root/vtcross/trunk/src/service_management_layer/ServiceManagementLayer.cpp @ 287

/* Virginia Tech Cognitive Radio Open Source Systems
 * Virginia Tech, 2009
 *
 * LICENSE INFORMATION GOES HERE
 */

/* Inter-component communication handled by sockets and FD's.  
 * Server support has been completely implemented and tested.
 *
 * Services are stored in a SQLite DB by the ID of the CE that registered them.  Service
 * support has been completely implemented and tested.
 *
 * Missions are loaded from an XML file, connected with services provided by components,
 * and run.  See the documentation for the "PerformActiveMission" below for important 
 * info.  
 */

//TODO Add nested conditional support
//TODO Verify update functionality
//TODO Better shutdown
//TODO Verify Deregister services
//TODO printf's 

#include <stdlib.h>
#include <string.h>
#include <stdio.h>
#include <cstring>
#include <stdint.h>

#include "vtcross/common.h"

#include "components.h"
#include "vtcross/containers.h"
#include "vtcross/debug.h"
#include "vtcross/error.h"
#include "vtcross/socketcomm.h"
#include <cstring>
#include <stdint.h>
#include <math.h>

#include <arpa/inet.h>
#include <iostream>
#include <netinet/in.h>
#include <netdb.h>
#include <fcntl.h>
#include <sys/ioctl.h>
#include <sys/mman.h>
#include <sys/socket.h>
#include <sys/types.h>
#include <sys/wait.h>

#include "tinyxml/tinyxml.h"
#include "tinyxml/tinystr.h"

#include "sqlite3.h"

typedef struct services_s *services_DB;
typedef struct data_s *data_DB;

using namespace std;

struct services_s {
    char filename[64];
    char tablename[64];
    char command[2048];
    sqlite3 *db; 
    unsigned int num_columns;
};

struct data_s {
    char filename[64];
    char tablename[64];
    char command[2048];
    sqlite3 *db; 
    unsigned int num_columns;
};

services_DB _services_DB;
data_DB _data_DB;
const char *_SML_Config;

//Callback function used internally by some of the SQLite3 commands
int callback(void *notUsed, int argc, char **argv, char **azColName){
    int i;
    for(i=0; i<argc; i++){
        printf("%s = %s\n", azColName[i], argv[i] ? argv[i] : "NULL");
    }
    printf("\n");
    return 0;
}



ServiceManagementLayer::ServiceManagementLayer()
{
    LOG("Creating Service Management Layer.\n");
    shellSocketFD = -1;
    numberOfCognitiveEngines = 0;
    CE_Present = false;
    cogEngSrv = 1;
}

//Free and clear the DB's associated with this SML in the destructor
//Note that exiting with an error condition will cause SML to not be destructed,
// resulting in the DB's staying in memory until the destructor is encountered in future executions
ServiceManagementLayer::~ServiceManagementLayer()
{
    char *errorMsg;
    strcpy(_services_DB->command, "drop table ");
    strcat(_services_DB->command, _services_DB->tablename);
    int rc = sqlite3_exec(_services_DB->db, _services_DB->command, callback, 0, &errorMsg);
    if( rc!=SQLITE_OK && rc!=101 )
        fprintf(stderr, "ServiceManagementLayer::Destructor services 'drop table' error: %s\n", errorMsg);
    strcpy(_services_DB->command, "vacuum");
    rc = sqlite3_exec(_services_DB->db, _services_DB->command, callback, 0, &errorMsg);
    if( rc!=SQLITE_OK && rc!=101 )
        fprintf(stderr, "ServiceManagementLayer::Destructor services 'vacuum' error: %s\n", errorMsg);
    free(_services_DB);

    strcpy(_data_DB->command, "drop table ");
    strcat(_data_DB->command, _data_DB->tablename);
    rc = sqlite3_exec(_data_DB->db, _data_DB->command, callback, 0, &errorMsg);
    if( rc!=SQLITE_OK && rc!=101 )
        fprintf(stderr, "ServiceManagementLayer::Destructor data 'drop table' error: %s\n", errorMsg);
    strcpy(_data_DB->command, "vacuum");
    rc = sqlite3_exec(_data_DB->db, _data_DB->command, callback, 0, &errorMsg);
    if( rc!=SQLITE_OK && rc!=101 )
        fprintf(stderr, "ServiceManagementLayer::Destructor data 'vacuum' error: %s\n", errorMsg);
    free(_data_DB);
}

//Note that sizes of CE_List, miss, and service are hardcoded for now.
//Also, their sizes are hardcoded into the code in various places; a fix for a future version.
ServiceManagementLayer::ServiceManagementLayer(const char* SML_Config, \
        const char* serverName, const char* serverPort, int16_t clientPort)
{
    LOG("Creating Service Management Layer.\n");
    _SML_Config = SML_Config;
    SMLport = clientPort;

    ConnectToShell(serverName, serverPort);
    CE_List = (CE_Reg *) malloc(10*sizeof(struct CE_Reg));
    CE_List = new CE_Reg[10];

    miss = new Mission[10];
    for(int i = 0; i < 10; i++)
        miss[i].services = new Service[20];

    Current_ID = 0;

    LoadConfiguration(SML_Config, miss);
    CreateServicesDB();
    CreateDataDB();
}

/* CALLED BY: constructor
 * INPUTS: <none>
 * OUTPUTS: <none>
 *
 * DESCRIPTION: Create and initialize a DB to hold the services registered by components
 */
void
ServiceManagementLayer::CreateServicesDB()
{


  sqlite3_stmt *ppStmt;  /* OUT: Statement handle */
  const char *pzTail;     /* OUT: Pointer to unused portion of zSql */


    _services_DB = (services_DB) malloc(sizeof(struct services_s));
   // char *errorMsg;

    // create database

    // copy filename
    strcpy(_services_DB->filename, "Services_Table");

    // execute create database command
    // database handle
    //_services_DB->db = NULL;
    sqlite3_open(_services_DB->filename, &(_services_DB->db));
    char* cols[] = {(char *)"ID_Num", (char *)"Service_Name"};

    // create table

    // copy tablename
    strcpy(_services_DB->tablename, "Services");
    sprintf(_services_DB->command, "DROP TABLE IF EXISTS Services;");     

    int rc = sqlite3_prepare_v2(_services_DB->db, _services_DB->command, 128, &ppStmt, &pzTail);
    if( rc!=SQLITE_OK && rc!=101 )
        printf("ServiceManagementLayer::CreateServicesDB 'prepare_stmt' error %d\n", rc);
    rc = sqlite3_step(ppStmt);
    if( rc!=SQLITE_OK && rc!=101 )
        printf("ServiceManagementLayer::CreateServicesDB 'step' error\n");

    // number of columns in the table
    _services_DB->num_columns = 2;

    // generate command
    strcpy(_services_DB->command, "CREATE TABLE ");
    strcat(_services_DB->command, _services_DB->tablename);
    strcat(_services_DB->command, "(");
    strcat(_services_DB->command, cols[0]);
    strcat(_services_DB->command, " INT, ");
    strcat(_services_DB->command, cols[1]);
    strcat(_services_DB->command, " TEXT");
    strcat(_services_DB->command, ");");

    // execute create table command

    rc = sqlite3_prepare_v2(_services_DB->db, _services_DB->command, 128, &ppStmt, &pzTail);
    if( rc!=SQLITE_OK && rc!=101 )
        printf("ServiceManagementLayer::CreateServicesDB 'prepare_stmt' error %d\n", rc);
    rc = sqlite3_step(ppStmt);
    if( rc!=SQLITE_OK && rc!=101 )
        printf("ServiceManagementLayer::CreateServicesDB 'step' error\n");
}

/* CALLED BY: constructor
 * INPUTS: <none>
 * OUTPUTS: <none>
 *
 * DESCRIPTION: Create and initialize a DB to hold the data sent by components
 */
void
ServiceManagementLayer::CreateDataDB()
{
    _data_DB = (data_DB) malloc(sizeof(struct data_s));
    //char *errorMsg;
  sqlite3_stmt *ppStmt;  /* OUT: Statement handle */
  const char *pzTail;     /* OUT: Pointer to unused portion of zSql */

    // create database

    // copy filename
    strcpy(_data_DB->filename, "Data_Table");
    // execute create database command
    // database handle
    //_services_DB->db = NULL;
    sqlite3_open(_data_DB->filename, &(_data_DB->db));
    char* cols[] = {(char *)"Tag", (char *)"Data"};

    // create table

    // copy tablename
    strcpy(_data_DB->tablename, "Data");
    sprintf(_data_DB->command, "DROP TABLE IF EXISTS Data;");     

    int rc = sqlite3_prepare_v2(_data_DB->db, _data_DB->command, 128, &ppStmt, &pzTail);
    if( rc!=SQLITE_OK && rc!=101 )
        printf("ServiceManagementLayer::CreateServicesDB 'prepare_stmt' error %d\n", rc);
    rc = sqlite3_step(ppStmt);
    if( rc!=SQLITE_OK && rc!=101 )
        printf("ServiceManagementLayer::CreateServicesDB 'step' error\n");


    // number of columns in the table
    _data_DB->num_columns = 2;

    // generate command
    strcpy(_data_DB->command, "CREATE TABLE ");
    strcat(_data_DB->command, _data_DB->tablename);
    strcat(_data_DB->command, "(");
    strcat(_data_DB->command, cols[0]);
    //First column is the name of the data (coresponding to the name of the output/input pair)
    //It is the primary key so any subsequent data with the same name will replace the row
    strcat(_data_DB->command, " TEXT PRIMARY KEY ON CONFLICT REPLACE, ");
    strcat(_data_DB->command, cols[1]);
    strcat(_data_DB->command, " TEXT");
    strcat(_data_DB->command, ");");

