    # restarted, it must be recreated
-    def stop
-      # Break long pollers
-      @limits_event_queues.dup.each do |id, data|
-        queue, _ = @limits_event_queues.delete(id)
-        queue << nil if queue
-      end
-
-      @server_message_queues.dup.each do |id, data|
-        queue, _ = @server_message_queues.delete(id)
-        queue << nil if queue
-      end
-
-      @packet_data_queues.dup.each do |id, data|
-        queue, _, _ = @packet_data_queues.delete(id)
-        queue << nil if queue
-      end
-
-      # Shutdown DRb
-      @json_drb.stop_service if @json_drb
-      @routers.stop
-
-      if @mode == :CMD_TLM_SERVER
-        # Shutdown staleness monitor thread
-        Cosmos.kill_thread(self, @staleness_monitor_thread)
-
-        @background_tasks.stop_all
-        @interfaces.stop
-        @packet_logging.shutdown
-      else
-        @replay_backend.shutdown
-      end
-      @stop_callback.call if @stop_callback
-      @message_log.stop if @message_log
-    end
-
-    # Set a stop callback
-    def stop_callback=(stop_callback)
-      @stop_callback = stop_callback
-    end
-
-    # Reload the default configuration
-    def reload
-      @replay_backend.shutdown if @mode != :CMD_TLM_SERVER
-      if @reload_callback
-        @reload_callback.call(false)
-      else
-        System.reset
-      end
-    end
-
-    # Set a reload callback
-    def reload_callback=(reload_callback)
-      @reload_callback = reload_callback
-    end
-
-    # Gracefully kill the staleness monitor thread
-    def graceful_kill
-      @sleeper.cancel
-    end
-
-    # Called when an item in any packet changes limits states.
-    #
-    # @param packet [Packet] Packet which has had an item change limits state
-    # @param item [PacketItem] The item which has changed limits state
-    # @param old_limits_state [Symbol] The previous state of the item. See
-    #   {PacketItemLimits#state}
-    # @param value [Object] The current value of the item
-    # @param log_change [Boolean] Whether to log this limits change event
-    def limits_change_callback(packet, item, old_limits_state, value, log_change)
-      if log_change
-        # Write to Server Messages that limits state has changed
-        tgt_pkt_item_str = "#{packet.target_name} #{packet.packet_name} #{item.name} = #{value} is"
-        packet_time = packet.packet_time
-        pkt_time_str = ""
-        pkt_time_str << " (#{packet.packet_time.sys.formatted})" if packet_time
-        case item.limits.state
-        when :BLUE
-          Logger.info "<B>#{tgt_pkt_item_str} #{item.limits.state}#{pkt_time_str}"
-        when :GREEN, :GREEN_LOW, :GREEN_HIGH
-          Logger.info "<G>#{tgt_pkt_item_str} #{item.limits.state}#{pkt_time_str}"
-        when :YELLOW, :YELLOW_LOW, :YELLOW_HIGH
-          Logger.warn "<Y>#{tgt_pkt_item_str} #{item.limits.state}#{pkt_time_str}"
-        when :RED, :RED_LOW, :RED_HIGH
-          Logger.error "<R>#{tgt_pkt_item_str} #{item.limits.state}#{pkt_time_str}"
-        else
-          Logger.error "#{tgt_pkt_item_str} UNKNOWN#{pkt_time_str}"
-        end
-      end
-
-      post_limits_event(:LIMITS_CHANGE, [packet.target_name, packet.packet_name, item.name, old_limits_state, item.limits.state, packet_time ? packet_time.tv_sec : nil, packet_time ? packet_time.tv_usec : nil])
-
-      if @mode == :CMD_TLM_SERVER
-        if item.limits.response
-          begin
-            item.limits.response.call(packet, item, old_limits_state)
-          rescue Exception => err
-            Logger.error "#{packet.target_name} #{packet.packet_name} #{item.name} Limits Response Exception!"
-            Logger.error "Called with old_state = #{old_limits_state}, new_state = #{item.limits.state}"
-            Logger.error err.formatted
-          end
-        end
-      end
-    end
-
-    # Post a limits event to all subscribed limits event listeners.