    // execute create table command

    rc = sqlite3_prepare_v2(_data_DB->db, _data_DB->command, 128, &ppStmt, &pzTail);
    if( rc!=SQLITE_OK && rc!=101 )
        printf("ServiceManagementLayer::CreateDataDB 'prepare_stmt' error %d\n", rc);
    rc = sqlite3_step(ppStmt);
    if( rc!=SQLITE_OK && rc!=101 )
        printf("ServiceManagementLayer::CreateDataDB 'step' error\n");
}

/* CALLED BY: MessageHandler
 * INPUTS: <none>
 * OUTPUTS: <none>
 *
 * DESCRIPTION: Sends a message identifying this component as an SML to the Shell
 */
void 
ServiceManagementLayer::SendComponentType()
{
    SendMessage(shellSocketFD, "response_sml");
    LOG("SML responded to GetRemoteComponentType query.\n");
}

/* CALLED BY: constructor
 * INPUTS: |serverName| the IPv4 name of the server (127.0.0.1 for localhost)
 *         |serverPort| the port on the server to connect to
 * OUTPUTS: <none>
 *
 * DESCRIPTION: Connecting to the shell takes 2 steps
 * 1) Establish a client socket for communication
 * 2) Run the initial Registration/handshake routine
 */
void 
ServiceManagementLayer::ConnectToShell(const char* serverName, \
        const char* serverPort)
{
    shellSocketFD = ClientSocket(serverName, serverPort);
    RegisterComponent();
}

/* CALLED BY: StartSMLServer
 * INPUTS: |ID| The ID number of the CE that has a message wating
 * OUTPUTS: <none>
 *
 * DESCRIPTION: Called whenever a socket is identified as being ready for communication
 *              This funciton reads the message and calls the appropriate helper
 */ 
void
ServiceManagementLayer::MessageHandler(int32_t ID)
{
    char buffer[256];   
    memset(buffer, 0, 256);  
    int32_t _FD;  
    
    if(ID != -1)
        _FD = CE_List[ID].FD;
    else 
        _FD = shellSocketFD;
    ReadMessage(_FD, buffer);
    //printf("MH_buffer = %s\n", buffer);
    
    //--------Policy Engine Stuff - no policy engine support in this version-------//

    //printf("********* %s **********\n", buffer);
    // TODO
    // If we send integer op codes rather than strings, this process will be
    // MUCH faster since instead of donig string compares we can simply
    // switch on the integer value...
    /*if(strcmp(buffer, "register_service") == 0) {
        if(strcmp(buffer, "policy_geo") == 0) {
        }
        else if(strcmp(buffer, "policy_time") == 0) {
        }
        else if(strcmp(buffer, "policy_spectrum") == 0) {
        }
        else if(strcmp(buffer, "policy_spacial") == 0) {
        }
    }
    else if(strcmp(buffer, "deregister_service") == 0) {
        if(strcmp(buffer, "policy_geo") == 0) {
        }
        else if(strcmp(buffer, "policy_time") == 0) {
        }
        else if(strcmp(buffer, "policy_spectrum") == 0) {
        }
        else if(strcmp(buffer, "policy_spacial") == 0) {
        }
    }*/

    //Go down the list to call the appropriate function
    if(strcmp(buffer, "query_component_type") == 0) {
        SendComponentType();
    }
    else if(strcmp(buffer, "reset_sml") == 0) {
        Reset();
    }
    else if(strcmp(buffer, "shutdown_sml") == 0) {
        Shutdown();
    }
    else if(strcmp(buffer, "register_engine_cognitive") == 0) {
        RegisterCognitiveEngine(ID);
    }
    else if(strcmp(buffer, "register_service") == 0) {
        ReceiveServices(ID);
    }
    else if(strcmp(buffer, "send_component_type") == 0) {
        SendComponentType();
    }
    else if(strcmp(buffer, "list_services") == 0) {
        ListServices();
    }
    else if(strcmp(buffer, "set_active_mission") == 0) {
        SetActiveMission();
    }
    else if(strcmp(buffer, "request_optimization") == 0) {
        PerformActiveMission();
    }
    else if(strcmp(buffer, "deregister_engine_cognitive") == 0) {
        DeregisterCognitiveEngine(ID);
    }
    else if(strcmp(buffer, "deregister_service") == 0) {
        DeregisterServices(ID);
    }
}

//TODO Finish
/* CALLED BY: MessageHandler
 * INPUTS: <none>
 * OUTPUTS: <none>
 *
 * DESCRIPTION: Deregisters the component from the Shell.
 */ 
void 
ServiceManagementLayer::Shutdown()
{
    DeregisterComponent();
}

//TODO Finish
/* CALLED BY: MessageHandler
 * INPUTS: <none>
 * OUTPUTS: <none>
 *
 * DESCRIPTION: Deregisters the component from the Shell
 */
void 
ServiceManagementLayer::Reset()
{
    DeregisterComponent();
    ReloadConfiguration();
}

/* CALLED BY: ConnectToShell
 * INPUTS: <none>
 * OUTPUTS: <none>
 *
 * DESCRIPTION: Sends the registration message to the Shell
 */
void 
ServiceManagementLayer::RegisterComponent()
{
    SendMessage(shellSocketFD, "register_sml");
    LOG("ServiceManagementLayer:: Registration message sent.\n");
    //printf("SSFD = %d\n", shellSocketFD);
}

/* CALLED BY: Shutdown
 * INPUTS: <none>
 * OUTPUTS: <none>
 *
 * DESCRIPTION: Closes the client socket with the shell, sends a deregstration message
 */
void 
ServiceManagementLayer::DeregisterComponent()
{
    SendMessage(shellSocketFD, "deregister_sml");
    LOG("ServiceManagementLayer:: Deregistration message sent.\n");

    shutdown(shellSocketFD, 2);
    close(shellSocketFD);
    shellSocketFD = -1;
    LOG("ServiceManagementLayer:: Shell socket closed.\n");
}


/* CALLED BY: RegisterCognitiveEngine
 * INPUTS: |ID| The ID number of the component where the data is to be transfered to
 * OUTPUTS: <none>
 *
 * DESCRIPTION: Streams config data directly from the shell to the CE, and checks
 * for an "ack" message from the CE after every sent message 
 * to know when to stop communication.
 */

//Modified to check the incoming message buffer rather than the outgoing message buffer to avoid a portion of the delay
void 
ServiceManagementLayer::TransferRadioConfiguration(int32_t ID)
{
    //printf("transRadConfig\n");
    struct timeval selTimeout;
    fd_set sockSet;
    int32_t rc = 1;
    char buffer[256];
    //Send data until the CE sends an ACK message back
    while(rc!=0){
        memset(buffer, 0, 256);
        //Receive data from Shell
        ReadMessage(shellSocketFD, buffer);
        //printf("buffer = %s\n", buffer);
        //Send data to CE
        SendMessage(CE_List[ID].FD, buffer);
        FD_ZERO(&sockSet);
        FD_SET(shellSocketFD, &sockSet);
        selTimeout.tv_sec = 0;
        selTimeout.tv_usec = 50000;
        //Check if there is a message on the shell ready to be processed
        rc=select(shellSocketFD + 1, &sockSet, NULL, NULL, &selTimeout);
    }
    memset(buffer, 0, 256);
    ReadMessage(CE_List[ID].FD, buffer);
    SendMessage(shellSocketFD, buffer);
    //printf("transfer done!\n");
}


/* CALLED BY: RegisterCognitiveEngine
 * INPUTS: |ID| The ID number of the component where the data is to be transfered to
 * OUTPUTS: <none>
 *
 * DESCRIPTION: Simmilar to TransferRadioConfig, just with Experience data
 */

//Modified to check the incoming message buffer rather than the outgoing message buffer to avoid a portion of the delay
void 
ServiceManagementLayer::TransferExperience(int32_t ID)
{
    struct timeval selTimeout;
    fd_set sockSet;
    int32_t rc = 1;
    char buffer[256];
    //Send data until the CE sends an ACK message back
    while(rc!=0){
        //printf("transfering...\n");
        memset(buffer, 0, 256);
        //Receive data from Shell
        ReadMessage(shellSocketFD, buffer);
        //printf("buffer = %s\n", buffer);
        //Send data to CE
        SendMessage(CE_List[ID].FD, buffer);
        FD_ZERO(&sockSet);
        FD_SET(shellSocketFD, &sockSet);
        selTimeout.tv_sec = 0;
        selTimeout.tv_usec = 50000;
        //Check if there is a message on the shell ready to be processed
        rc=select(shellSocketFD + 1, &sockSet, NULL, NULL, &selTimeout);
    }
    memset(buffer, 0, 256);
    //printf("done trans exp!\n");
    ReadMessage(CE_List[ID].FD, buffer);
    SendMessage(shellSocketFD, buffer);
}

/* CALLED BY: MessageHandler
 * INPUTS: |ID| The ID number of the component where service is located
 * OUTPUTS: <none>
 *
 * DESCRIPTION: Inserts a service into the DB with the ID of the component where it exists
 */
void 
ServiceManagementLayer::ReceiveServices(int32_t ID)
{
    char buffer[256];
    memset(buffer, 0, 256);
    ReadMessage(CE_List[ID].FD, buffer);
    char* cols[] = {(char *)"ID_Num", (char *)"Service_Name"};
    //printf("RS_buffer = %s\n", buffer);
    // generate command
    strcpy(_services_DB->command, "insert into ");
    strcat(_services_DB->command, _services_DB->tablename); 
    strcat(_services_DB->command, " (");
    strcat(_services_DB->command, cols[0]);
    strcat(_services_DB->command, ", ");
    strcat(_services_DB->command, cols[1]);
    strcat(_services_DB->command, ") ");
    strcat(_services_DB->command, " values(");
    sprintf(_services_DB->command, "%s%d", _services_DB->command, ID);
    strcat(_services_DB->command, ", '");
    strcat(_services_DB->command, buffer);
    strcat(_services_DB->command, "');");
    
    //printf("search command: %s\n", _services_DB->command);
    // execute add command
    char *errorMsg;
    int rc = sqlite3_exec(_services_DB->db, _services_DB->command, callback, 0, &errorMsg);
    if( rc!=SQLITE_OK && rc!=101 )
        fprintf(stderr, "ServiceManagementLayer::RecieveServices DB Error %s\n", errorMsg);
    /*sprintf(outBuffer, "SML: Registering service '%s' from component number '%d'", buffer, ID);
    LOG(outBuffer);*/
}

/* CALLED BY: MessageHandler
 * INPUTS: <none>
 * OUTPUTS: <none>
 *
 * DESCRIPTION: This method associates the services that components provide with the services that are requested in the mission
 * Each service in the mission is given the ID and FD of a component that has registered to provide that service 
 * Deregistration is okay until this method is called without a reload, but if deregistration occurs after this
 * method is called it needs to be called again even if other engines also provide the services
 */
void 
ServiceManagementLayer::SetActiveMission()
{
    char buffer[256];
    memset(buffer, 0, 256);
    ReadMessage(shellSocketFD, buffer);
    uint32_t missID = atoi(buffer);
    for(activeMission = 0; activeMission < 10; activeMission++)
    {
        //Find the active mission by comparing mission ID's
        if(miss[activeMission].missionID == missID)
            break;
    }

    LOG("ServiceManagementLayer:: Received Set Active Mission command: %i.\n",missID);
    //For each service in the mission
    for(uint16_t i = 0; i < miss[activeMission].numServices; i++)
    {   
        //Check whether the current service is an actual service or a conditional
        if(miss[activeMission].services[i].name.compare("if") && miss[activeMission].services[i].name.compare("while") && \
           miss[activeMission].services[i].name.compare("shell")){
            //If it is a service, search the database of registered services to find the ID of the component that registered it
            strcpy(_services_DB->command, "select ");
            strcat(_services_DB->command, _services_DB->tablename);
            strcat(_services_DB->command, ".* from ");
            strcat(_services_DB->command, _services_DB->tablename);
            strcat(_services_DB->command, " where Service_Name==");
            sprintf(_services_DB->command, "%s'%s';", _services_DB->command, miss[activeMission].services[i].name.c_str());
        
            sqlite3_stmt * pStatement;
            int rc = sqlite3_prepare_v2(_services_DB->db, _services_DB->command, -1, &pStatement, NULL);
            if (rc == SQLITE_OK){ 
                if (sqlite3_step(pStatement) == SQLITE_ROW)
                     miss[activeMission].services[i].componentID =  sqlite3_column_int(pStatement, 0); 
                else {
                    printf("services_DB:: Mission requires service %s not provided by any connected component.\n",miss[activeMission].services[i].name.c_str());
                    rc=31337;
                }
             } else {
                printf("services_DB:: Error executing SQL statement. rc = %i\n%s\n",rc,_services_DB->command);
            }
                //printf("s_name=%s\n",miss[activeMission].services[i].name.c_str());
            sqlite3_finalize(pStatement);
            miss[activeMission].services[i].socketFD = CE_List[miss[activeMission].services[i].componentID].FD;
            //Set the FD and ID of the service to refer to the component where the service exists
        }
        //Nothing to be done for conditionals at this stage
    }
 
    SendMessage(shellSocketFD, "ack");
    LOG("ServiceManagementLayer:: Done setting active mission.\n");
    //printf("\nhere ---%d, %d---\n", miss[activeMission].services[0].componentID, miss[activeMission].services[1].componentID);
}

/* CALLED BY: PerformActiveMission
 * INPUTS: |sourceID| ID of the service that is being processed
 * OUTPUTS: <none>
 *
 * DESCRIPTION: This is a helper method for the "PerformActiveMission" function
 * NOTE: This function has changed durrastically from the previous implementation
 * Takes an ID of a service
 * For that service, finds inputs in DB and forwords those on to the engine after sending comm-starting messages
 * Afterwords, listenes for the outputs so that it can store those in the database for future services or the overall output
 */
void
ServiceManagementLayer::TransactData(int32_t sourceID)
{
    LOG("ServiceManagementLayer:: Data transaction occuring.\n");
    char buffer[256];
    std::string data;
    char* cols[] = {(char *)"Tag", (char *)"Data"};
    int i = 0;
    fd_set sockSet;
    char *token;
    struct timeval selTimeout;

   //Send a message directly to the shell
   //printf("name = %s\n", miss[activeMission].services[sourceID].name.c_str());
   if(miss[activeMission].services[sourceID].name.find("shell")!=string::npos)
   {
        //printf("caught shell\n");
        //If the name on the output doesn't start with "~", search the DB to find the output that should be returned
        if(miss[activeMission].services[sourceID].output[0].find("~") == string::npos){
           // printf("taken1\n");
            memset(buffer, 0 , 256);
            strcpy(_data_DB->command, "select ");
            strcat(_data_DB->command, _data_DB->tablename);
            strcat(_data_DB->command, ".* from ");
            strcat(_data_DB->command, _data_DB->tablename);
            strcat(_data_DB->command, " where Tag==");
            sprintf(_data_DB->command, "%s'%s';", _data_DB->command, miss[activeMission].services[sourceID].output[0].c_str());
            sqlite3_stmt * pStatement;
            int rc = sqlite3_prepare_v2(_data_DB->db, _data_DB->command, -1, &pStatement, NULL);
            if (rc == SQLITE_OK){ 
                if (sqlite3_step(pStatement) == SQLITE_ROW)
                    data.append((const char*) sqlite3_column_text(pStatement, 1)); 
                else {
                    printf("data_DB:: Data not yet in DB.\n");
                    rc=31337;
                }
            } 
            else {
                printf("data_DB:: Error executing SQL statement. rc = %i\n%s\n",rc,_data_DB->command);
            }
            sqlite3_finalize(pStatement);
            token = strtok((char *)data.c_str(), "@");
            SendMessage(shellSocketFD, token);
            token = strtok(NULL, "@");
            while(token){
                SendMessage(shellSocketFD, token);
                token = strtok(NULL, "@");
            }
        }
        //Otherwise, just return the value specified by output TODO (in 1 - <output name> - <output name> format)
        else{
            printf("taken2\n");
            memset(buffer, 0, 256);
            SendMessage(shellSocketFD, "1");
            miss[activeMission].services[sourceID].output[0].erase(0);
            SendMessage(shellSocketFD, miss[activeMission].services[sourceID].output[0].c_str());
            SendMessage(shellSocketFD, miss[activeMission].services[sourceID].output[0].c_str());
        }
        //printf("done shell\n");
        return;
   } 



    //Transmission starting messages
    SendMessage(miss[activeMission].services[sourceID].socketFD, "request_optimization_service");
    SendMessage(miss[activeMission].services[sourceID].socketFD, miss[activeMission].services[sourceID].name.c_str());
    //Find and load the input data
    while(i < 5 && !miss[activeMission].services[sourceID].input[i].empty()){
        //printf("pulling input data out of DB for ID#=%d\n", sourceID);
        strcpy(_data_DB->command, "select ");
        strcat(_data_DB->command, _data_DB->tablename);
        strcat(_data_DB->command, ".* from ");
        strcat(_data_DB->command, _data_DB->tablename);
        strcat(_data_DB->command, " where Tag==");
        char temp[100];
        strcpy(temp, miss[activeMission].services[sourceID].input[i].c_str());
        char *temp2 = strtok(temp, "+");
        sprintf(_data_DB->command, "%s'%s';", _data_DB->command, temp2);
        sqlite3_stmt * pStatement;
        int rc = sqlite3_prepare_v2(_data_DB->db, _data_DB->command, -1, &pStatement, NULL);
        if (rc == SQLITE_OK){ 
            if (sqlite3_step(pStatement) == SQLITE_ROW)
                 data.append((const char*) sqlite3_column_text(pStatement, 1)); 
            else {
                    printf("data_DB:: Data not yet in DB.\n");
                    rc=31337;
            }
        } 
        else {
            printf("data_DB:: Error executing SQL statement. rc = %i\n%s\n",rc,_data_DB->command);
        }
        sqlite3_finalize(pStatement);
        char *data_ch = (char *) data.c_str();
        int32_t numStatements = 0;
        temp2 = strtok(NULL, "+");
        while(temp2){
            numStatements++;
            temp2 = strtok(NULL, "+");
        }
        //printf("here1%d\n", numStatements);
        char temp4[10];
        memset(temp4, 0, 10);
        sprintf(temp4, "%d", numStatements);
        //Tokenize the data and pass it along
        //printf("here2 %s\n", temp4);
        if(strstr(miss[activeMission].services[sourceID].input[i].c_str(), "+")){
            SendMessage(miss[activeMission].services[sourceID].socketFD, temp4);
            token = strtok(data_ch, "@");
        }
        else{
            token = strtok(data_ch, "@");
            SendMessage(miss[activeMission].services[sourceID].socketFD, token);
        }
        token = strtok(NULL, "@");