-    #
-    # @param event_type [Symbol] The type of limits event that occurred. Must
-    #   be one of :LIMITS_SET which means the system limits set has changed,
-    #   :LIMITS_CHANGE which means an individual item has changed limits state,
-    #   :LIMITS_SETTINGS which means an individual item has new settings, or
-    #   :STALE_PACKET which means a packet with limits has gone stale
-    #   :STALE_PACKET_RCVD which means a packet with limits that had previously
-    #   been stale is no longer stale.
-    # @param event_data [Symbol|Array<String,String,String,Symbol,Symbol>]
-    #   Returns the current limits set name for event_type == :LIMITS_SET.
-    #   Returns an array containing the target name, packet name, item name,
-    #   old limits state, and current limits state for event_type ==
-    #   :LIMITS_CHANGE.
-    def post_limits_event(event_type, event_data)
-      if @limits_event_queues.length > 0
-        queues_to_drop = []
-
-        @limits_event_queue_mutex.synchronize do
-          # Post event to active queues
-          @limits_event_queues.each do |id, data|
-            queue = data[0]
-            queue_size = data[1]
-            queue << [event_type, event_data]
-            if queue.length > queue_size
-              # Drop queue
-              queues_to_drop << id
-            end
-          end
-
-          # Drop queues which are not being serviced
-          queues_to_drop.each do |id|
-            # Remove the queue to stop servicing it.  Nil is added to unblock any client threads
-            # that might otherwise be left blocking forever for something on the queue
-            queue, _ = @limits_event_queues.delete(id)
-            queue << nil if queue
-          end
-        end
-      end
-    end
-
-    # Create a queue on the CmdTlmServer that gets populated with every limits
-    # event in the system. A limits event occurs when a telemetry item with
-    # limits changes state. Thus limits events occur on negative transitions
-    # (:GREEN to :YELLOW_LOW) and positive transitions (:YELLOW_HIGH to
-    # :GREEN).
-    #
-    # @param queue_size [Integer] The number of limit events to accumulate
-    #   before the queue will be dropped due to inactivity.
-    # @return [Integer] The queue ID returned from the CmdTlmServer. Use this
-    #   ID when calling {#get_limits_event} and {#unsubscribe_limits_events}.
-    def self.subscribe_limits_events(queue_size = DEFAULT_LIMITS_EVENT_QUEUE_SIZE)
-      unless queue_size.is_a? Integer and queue_size > 0
-        raise ArgumentError, "Invalid queue size for subscribe_limits_events: #{queue_size}"
-      end
-
-      id = nil
-      @@instance.limits_event_queue_mutex.synchronize do
-        id = @@instance.next_limits_event_queue_id
-        @@instance.limits_event_queues[id] = [Queue.new, queue_size]
-        @@instance.next_limits_event_queue_id += 1
-      end
-      return id
-    end
-
-    # Unsubscribe from being notified for every limits event in the system.
-    # This deletes the queue and further calls to {#get_limits_event} will
-    # raise an exception.
-    #
-    # @param id [Integer] The queue ID received from calling
-    #   {#subscribe_limits_events}
-    def self.unsubscribe_limits_events(id)
-      queue = nil
-      @@instance.limits_event_queue_mutex.synchronize do
-        # Remove the queue to stop servicing it.  Nil is added to unblock any client threads
-        # that might otherwise be left blocking forever for something on the queue
-        queue, _ = @@instance.limits_event_queues.delete(id)
-        queue << nil if queue
-      end
-    end
-
-    # Get a limits event from the queue created by {#subscribe_limits_events}.
-    #
-    # Each limits event consists of an Array with two elements:
-    #   The Symbol name of the event and an Array of data
-    #
-    # @param id [Integer] The queue ID received from calling
-    #   {#subscribe_limits_events}
-    # @param non_block [Boolean] Whether to wait on the queue for the next
-    #   limits event before returning. Default is to block waiting for the next
-    #   event. NOTE: If you pass true and there is no data on the queue, a
-    #   ThreadError exception is raised.