        //Either have to send whole block of memory or just one piece
        while(token){
            if(strstr(miss[activeMission].services[sourceID].input[i].c_str(), token))
            {
                //printf("1tokenizing %s %s!\n", miss[activeMission].services[sourceID].input[i].c_str(), token);
                SendMessage(miss[activeMission].services[sourceID].socketFD, token);
                token = strtok(NULL, "@");
                SendMessage(miss[activeMission].services[sourceID].socketFD, token);
            }
            else if(!strstr(miss[activeMission].services[sourceID].input[i].c_str(), "+"))
            {
                //printf("t not detected tokenizing %s %s!\n", miss[activeMission].services[sourceID].input[i].c_str(), token);
                SendMessage(miss[activeMission].services[sourceID].socketFD, token);
                token = strtok(NULL, "@");
                SendMessage(miss[activeMission].services[sourceID].socketFD, token);
            }
            else{
                //printf("3tokenizing %s %s!\n", miss[activeMission].services[sourceID].input[i].c_str(), token);
                token = strtok(NULL, "@");}
            token = strtok(NULL, "@");
        }
        //printf("done\n");
        //printf("done pulling input data out of DB for ID#=%d\n", sourceID);
        i++;
        data.clear();
    }
    int32_t j = 0;
    FD_ZERO(&sockSet);
    FD_SET(miss[activeMission].services[sourceID].socketFD, &sockSet);
    //TODO neccessary?
    selTimeout.tv_sec = 5;
    selTimeout.tv_usec = 0;
    //Use select command to force wait for processing to finish
    select(miss[activeMission].services[sourceID].socketFD + 1, &sockSet, NULL, NULL, &selTimeout);
        //printf("done\n");
   //TODO rewrite part of data on output?
   //TODO true false format?
    while(j < 5 && !miss[activeMission].services[sourceID].output[j].empty()){
        int rc;
        memset(buffer, 0, 256);
        ReadMessage(miss[activeMission].services[sourceID].socketFD, buffer);
       // printf("waiting\n");      
        data.append(buffer);
        data.append("@");
        int t = atoi(buffer);
        //printf("%d\n", t);
        for(int k = 0; k < t; k++){
            //Read the data incrementally and deliminate it with the "@" symbol
            memset(buffer, 0, 256);
            ReadMessage(miss[activeMission].services[sourceID].socketFD, buffer);
            if(!strcmp(buffer, "TF")){
                ReadMessage(miss[activeMission].services[sourceID].socketFD, buffer);
                data.append(buffer);
                data.append("@");
            }
            else{
                data.append(buffer);
                data.append("@");
                memset(buffer, 0, 256);
                ReadMessage(miss[activeMission].services[sourceID].socketFD, buffer);
                data.append(buffer);
                data.append("@");
            }
        }
        //printf("SML: putting output data into DB for ID#=%d\n", sourceID);

        strcpy(_data_DB->command, "insert or replace into ");
        strcat(_data_DB->command, _data_DB->tablename); 
        strcat(_data_DB->command, " (");
        strcat(_data_DB->command, cols[0]);
        strcat(_data_DB->command, ", ");
        strcat(_data_DB->command, cols[1]);
        strcat(_data_DB->command, ") ");
        strcat(_data_DB->command, " values('"); 
        strcat(_data_DB->command, miss[activeMission].services[sourceID].output[j].c_str());
        strcat(_data_DB->command, "', '");
        strcat(_data_DB->command, data.c_str());
        strcat(_data_DB->command, "');");
        char *errorMsg;
        rc = sqlite3_exec(_data_DB->db, _data_DB->command, callback, 0, &errorMsg);
        if( rc!=SQLITE_OK && rc!=101 )
            fprintf(stderr, "SQL error: %s\n", errorMsg);
        //printf("S: done putting ouptut data into DB for ID#='%d', data=%s\n", sourceID, data.c_str());
        j++;
        data.clear();
    }
    //printf("done transact data!\n");
    LOG("ServiceManagementLayer:: Finished with data transaction.\n");


    /*printf("\n\n\n");
    // generate commandi
    strcpy(_data_DB->command, "select ");
    strcat(_data_DB->command, _data_DB->tablename);
    strcat(_data_DB->command, ".* from ");
    strcat(_data_DB->command, _data_DB->tablename);
    strcat(_data_DB->command, ";");

    // execute print (select all)  command    
    char *errorMsg;
    int rc = sqlite3_exec(_data_DB->db, _data_DB->command, callback, 0, &errorMsg);
    if( rc!=SQLITE_OK && rc!=101 )
        fprintf(stderr, "SQL error: %s\n", errorMsg);
    printf("database %s, table %s:\n", _data_DB->filename, _data_DB->tablename);
    printf("\n\n\n");*/
}



/* CALLED BY: MessageHandler
 * INPUTS: <none>
 * OUTPUTS: <none>
 *
 * DESCRIPTION: This function works by first sending the inputs from the shell to the appropriate components
 * The first service should begin immeadiately, as should any others who have all of their input paramaters
 * When they complete, the output path is found and the data is transfered as it becomes available
 * Presumably at this point the second function has all of it's paramaters, so it begins to compute, and the cycle repeats
 * If the generated output is an overall output, it is sent on to the shell
 * "if" and "while" statements are handled by setting up a faux service that has a true input, a false input, and a boolean flag
 * If the true input is non-NULL and the flag is true, the statements execute
 * Likewise, if the false input is non-NULL and the flag is false, the statements execute
 * These flags are set during execution any time one of these faux services' inputs appear in an output statement  
 *  
 * 
 * Rules for active missions (currently)
 * -Three inputs/outputs per service and per mission
 * -Inputs simply define a path, so multiple variables can be transmitted over the same input
 * -Each component that sends data must include the "output_finished" statement after each output is finished sending it's data
 * -All ordering constraints have been relaxed in this version; all data is stored locally and only sent when requested
 * -If support fully implemented
 * -Conditions must be boolean flags
 * -Flags are set by putting either the character string "true" or "false" on the buffer
 * -IMPORTANT: DB uses '@' to seperate individual statements; using '@' in the data stream will result in incorrect behavior
 */

//IF-IF-IF
//IF-IF-WHILE
//IF-WHILE
//WHILE
void
ServiceManagementLayer::PerformActiveMission()
{
    uint16_t i = 0;
    std::string data_param, data_obsv, data;
    std::string input;
    std::string check;
    char buffer[256];
    char* cols[] = {(char *)"Tag", (char *)"Data"};
    //Get the inputs
    memset(buffer, 0, 256);
    ReadMessage(shellSocketFD, buffer);
    LOG("ServiceManagementLayer:: Received PerformActiveMission command.\n");
        data_obsv.append(buffer);
        data_obsv.append("@");

    int t = atoi(buffer);
   // printf("****%d****\n", t);
    for(int k = 0; k < t; k++) {
        memset(buffer, 0, 256);
        ReadMessage(shellSocketFD, buffer);
        data_obsv.append(buffer);
        data_obsv.append("@");
   
        memset(buffer, 0, 256);
        ReadMessage(shellSocketFD, buffer);
        data_obsv.append(buffer);
        data_obsv.append("@");
        //printf("data=%s\n", data_obsv.c_str());
    }

        strcpy(_data_DB->command, "insert into ");
        strcat(_data_DB->command, _data_DB->tablename); 
        strcat(_data_DB->command, " (");
        strcat(_data_DB->command, cols[0]);
        strcat(_data_DB->command, ", ");
        strcat(_data_DB->command, cols[1]);
        strcat(_data_DB->command, ") ");
        strcat(_data_DB->command, " values('observables', '");
        strcat(_data_DB->command, data_obsv.c_str());
        strcat(_data_DB->command, "');");
        char *errorMsg;
        int rc = sqlite3_exec(_data_DB->db, _data_DB->command, callback, 0, &errorMsg);
        if( rc!=SQLITE_OK && rc!=101 )
            fprintf(stderr, "SQL error: %s\n", errorMsg);

    /* Receive Set of Parameters */
    memset(buffer, 0, 256);
    ReadMessage(shellSocketFD, buffer);
        data_param.append(buffer);
        data_param.append("@");
    t=atoi(buffer);
    for(int k = 0; k < t; k++) {
        memset(buffer, 0, 256);
        ReadMessage(shellSocketFD, buffer);
        data_param.append(buffer);
        data_param.append("@");
   
        memset(buffer, 0, 256);
        ReadMessage(shellSocketFD, buffer);
        data_param.append(buffer);
        data_param.append("@");
    }
        //printf("data=%s\n", data_param.c_str());

        strcpy(_data_DB->command, "insert into ");
        strcat(_data_DB->command, _data_DB->tablename); 
        strcat(_data_DB->command, " (");
        strcat(_data_DB->command, cols[0]);
        strcat(_data_DB->command, ", ");
        strcat(_data_DB->command, cols[1]);
        strcat(_data_DB->command, ") ");
        strcat(_data_DB->command, " values('paramaters', '");
        strcat(_data_DB->command, data_param.c_str());
        strcat(_data_DB->command, "');"); 
        rc = sqlite3_exec(_data_DB->db, _data_DB->command, callback, 0, &errorMsg);
        if( rc!=SQLITE_OK && rc!=101 )
            fprintf(stderr, "SQL error: %s\n", errorMsg);


    /*printf("\n\n\n");
    // generate commandi
    strcpy(_data_DB->command, "select ");
    strcat(_data_DB->command, _data_DB->tablename);
    strcat(_data_DB->command, ".* from ");
    strcat(_data_DB->command, _data_DB->tablename);
    strcat(_data_DB->command, ";");

    // execute print (select all)  command  
    rc = sqlite3_exec(_data_DB->db, _data_DB->command, callback, 0, &errorMsg);
    if( rc!=SQLITE_OK && rc!=101 )
        fprintf(stderr, "SQL error: %s\n", errorMsg);
    printf("database %s, table %s:\n", _data_DB->filename, _data_DB->tablename);
    printf("\n\n\n");*/




   // printf("done\n");
    i=0;
    data.clear();
    while(i < miss[activeMission].numServices)
    {
        if(miss[activeMission].services[i].name.compare("if")==0)
        {
           // printf("L0:if detected\n");
            input.clear();
            check.clear();
            if(!miss[activeMission].services[i].input[0].empty()){
                input=miss[activeMission].services[i].input[0];
                check = "1@true@";
            }
            else{
                input=miss[activeMission].services[i].input[1];
                check = "1@false@";
            }
            //printf("L0:input=%s\n", input.c_str());

            strcpy(_data_DB->command, "SELECT ");
            strcat(_data_DB->command, _data_DB->tablename);
            strcat(_data_DB->command, ".* from ");
            strcat(_data_DB->command, _data_DB->tablename);
            strcat(_data_DB->command, " where Tag==");
            sprintf(_data_DB->command, "%s'%s';", _data_DB->command, input.c_str());
            sqlite3_stmt * pStatement;
            rc = sqlite3_prepare_v2(_data_DB->db, _data_DB->command, -1, &pStatement, NULL);
            if (rc == SQLITE_OK){ 
                if (sqlite3_step(pStatement) == SQLITE_ROW)
                     data = (const char *) sqlite3_column_text(pStatement, 1); 
                else {
                        printf("1 data_DB:: Data not yet in DB. %d\n", i);
                        rc=31337;
                }
            } else {
                printf("data_DB:: Error executing SQL statement. rc = %i\n%s\n",rc,_data_DB->command);
            }

            sqlite3_finalize(pStatement);
           // printf("L0:data=%s, check=%s\n", data.c_str(), check.c_str());
           // printf("L0:--- %d  %d---\n", miss[activeMission].services[i].num_conds, i);
            if(data.compare(check)==0){
                //printf("L0:if taken\n");
                
                for(int k = i + 1; k <= i + miss[activeMission].services[i].num_conds; k++){
                        //printf("k=%d\n", k);
                        if(miss[activeMission].services[k].name.compare("if")==0)
                        {
                            //printf("L1:if detected\n");
                            input.clear();
                            check.clear();
                            if(!miss[activeMission].services[k].input[0].empty()){
                                input=miss[activeMission].services[k].input[0];
                                check = "1@true@";
                            }
                            else{
                                input=miss[activeMission].services[k].input[1];
                                check = "1@false@";
                            }
                            //printf("input=%s\n", input.c_str());

                            strcpy(_data_DB->command, "SELECT ");
                            strcat(_data_DB->command, _data_DB->tablename);
                            strcat(_data_DB->command, ".* from ");
                            strcat(_data_DB->command, _data_DB->tablename);
                            strcat(_data_DB->command, " where Tag==");
                            sprintf(_data_DB->command, "%s'%s';", _data_DB->command, input.c_str());
                            sqlite3_stmt * pStatement;
                            rc = sqlite3_prepare_v2(_data_DB->db, _data_DB->command, -1, &pStatement, NULL);
                            if (rc == SQLITE_OK){ 
                                if (sqlite3_step(pStatement) == SQLITE_ROW)
                                     data = (const char *) sqlite3_column_text(pStatement, 1); 
                                else {
                                        printf("1 data_DB:: Data not yet in DB. %d\n", k);
                                        rc=31337;
                                }
                            } else {
                                printf("data_DB:: Error executing SQL statement. rc = %i\n%s\n",rc,_data_DB->command);
                            }

                            sqlite3_finalize(pStatement);
                            //printf("L1:data=%s, check=%s\n", data.c_str(), check.c_str());
                            //printf("L1:--- %d  %d---\n", miss[activeMission].services[i].num_conds, k);
                            if(data.compare(check)==0){
                                //printf("L1:if taken\n");
                                for(int j = k + 1; j <= k + miss[activeMission].services[k].num_conds; j++){
                                   // printf("j=%d\n", k);
                                    //printf("name!!!! = %s\n", miss[activeMission].services[j].name.c_str());
                                    if(miss[activeMission].services[j].name.compare("if")==0)
                                    {
                                           // printf("L2:if detected\n");
                                            input.clear();
                                            check.clear();
                                            if(!miss[activeMission].services[j].input[0].empty()){
                                                input=miss[activeMission].services[j].input[0];
                                                check = "1@true@";
                                            }
                                            else{
                                                input=miss[activeMission].services[j].input[1];
                                                check = "1@false@";
                                            }
                                            //printf("L2:input=%s\n", input.c_str());

                                            strcpy(_data_DB->command, "SELECT ");
                                            strcat(_data_DB->command, _data_DB->tablename);
                                            strcat(_data_DB->command, ".* from ");
                                            strcat(_data_DB->command, _data_DB->tablename);
                                            strcat(_data_DB->command, " where Tag==");
                                            sprintf(_data_DB->command, "%s'%s';", _data_DB->command, input.c_str());
                                            sqlite3_stmt * pStatement;
                                            rc = sqlite3_prepare_v2(_data_DB->db, _data_DB->command, -1, &pStatement, NULL);
                                            if (rc == SQLITE_OK){ 
                                                if (sqlite3_step(pStatement) == SQLITE_ROW)
                                                     data = (const char *) sqlite3_column_text(pStatement, 1); 
                                                else {
                                                        printf("1 data_DB:: Data not yet in DB. %d\n", k);
                                                        rc=31337;
                                                }
                                            } else {
                                                printf("data_DB:: Error executing SQL statement. rc = %i\n%s\n",rc,_data_DB->command);
                                            }

                                            sqlite3_finalize(pStatement);
                                           // printf("L2:data=%s, check=%s\n", data.c_str(), check.c_str());
                                           // printf("L2:--- %d  %d---\n", miss[activeMission].services[i].num_conds, k);
                                            if(data.compare(check)==0){
                                                //printf("L2:if taken\n");
                                                for(int p = j + 1; p <= j + miss[activeMission].services[j].num_conds; p++)
                                                    TransactData(p);
                                            }
                                            else{
                                                //printf("L2:if not taken %d\n", miss[activeMission].services[j].num_conds);
                                            }
                                        j+=miss[activeMission].services[j].num_conds;
                                    }

                                    else if(miss[activeMission].services[j].name.compare("while")==0)
                                    {
                                        //printf("while detected\n");
                                        while(true){
                                            data.clear();
                                            input.clear();
                                            check.clear();
                                            if(!miss[activeMission].services[j].input[0].empty()){
                                                input=miss[activeMission].services[j].input[0];
                                                check = "1@true@";
                                            }
                                            else{
                                                input=miss[activeMission].services[j].input[1];
                                                check = "1@false@";
                                            }
                                            strcpy(_data_DB->command, "select ");
                                            strcat(_data_DB->command, _data_DB->tablename);
                                            strcat(_data_DB->command, ".* from ");
                                            strcat(_data_DB->command, _data_DB->tablename);
                                            strcat(_data_DB->command, " where Tag==");
                                            sprintf(_data_DB->command, "%s'%s';", _data_DB->command, input.c_str());
                                            sqlite3_stmt * pStatement;
                                            rc = sqlite3_prepare_v2(_data_DB->db, _data_DB->command, -1, &pStatement, NULL);
                                            if (rc == SQLITE_OK){ 
                                                if (sqlite3_step(pStatement) == SQLITE_ROW)
                                                    data = (const char *) sqlite3_column_text(pStatement, 1); 
                                                else 
                                                    printf("1 data_DB:: Data not yet in DB. %d\n", i);
                                            } 
                                            else {
                                                printf("data_DB:: Error executing SQL statement. rc = %i\n%s\n",rc,_data_DB->command);
                                            }

                                            sqlite3_finalize(pStatement);
                                            printf("data=%s, check=%s\n", data.c_str(), check.c_str());
                                            if(data.compare(check)==0){
                                                printf("while taken\n");
                                                for(int p = j + 1; p <= j + miss[activeMission].services[j].num_conds; p++)
                                                    TransactData(p);
                                            }
                                            else{
                                                printf("while not taken %d\n", miss[activeMission].services[k].num_conds);
                                                 j+=miss[activeMission].services[j].num_conds;
                                                break;
                                            }
                                        }
                                    }
                                    else{
                                        printf("L2: nocond transact\n");
                                        TransactData(j);}
                                    j++;
                                }
                            }
                            else{
                                //printf("if not taken %d\n", miss[activeMission].services[k].num_conds);
                            }
                            k+=miss[activeMission].services[k].num_conds;
                        }
                        else if(miss[activeMission].services[k].name.compare("while")==0)
                        {
                            //printf("while detected\n");
                            while(true){
                                    data.clear();
                                    input.clear();
                                    check.clear();
                                    if(!miss[activeMission].services[k].input[0].empty()){
                                        input=miss[activeMission].services[k].input[0];
                                        check = "1@true@";
                                    }
                                    else{
                                        input=miss[activeMission].services[k].input[1];
                                        check = "1@false@";
                                    }
                                    strcpy(_data_DB->command, "select ");
                                    strcat(_data_DB->command, _data_DB->tablename);
                                    strcat(_data_DB->command, ".* from ");
                                    strcat(_data_DB->command, _data_DB->tablename);
                                    strcat(_data_DB->command, " where Tag==");
                                    sprintf(_data_DB->command, "%s'%s';", _data_DB->command, input.c_str());
                                    sqlite3_stmt * pStatement;
                                    rc = sqlite3_prepare_v2(_data_DB->db, _data_DB->command, -1, &pStatement, NULL);
                                    if (rc == SQLITE_OK){ 
                                        if (sqlite3_step(pStatement) == SQLITE_ROW)
                                            data = (const char *) sqlite3_column_text(pStatement, 1); 
                                        else 
                                            printf("1 data_DB:: Data not yet in DB. %d\n", i);
                                    } 
                                    else {
                                        printf("data_DB:: Error executing SQL statement. rc = %i\n%s\n",rc,_data_DB->command);
                                    }