-    def self.get_limits_event(id, non_block = false)
-      queue = nil
-      @@instance.limits_event_queue_mutex.synchronize do
-        queue, _ = @@instance.limits_event_queues[id]
-      end
-      if queue
-        return queue.pop(non_block)
-      else
-        raise "Limits event queue with id #{id} not found"
-      end
-    end
-
-    # Post packet data to all subscribed packet data listeners.
-    #
-    # @param packet [Packet]
-    def post_packet(packet)
-      if @packet_data_queues.length > 0
-        queues_to_drop = []
-
-        @packet_data_queue_mutex.synchronize do
-          # Post event to active queues
-          @packet_data_queues.each do |id, data|
-            queue = data[0]
-            packets = data[1]
-            queue_size = data[2]
-
-            packets.each do |target_name, packet_name|
-              if packet.target_name == target_name and packet.packet_name == packet_name
-                received_time = packet.received_time
-                received_time ||= Time.now.sys
-                queue << [packet.buffer, target_name, packet_name,
-                  received_time.tv_sec, received_time.tv_usec, packet.received_count, packet.stored, packet.extra]
-                if queue.length > queue_size
-                  # Drop queue
-                  queues_to_drop << id
-                end
-                break
-              end
-            end
-          end
-
-          # Drop queues which are not being serviced
-          queues_to_drop.each do |id|
-            # Remove the queue to stop servicing it.  Nil is added to unblock any client threads
-            # that might otherwise be left blocking forever for something on the queue
-            queue, _, _ = @packet_data_queues.delete(id)
-            queue << nil if queue
-          end
-        end
-      end
-    end
-
-    # Subscribe to one or more telemetry packets.
-    #
-    # @param packets [Array<Array<String,String>>] List of packets where the
-    #   Strings are target name, packet name.
-    # @param queue_size [Integer] The size of the queue to store packet data
-    # @return [Integer] The queue ID returned from CmdTlmServer. Use this ID
-    #   when calling {#get_packet_data} and {#unsubscribe_packet_data}.
-    def self.subscribe_packet_data(packets,
-                                   queue_size = CmdTlmServer::DEFAULT_PACKET_DATA_QUEUE_SIZE)
-      if !packets.is_a?(Array) || !packets[0].is_a?(Array)
-        raise ArgumentError, "packets must be nested array: [['TGT','PKT'],...]"
-      end
-
-      unless queue_size.is_a? Integer and queue_size > 0
-        raise ArgumentError, "Invalid queue size for subscribe_packet_data: #{queue_size}"
-      end
-
-      id = nil
-      upcase_packets = []
-
-      # Upper case packet names
-      need_meta = false
-      packets.length.times do |index|
-        upcase_packets << []
-        upcase_packets[index][0] = packets[index][0].upcase
-        upcase_packets[index][1] = packets[index][1].upcase
-
-        # Get the packet to ensure it exists
-        if @@instance.disconnect
-          @last_subscribed_packet = System.telemetry.packet(upcase_packets[index][0], upcase_packets[index][1])
-        else
-          @@instance.get_tlm_packet(upcase_packets[index][0], upcase_packets[index][1])
-        end
-
-        if upcase_packets[index][0] == 'SYSTEM' and upcase_packets[index][1] == 'META'
-          need_meta = true
-        end
-      end
-
-      @@instance.packet_data_queue_mutex.synchronize do
-        id = @@instance.next_packet_data_queue_id
-        @@instance.packet_data_queues[id] =
-          [Queue.new, upcase_packets, queue_size]
-        @@instance.next_packet_data_queue_id += 1
-
-        # Send the current meta packet first if requested
-        if need_meta
-          packet = System.telemetry.packet('SYSTEM', 'META')
-          received_time = packet.received_time
-          received_time ||= Time.now.sys
-          @@instance.packet_data_queues[id][0] << [packet.buffer, 'SYSTEM', 'META',
-            received_time.tv_sec, received_time.tv_usec, packet.received_count, packet.stored, packet.extra]
-        end
-      end
-      return id
-    end
-
-    # Unsubscribe to telemetry packets.
-    #
-    # @param id [Integer] The queue ID received from calling
-    #   {#subscribe_packet_data}.
-    def self.unsubscribe_packet_data(id)
-      @@instance.packet_data_queue_mutex.synchronize do
-        # Remove the queue to stop servicing it.  Nil is added to unblock any client threads
-        # that might otherwise be left blocking forever for something on the queue
-        queue, _, _ = @@instance.packet_data_queues.delete(id)
-        queue << nil if queue
-      end
-      return nil
-    end
-
-    # Get packet data from the queue created by {#subscribe_packet_data}.
-    #
-    # Each packet data consists of an Array with five elements:
-    # \[buffer, target name, packet name, received time sec, received time us]
-    #
-    # @param id [Integer] The queue ID received from calling
-    #   {#subscribe_packet_data}
-    # @param non_block [Boolean] Whether to wait on the queue for the next
-    #   packet before returning. Default is to block waiting for the next
-    #   packet. NOTE: If you pass true and there is no packet on the queue, a
-    #   ThreadError exception is raised.
-    def self.get_packet_data(id, non_block = false)
-      queue = nil
-      @@instance.packet_data_queue_mutex.synchronize do
-        queue, _, _ = @@instance.packet_data_queues[id]
-      end
-      if queue
-        if @@instance.disconnect
-          begin
-            return queue.pop(true)
-          rescue ThreadError
-            received_time ||= Time.now.sys
-            return [@last_subscribed_packet.buffer, @last_subscribed_packet.target_name,
-              @last_subscribed_packet.packet_name, received_time.tv_sec, received_time.tv_usec, @last_subscribed_packet.received_count, @last_subscribed_packet.stored, @last_subscribed_packet.extra]
-          end
-        else
-          return queue.pop(non_block)
-        end
-      else
-        raise "Packet data queue with id #{id} not found"
-      end
-    end
-
-    # Post a server message to all subscribed server message listeners.
-    # Messages are formatted as [Text, Color], e.g. ["Msg1","RED"]
-    #
-    # @param message [Array<String, String>] Server message
-    def post_server_message(message)
-      if @server_message_queues.length > 0
-        queues_to_drop = []
-
-        @server_message_queue_mutex.synchronize do
-          # Post event to active queues
-          @server_message_queues.each do |id, data|
-            queue = data[0]
-            queue_size = data[1]
-            queue << message
-            if queue.length > queue_size
-              # Drop queue
-              queues_to_drop << id
-            end
-          end
-
-          # Drop queues which are not being serviced
-          queues_to_drop.each do |id|
-            # Remove the queue to stop servicing it.  Nil is added to unblock any client threads
-            # that might otherwise be left blocking forever for something on the queue
-            queue, _ = @server_message_queues.delete(id)
-            queue << nil if queue
-          end
-        end
-      end
-    end
-
-    # Create a queue on the CmdTlmServer that gets populated with every message
-    # in the system.
-    #
-    # @param queue_size [Integer] The number of server messages to accumulate
-    #   before the queue will be dropped due to inactivity.
-    # @return [Integer] The queue ID returned from the CmdTlmServer. Use this
-    #   ID when calling {#get_server_message} and {#unsubscribe_server_messages}.
-    def self.subscribe_server_messages(queue_size = DEFAULT_SERVER_MESSAGES_QUEUE_SIZE)
-      unless queue_size.is_a? Integer and queue_size > 0
-        raise ArgumentError, "Invalid queue size for subscribe_server_messages: #{queue_size}"
-      end
-
-      id = nil
-      @@instance.server_message_queue_mutex.synchronize do
-        id = @@instance.next_server_message_queue_id
-        @@instance.server_message_queues[id] = [Queue.new, queue_size]
-        @@instance.next_server_message_queue_id += 1
-      end
-      return id
-    end
-
-    # Unsubscribe from being notified for every server message in the system.
-    # This deletes the queue and further calls to {#get_server_message} will
-    # raise an exception.