                                    sqlite3_finalize(pStatement);
                                    printf("data=%s, check=%s\n", data.c_str(), check.c_str());
                                    if(data.compare(check)==0){
                                        printf("while taken\n");
                                        for(int k = i + 1; k <= i + miss[activeMission].services[i].num_conds; k++)
                                            TransactData(k);
                                    }
                                    else{
                                        printf("while not taken %d\n", miss[activeMission].services[k].num_conds);
                                        k+=miss[activeMission].services[k].num_conds;
                                        break;
                                    }
                            }
                        }
                        else{
                            //printf("L1: nocond transact\n");
                            TransactData(k);}
                        k++;
                }
            }
            else{
                printf("La2 if not taken %d\n", miss[activeMission].services[i].num_conds);
            }
            //printf("i=%d\n", i);
            i+=miss[activeMission].services[i].num_conds;
            //printf("i=%d\n", i);
        }
        else if(miss[activeMission].services[i].name.compare("while")==0)
        {
            //printf("while detected\n");
            while(true){
                    data.clear();
                    input.clear();
                    check.clear();
                    if(!miss[activeMission].services[i].input[0].empty()){
                        input=miss[activeMission].services[i].input[0];
                        check = "1@true@";
                    }
                    else{
                        input=miss[activeMission].services[i].input[1];
                        check = "1@false@";
                    }
                    strcpy(_data_DB->command, "select ");
                    strcat(_data_DB->command, _data_DB->tablename);
                    strcat(_data_DB->command, ".* from ");
                    strcat(_data_DB->command, _data_DB->tablename);
                    strcat(_data_DB->command, " where Tag==");
                    sprintf(_data_DB->command, "%s'%s';", _data_DB->command, input.c_str());
                    sqlite3_stmt * pStatement;
                    rc = sqlite3_prepare_v2(_data_DB->db, _data_DB->command, -1, &pStatement, NULL);
                    if (rc == SQLITE_OK){ 
                        if (sqlite3_step(pStatement) == SQLITE_ROW)
                            data = (const char *) sqlite3_column_text(pStatement, 1); 
                        else 
                            printf("1 data_DB:: Data not yet in DB. %d\n", i);
                    } 
                    else {
                        printf("data_DB:: Error executing SQL statement. rc = %i\n%s\n",rc,_data_DB->command);
                    }

                    sqlite3_finalize(pStatement);
                    //printf("data=%s, check=%s\n", data.c_str(), check.c_str());
                    if(data.compare(check)==0){
                        printf("while taken\n");
                        for(int k = i + 1; k <= i + miss[activeMission].services[i].num_conds; k++)
                            TransactData(k);
                    }
                    else{
                        printf("while not taken %d\n", miss[activeMission].services[i].num_conds);
                        i+=miss[activeMission].services[i].num_conds;
                        break;
                    }
            }
        }
        else{
           // printf("L0 nocond transact\n");
            TransactData(i);}
        i++;
        //printf("i=%d\n", i);
    }
    i=0;
    data.clear();
    //get the ouptuts
    while(i < 5 && !miss[activeMission].output[i].empty()){
        //printf("sending output data to shell\n");
        strcpy(_data_DB->command, "select ");
        strcat(_data_DB->command, _data_DB->tablename);
        strcat(_data_DB->command, ".* from ");
        strcat(_data_DB->command, _data_DB->tablename);
        strcat(_data_DB->command, " where Tag==");
        sprintf(_data_DB->command, "%s'%s';", _data_DB->command, miss[activeMission].output[i].c_str());
        sqlite3_stmt * pStatement;
        int rc = sqlite3_prepare_v2(_data_DB->db, _data_DB->command, -1, &pStatement, NULL);
        if (rc == SQLITE_OK){ 
            if (sqlite3_step(pStatement) == SQLITE_ROW) 
                 data.append((const char*) sqlite3_column_text(pStatement, 1)); 
            else {
                    printf("data_DB:: Data not yet in DB.\n");
                    rc=31337;
            }
        } 
        else {
            printf("services_DB:: Error executing SQL statement. rc = %i\n%s\n",rc,_data_DB->command);
        } 
        //printf("here %s\n", data.c_str());
        sqlite3_finalize(pStatement);
        char *data_ch = (char *) data.c_str();
        char *token = strtok(data_ch, "@");
        SendMessage(shellSocketFD, token);
        token = strtok(NULL, "@");
        while(token){
            SendMessage(shellSocketFD, token);
            //printf("token1 = %s\n", token);
            token = strtok(NULL, "@");
            SendMessage(shellSocketFD, token);
            //printf("token2 = %s\n", token);
            token = strtok(NULL, "@");
        }
        i++;
        data.clear();
    }
    LOG("ServiceManagementLayer:: Done sending output data to shell from PerformActiveMission.\n");
}


/* CALLED BY: MessageHandler
 * INPUTS: <none>
 * OUTPUTS: <none>
 *
 * DESCRIPTION: Print a list of the services currently registered and the ID's of the components that registered them
 */
void 
ServiceManagementLayer::ListServices()
{
    // generate commandi
    strcpy(_services_DB->command, "select ");
    strcat(_services_DB->command, _services_DB->tablename);
    strcat(_services_DB->command, ".* from ");
    strcat(_services_DB->command, _services_DB->tablename);
    strcat(_services_DB->command, ";");

    // execute print (select all)  command    
    char *errorMsg;
    int rc = sqlite3_exec(_services_DB->db, _services_DB->command, callback, 0, &errorMsg);
    if( rc!=SQLITE_OK && rc!=101 )
        fprintf(stderr, "SQL error: %s\n", errorMsg);
    printf("database %s, table %s:\n", _services_DB->filename, _services_DB->tablename);
}

/* CALLED BY: Reset
 * INPUTS: <none>
 * OUTPUTS: <none>
 *
 * DESCRIPTION: Clear and reinitialize the mission array, then reload the configuration file
 */
void 
ServiceManagementLayer::ReloadConfiguration()
{
    LOG("ServiceManagementLayer:: Reloading Configuration.\n");
    free(miss);
    miss = new Mission[10];
    for(int i = 0; i < 10; i++)
        miss[i].services = new Service[20];
    LoadConfiguration(_SML_Config, miss);
}

/* CALLED BY: constructor
 * INPUTS: |SML_Config| Address (either relitive or full) of the XML file containing mission data
 *         |mList| Mission array to be modified 
 * OUTPUTS: <none>
 *
 * DESCRIPTION: IMPORTANT - See formatting instructions for correct parsing of data
 * Can currently handle 3 inputs and 3 outputs per service, but easily expandable
 * Also, can handle one layer of nested conditional statements, but could
 * be expanded to meet additional needs.  Only support now is for straight bool flags,
 * but support could be added for more complex conditionals later.
 * 
 * Components assigned to mission during "set active mission" stage so that
 * components can still continue to register after the configuration is loaded
 */
void 
ServiceManagementLayer::LoadConfiguration(const char *SML_Config, Mission* &mList)
{
    TiXmlElement *pMission;
    TiXmlElement *pService;
    TiXmlElement *pChild0, *pChild1, *pChild2, *pChild3, *pChild4;
    TiXmlHandle hRoot(0);
    //printf("ServiceManagementLayer:: Loading Configuration.\n");
    TiXmlDocument doc(".");
    doc.LoadFile(SML_Config);
    bool loadOkay = doc.LoadFile();
    if(!loadOkay)
        printf("Loading SML configuration failed: %s\n", SML_Config);

    TiXmlHandle hDoc(&doc);
    
    pMission = hDoc.FirstChildElement().Element();

    if(!pMission) 
        printf("No valid root!");

    hRoot = TiXmlHandle(pMission);
    pService = pMission->FirstChildElement();
    int32_t mission_num = 0;
    //Iterate through the missions
    for(pChild0 = pMission->FirstChildElement(); pChild0 ; \
        pChild0 = pChild0->NextSiblingElement()) 
    {
        int32_t service_num = 0;
        uint16_t cond_array[] = {0, 0, 0};
        //printf("mission_num = %d\n", mission_num);
        //memset(cond_array, 0, 2);
        