-    #
-    # @param id [Integer] The queue ID received from calling
-    #   {#subscribe_server_messages}
-    def self.unsubscribe_server_messages(id)
-      queue = nil
-      @@instance.server_message_queue_mutex.synchronize do
-        # Remove the queue to stop servicing it.  Nil is added to unblock any client threads
-        # that might otherwise be left blocking forever for something on the queue
-        queue, _ = @@instance.server_message_queues.delete(id)
-        queue << nil if queue
-      end
-    end
-
-    # Get a server message from the queue created by {#subscribe_server_messages}.
-    #
-    # Each server message consists of a String
-    #
-    # @param id [Integer] The queue ID received from calling
-    #   {#subscribe_server_messages}
-    # @param non_block [Boolean] Whether to wait on the queue for the next
-    #   server message before returning. Default is to block waiting for the next
-    #   message. NOTE: If you pass true and there is no data on the queue, a
-    #   ThreadError exception is raised.
-    def self.get_server_message(id, non_block = false)
-      queue = nil
-      @@instance.server_message_queue_mutex.synchronize do
-        queue, _ = @@instance.server_message_queues[id]
-      end
-      if queue
-        return queue.pop(non_block)
-      else
-        raise "Server message queue with id #{id} not found"
-      end
-    end
-
-    # Calls clear_counters on the System, interfaces, routers, and sets the
-    # request_count on json_drb to 0.
-    def self.clear_counters
-      System.clear_counters
-      self.instance.interfaces.clear_counters if self.instance.interfaces
-      self.instance.routers.clear_counters
-      self.instance.json_drb.request_count = 0
-    end
-
-    # Method called by all interfaces when a packet has been identified. It
-    # checks the limits of the packet and then posts the packet to any
-    # registered subscribers.
-    #
-    # @param packet [Packet] Packet which has been identified by the interface
-    def identified_packet_callback(packet)
-      packet.check_limits(System.limits_set)
-      post_packet(packet)
-    end
-
-    private
-
-    # Start up the system by starting the JSON-RPC server, interfaces, routers,
-    # and background tasks. Starts a thread to monitor all packets for
-    # staleness so other tools (such as Packet Viewer or Telemetry Viewer) can
-    # react accordingly.
-    #
-    # This method is shoudl only called by initialize which is why it is private
-    #
-    # @param start_packet_logging [Boolean] Whether to start logging data or not
-    def start(start_packet_logging = false)
-      if @mode == :CMD_TLM_SERVER
-        @replay_backend = nil # Remove access to Replay
-        @message_log = MessageLog.new('server')
-        @packet_logging.start if start_packet_logging
-        @interfaces.start
-        @background_tasks.start_all
-
-        # Start staleness monitor thread
-        @sleeper = Sleeper.new
-        @staleness_monitor_thread = Thread.new do
-          begin
-            stale = []
-            prev_stale = []
-            while true
-              # The check_stale method drives System.telemetry to iterate through
-              # the packets and mark them stale as necessary.
-              System.telemetry.check_stale
-
-              # Get all stale packets that include limits items.
-              stale_pkts = System.telemetry.stale(true)
-
-              # Send :STALE_PACKET events for all newly stale packets.
-              stale = []
-              stale_pkts.each do |packet|
-                pkt_name = [packet.target_name, packet.packet_name]
-                stale << pkt_name
-                post_limits_event(:STALE_PACKET, pkt_name) unless prev_stale.include?(pkt_name)
-              end
-
-              # Send :STALE_PACKET_RCVD events for all packets that were stale
-              # but are no longer stale.
-              prev_stale.each do |pkt_name|
-                post_limits_event(:STALE_PACKET_RCVD, pkt_name) unless stale.include?(pkt_name)
-              end
-              prev_stale = stale.dup
-
-              broken = @sleeper.sleep(10)
-              break if broken
-            end
-          rescue Exception => err
-            Logger.fatal "Staleness Monitor thread unexpectedly died"
-            Cosmos.handle_fatal_exception(err)
-          end
-        end # end Thread.new
-      else
-        # Prevent access to interfaces or packet_logging
-        @interfaces = nil
-        @packet_logging = nil
-      end
-    end
-  end
-end