        for(pChild1  = pChild0->FirstChildElement(); pChild1; \
            pChild1  = pChild1->NextSiblingElement()) 
        {
            int32_t conditional_0 = service_num;
            for(pChild2 = pChild1->FirstChildElement(); \
                pChild2; pChild2 = pChild2->NextSiblingElement())
            {
                service_num++;
                int32_t conditional_1 = service_num;
                for(pChild3 = pChild2->FirstChildElement(); \
                    pChild3; pChild3 = pChild3 ->NextSiblingElement())
                {
                    service_num++;
                    int32_t conditional_2 = service_num;
                        for(pChild4 = pChild3->FirstChildElement(); \
                            pChild4; pChild4 = pChild4 ->NextSiblingElement())
                        {
                            service_num++;
                            mList[mission_num].services[service_num].name = pChild4->Attribute("name");
                            if(pChild4->Attribute("input1"))
                                mList[mission_num].services[service_num].input[0] = pChild4->Attribute("input1");
                            if(pChild4->Attribute("input2"))
                                mList[mission_num].services[service_num].input[1] = pChild4->Attribute("input2");
                            if(pChild4->Attribute("input3"))
                                mList[mission_num].services[service_num].input[2] = pChild4->Attribute("input3");
                            if(pChild4->Attribute("input4"))
                                mList[mission_num].services[service_num].input[3] = pChild4->Attribute("input4");
                            if(pChild4->Attribute("input5"))
                                mList[mission_num].services[service_num].input[4] = pChild4->Attribute("input5");
                            if(pChild4->Attribute("output1"))
                                mList[mission_num].services[service_num].output[0] = pChild4->Attribute("output1");
                            if(pChild4->Attribute("output2"))
                                mList[mission_num].services[service_num].output[1] = pChild4->Attribute("output2");
                            if(pChild4->Attribute("output3"))
                                mList[mission_num].services[service_num].output[2] = pChild4->Attribute("output3");
                            if(pChild4->Attribute("output4"))
                                mList[mission_num].services[service_num].output[3] = pChild4->Attribute("output4");
                            if(pChild4->Attribute("output5"))
                                mList[mission_num].services[service_num].output[4] = pChild4->Attribute("output5");
                            cond_array[2]++;
                        }
                        if(!strcmp(pChild3->Value(), "shell")) {
                            mList[mission_num].services[conditional_2].name = pChild3->Value();
                            mList[mission_num].services[conditional_2].output[0] = pChild3->Attribute("output1");
                //printf("2shell detected\n");
                        }
                        else if(conditional_2 != service_num){
                            mList[mission_num].services[conditional_2].name = pChild3->Value();
                            if(pChild3->Attribute("input_t"))
                                mList[mission_num].services[conditional_2].input[0] = pChild3->Attribute("input_t");
                            if(pChild3->Attribute("input_f"))
                                mList[mission_num].services[conditional_2].input[1] = pChild3->Attribute("input_f");
                        }
                        else{
                            mList[mission_num].services[service_num].name = pChild3->Attribute("name");
                            if(pChild3->Attribute("input1"))
                                mList[mission_num].services[service_num].input[0] = pChild3->Attribute("input1");
                            if(pChild3->Attribute("input2"))
                                mList[mission_num].services[service_num].input[1] = pChild3->Attribute("input2");
                            if(pChild3->Attribute("input3"))
                                mList[mission_num].services[service_num].input[2] = pChild3->Attribute("input3");
                            if(pChild3->Attribute("input4"))
                                mList[mission_num].services[service_num].input[3] = pChild3->Attribute("input4");
                            if(pChild3->Attribute("input5"))
                                mList[mission_num].services[service_num].input[4] = pChild3->Attribute("input5");
                            if(pChild3->Attribute("output1"))
                                mList[mission_num].services[service_num].output[0] = pChild3->Attribute("output1");
                            if(pChild3->Attribute("output2"))
                                mList[mission_num].services[service_num].output[1] = pChild3->Attribute("output2");
                            if(pChild3->Attribute("output3"))
                                mList[mission_num].services[service_num].output[2] = pChild3->Attribute("output3");
                            if(pChild3->Attribute("output4"))
                                mList[mission_num].services[service_num].output[3] = pChild3->Attribute("output4");
                            if(pChild3->Attribute("output5"))
                                mList[mission_num].services[service_num].output[4] = pChild3->Attribute("output5");
                        }
                        mList[mission_num].services[conditional_2].num_conds = cond_array[2];
                        cond_array[1]+=cond_array[2]+1;
                        //printf("cond_array[2]%d\n", cond_array[2]);
                        cond_array[2] = 0;


                }
                //printf("here\n");
                if(!strcmp(pChild2->Value(), "shell")) {
                    mList[mission_num].services[conditional_1].name = pChild2->Value();
                    mList[mission_num].services[conditional_1].output[0] = pChild2->Attribute("output1");
                //printf("1shell detected\n");
                }
                else if(conditional_1 != service_num){
                    mList[mission_num].services[conditional_1].name = pChild2->Value();
                    if(pChild2->Attribute("input_t"))
                        mList[mission_num].services[conditional_1].input[0] = pChild2->Attribute("input_t");
                    if(pChild2->Attribute("input_f"))
                        mList[mission_num].services[conditional_1].input[1] = pChild2->Attribute("input_f");
                }
                else{
                    mList[mission_num].services[service_num].name = pChild2->Attribute("name");
                    if(pChild2->Attribute("input1"))
                        mList[mission_num].services[service_num].input[0] = pChild2->Attribute("input1");
                    if(pChild2->Attribute("input2"))
                        mList[mission_num].services[service_num].input[1] = pChild2->Attribute("input2");
                    if(pChild2->Attribute("input3"))
                        mList[mission_num].services[service_num].input[2] = pChild2->Attribute("input3");
                    if(pChild2->Attribute("input4"))
                        mList[mission_num].services[service_num].input[3] = pChild2->Attribute("input4");
                    if(pChild2->Attribute("input5"))
                        mList[mission_num].services[service_num].input[4] = pChild2->Attribute("input5");
                    if(pChild2->Attribute("output1"))
                        mList[mission_num].services[service_num].output[0] = pChild2->Attribute("output1");
                    if(pChild2->Attribute("output2"))
                        mList[mission_num].services[service_num].output[1] = pChild2->Attribute("output2");
                    if(pChild2->Attribute("output3"))
                        mList[mission_num].services[service_num].output[2] = pChild2->Attribute("output3");
                    if(pChild2->Attribute("output4"))
                        mList[mission_num].services[service_num].output[3] = pChild2->Attribute("output4");
                    if(pChild2->Attribute("output5"))
                        mList[mission_num].services[service_num].output[4] = pChild2->Attribute("output5");
                }

                mList[mission_num].services[conditional_1].num_conds = cond_array[1];
                cond_array[0]+=cond_array[1]+1;
                //printf("cond_array[1]%d\n", cond_array[1]);
                cond_array[1] = 0;
            }
            
            if(!strcmp(pChild1->Value(), "shell")) {
                //printf("shell detected\n");
                mList[mission_num].services[conditional_0].name = pChild1->Value();
                mList[mission_num].services[conditional_0].output[0] = pChild1->Attribute("output1");
            }
            else if(conditional_0 != service_num){
                mList[mission_num].services[conditional_0].name = pChild1->Value();
                    if(pChild1->Attribute("input_t"))
                        mList[mission_num].services[conditional_0].input[0] = pChild1->Attribute("input_t");
                    if(pChild1->Attribute("input_f"))
                        mList[mission_num].services[conditional_0].input[1] = pChild1->Attribute("input_f");
                //printf("---input_t=%s\n", mList[mission_num].services[conditional_0].input[0].c_str());
            }
            else{
                mList[mission_num].services[conditional_0].name = pChild1->Attribute("name");
                //printf("name=%s\n", mList[mission_num].services[conditional_0].name.c_str());
                if(pChild1->Attribute("input1"))
                    mList[mission_num].services[service_num].input[0] = pChild1->Attribute("input1");
                if(pChild1->Attribute("input2"))
                    mList[mission_num].services[service_num].input[1] = pChild1->Attribute("input2");
                if(pChild1->Attribute("input3"))
                    mList[mission_num].services[service_num].input[2] = pChild1->Attribute("input3");
                if(pChild1->Attribute("input4"))
                    mList[mission_num].services[service_num].input[3] = pChild1->Attribute("input4");
                if(pChild1->Attribute("input5"))
                    mList[mission_num].services[service_num].input[4] = pChild1->Attribute("input5");
                if(pChild1->Attribute("output1"))
                    mList[mission_num].services[service_num].output[0] = pChild1->Attribute("output1");
                if(pChild1->Attribute("output2"))
                    mList[mission_num].services[service_num].output[1] = pChild1->Attribute("output2");
                if(pChild1->Attribute("output3"))
                    mList[mission_num].services[service_num].output[2] = pChild1->Attribute("output3");
                if(pChild1->Attribute("output4"))
                    mList[mission_num].services[service_num].output[3] = pChild1->Attribute("output4");
                if(pChild1->Attribute("output5"))
                    mList[mission_num].services[service_num].output[4] = pChild1->Attribute("output4");
            }

            mList[mission_num].services[conditional_0].num_conds = cond_array[0];
            cond_array[0] = 0;
            service_num++;
        }
        //for(int i = 0; i < service_num; i++)
         //printf("ttt%d\n", mList[mission_num].services[i].num_conds);
        
        mList[mission_num].numServices = service_num;
        mList[mission_num].name = pChild0->Attribute("name");
        mList[mission_num].missionID = atoi(pChild0->Attribute("id"));
        if(pChild0->Attribute("input1"))
            mList[mission_num].input[0] = pChild0->Attribute("input1");
        if(pChild0->Attribute("input2"))
            mList[mission_num].input[1] = pChild0->Attribute("input2");
        if(pChild0->Attribute("input3"))
            mList[mission_num].input[2] = pChild0->Attribute("input3");
        if(pChild0->Attribute("input4"))
            mList[mission_num].input[3] = pChild0->Attribute("input4");
        if(pChild0->Attribute("input5"))
            mList[mission_num].input[4] = pChild0->Attribute("input4");
        if(pChild0->Attribute("output1"))
            mList[mission_num].output[0] = pChild0->Attribute("output1");
        if(pChild0->Attribute("output2"))
            mList[mission_num].output[1] = pChild0->Attribute("output2");
        if(pChild0->Attribute("output3"))
            mList[mission_num].output[2] = pChild0->Attribute("output3");
        if(pChild0->Attribute("output4"))
            mList[mission_num].output[3] = pChild0->Attribute("output4");
        if(pChild0->Attribute("output5"))
            mList[mission_num].output[4] = pChild0->Attribute("output5");
        //printf("mis, input1=%s, output1=%s\n", mList[mission_num].input[0].c_str(), mList[mission_num].output[0].c_str());
        //printf("NUMSERVICES = %d\n", mList[mission_num].numServices);
        mission_num++;
    }
}

/* CALLED BY: MessageHandler
 * INPUTS: |ID| The ID number of the engine to be registered
 * OUTPUTS: <none>
 *
 * DESCRIPTION: Sends a registration message onto the shell and sends the ACK back to the component
 */
void
ServiceManagementLayer::RegisterCognitiveEngine(int32_t ID)
{
    //LOG("SML::regcogeng");
    SendMessage(shellSocketFD, "register_engine_cognitive");

   // printf("SSFD = %d\n", shellSocketFD);
    LOG("ServiceManagementLayer:: CE registration message forwarded to shell.\n");
    char buffer[256];
    memset(buffer, 0, 256);
    ReadMessage(shellSocketFD, buffer);
    //printf("ServiceManagementLayer::buffer = %s\n", buffer);
    SendMessage(CE_List[ID].FD, buffer);

    TransferRadioConfiguration(ID);
    memset(buffer, 0, 256);
    //printf("start trans exp\n");
    TransferExperience(ID);
    memset(buffer, 0, 256);
    numberOfCognitiveEngines++;
    CE_Present = true;
    //printf("done registering CE!\n");
}

/* CALLED BY: MessageHandler
 * INPUTS: |ID| The ID number of the engine to have it's services deregistered
 * OUTPUTS: <none>
 *
 * DESCRIPTION: Deletes individual services from the DB
 * NOTE THAT this function only needs to be called if service deregistration is going
 * to be done at a different time than component deregistration; it is handled
 * more efficiently and directly during that deregistration process.
 */
void 
ServiceManagementLayer::DeregisterServices(int32_t ID)
{
    char buffer[256];
    memset(buffer, 0, 256);
    ReadMessage(CE_List[ID].FD, buffer); 
    strcpy(_services_DB->command, "DELETE FROM ");
    strcat(_services_DB->command, _services_DB->tablename);
    strcat(_services_DB->command, " WHERE ID_Num IN (SELECT");
    sprintf(_services_DB->command, " %s %d",_services_DB->command, ID);
    strcat(_services_DB->command, " FROM ");
    strcat(_services_DB->command, _services_DB->tablename);
    strcat(_services_DB->command, " WHERE Service_Name");
    strcat(_services_DB->command, "==");
    sprintf(_services_DB->command, "%s'%s');", _services_DB->command, buffer);
    char *errorMsg;
    int rc = sqlite3_exec(_services_DB->db, _services_DB->command, callback, 0, &errorMsg);
    if( rc!=SQLITE_OK && rc!=101 )
        fprintf(stderr, "SQL error: %s\n", errorMsg);
}

/* CALLED BY: MessageHandler
 * INPUTS: |ID| The ID number of the engine to have it's services deregistered
 * OUTPUTS: <none>
 *
 * DESCRIPTION: Deletes the contact info for the cognitive engine, forwards a deregistration message to the shell
 * Also, deletes the services from the DB
 */
void 
ServiceManagementLayer::DeregisterCognitiveEngine(int32_t ID)
{
    LOG("ServiceManagementLayer:: CE deregistration message forwarded to shell.\n");

    numberOfCognitiveEngines--;
    if(numberOfCognitiveEngines == 0)
        CE_Present = false;

    SendMessage(shellSocketFD, "deregister_engine_cognitive");
    char buffer[256];
    memset(buffer, 0, 256);
    ReadMessage(shellSocketFD, buffer);
    SendMessage(CE_List[ID].FD, buffer);
    if(strcmp("deregister_ack", buffer) != 0) {
        ERROR(1, "SML:: Failed to close CE socket\n");
    }

    //Deregister the services
    strcpy(_services_DB->command, "DELETE FROM ");
    strcat(_services_DB->command, _services_DB->tablename);
    strcat(_services_DB->command, " WHERE ");
    strcat(_services_DB->command, "ID_Num");
    strcat(_services_DB->command, "==");
    sprintf(_services_DB->command, "%s%d;", _services_DB->command, ID);
    char *errorMsg;
    int rc = sqlite3_exec(_services_DB->db, _services_DB->command, callback, 0, &errorMsg);
    if( rc!=SQLITE_OK && rc!=101 )
        fprintf(stderr, "SQL error: %s\n", errorMsg);


    CE_List[ID].FD = -1;
    CE_List[ID].ID_num = -1;

    LOG("Cognitive Radio Shell:: CE Socket closed for engine #%d.\n", ID);
}


/* CALLED BY: test class
 * INPUTS: <none>
 * OUTPUTS: <none>
 *
 * DESCRIPTION: Sets up a server socket and listens for communication on either that or the shell socket
 */
void
ServiceManagementLayer::StartSMLServer()
{
    //printf("Ready for CE Signal! (registration done)\n");
    struct timeval selTimeout;
    int32_t running = 1;
    int32_t port, rc, new_sd = 1;
    int32_t desc_ready = 1;
                //If there is, call the MessageHandler with the Shell_Msg code of -1
    fd_set sockSet, shellSet;

    cogEngSrv = CreateTCPServerSocket(SMLport);
    int32_t maxDescriptor = cogEngSrv;

    if(InitializeTCPServerPort(cogEngSrv) == -1)
        ERROR(1,"Error initializing primary port\n");

    int i = 10000000;  //TODO change to "running" if endpoint can be reached
    while (running) {
        i--;
        /* Zero socket descriptor vector and set for server sockets */
        /* This must be reset every time select() is called */
        FD_ZERO(&sockSet);
        FD_SET(cogEngSrv, &sockSet);
        for(uint16_t k = 0; k < Current_ID; k++){
            if(CE_List[k].ID_num != -1)
                FD_SET(CE_List[k].FD, &sockSet);
        }
            //printf("k=%d, CID=%d\n", k, CE_List[k].FD);

        /* Timeout specification */
        /* This must be reset every time select() is called */
        selTimeout.tv_sec = 0;       /* timeout (secs.) */
        selTimeout.tv_usec = 0;            /* 0 microseconds */
        //Changed both to zero so that select will check messages from the shell instead of blocking
        //when there is no command from the CE's to be processed

        //Check if there is a message on the socket waiting to be read
        rc = select(maxDescriptor + 1, &sockSet, NULL, NULL, &selTimeout); 
        //printf("rc=%d\n", rc);
        if(rc == 0){
            //LOG("No echo requests for %i secs...Server still alive\n", timeout);
        
            FD_ZERO(&shellSet);
            FD_SET(shellSocketFD, &shellSet);
            selTimeout.tv_sec = 0;
            selTimeout.tv_usec = 0;
            //Check if there is a message on the shell socket ready to be processed
            select(shellSocketFD + 1, &shellSet, NULL, NULL, &selTimeout);
            //printf("rc2=%d\n", rc2);
                //If there is, call the MessageHandler with the Shell_Msg code of -1
            if(FD_ISSET(shellSocketFD, &shellSet)){
                //printf("shell_msg, %d\n", rc2);
                MessageHandler(-1);}
        }
        else { 
            desc_ready = rc;
            for(port = 0; port <= maxDescriptor && desc_ready > 0; port++) {
                if(FD_ISSET(port, &sockSet)) {
                    desc_ready -= 1;

                    //Check if request is new or on an existing open descriptor
                    if(port == cogEngSrv) { 
                        //If new, assign it a descriptor and give it an ID
                        new_sd = AcceptTCPConnection(port);
                         
                        if(new_sd < 0) 
                            break;

                        CE_List[Current_ID].FD = new_sd;
                        CE_List[Current_ID].ID_num = Current_ID;
                        MessageHandler(Current_ID);
                        Current_ID++;
        
                        FD_SET(new_sd,&sockSet);
                        if(new_sd > maxDescriptor) 
                           maxDescriptor = new_sd;
                    } 
                    else {
                        //If old, figure out which ID it coresponds to and handle it accordingly
                        for(uint16_t z = 0; z < Current_ID; z++)
                        {
                                if(CE_List[z].FD == port){
                                        MessageHandler(z);}
                        }
                    }
                }
            }
        }
    }        

    /* Close sockets */
    close(cogEngSrv);

    //delete &cogEngSrv;
    return;
}




    /*TiXmlElement *pMission;
    TiXmlElement *pService;
    TiXmlElement *pChild0, *pChild1, *pChild2, *pChild3;
    TiXmlHandle hRoot(0);
    //printf("ServiceManagementLayer:: Loading Configuration.\n");
    TiXmlDocument doc(".");
    doc.LoadFile(SML_Config);
    bool loadOkay = doc.LoadFile();
    if(!loadOkay)
        printf("Loading SML configuration failed: %s\n", SML_Config);

    TiXmlHandle hDoc(&doc);
    
    pMission = hDoc.FirstChildElement().Element();

    if(!pMission) 
        printf("No valid root!");

    hRoot = TiXmlHandle(pMission);
    pService = pMission->FirstChildElement();
    int32_t mission_num = 0;
    //Iterate through the missions
    for(pChild0 = pMission->FirstChildElement(); pChild0 ; \
        pChild0 = pChild0->NextSiblingElement()) 
    {
        int32_t service_num = 0;
        uint16_t cond_array[] = {0, 0};
        //printf("mission_num = %d\n", mission_num);
        memset(cond_array, 0, 2);
        
        for(pChild1  = pChild0->FirstChildElement(); pChild1; \
            pChild1  = pChild1->NextSiblingElement()) 
        {
            int32_t conditional_0 = service_num;
            for(pChild2 = pChild1->FirstChildElement(); \
                pChild2; pChild2 = pChild2->NextSiblingElement())
            {
                service_num++;
                int32_t conditional_1 = service_num;
                for(pChild3 = pChild2->FirstChildElement(); \
                    pChild3; pChild3 = pChild3 ->NextSiblingElement())
                {
                    service_num++;
                    mList[mission_num].services[service_num].name = pChild3->Attribute("name");
                    if(pChild3->Attribute("input1"))
                        mList[mission_num].services[service_num].input[0] = pChild3->Attribute("input1");
                    if(pChild3->Attribute("input2"))
                        mList[mission_num].services[service_num].input[1] = pChild3->Attribute("input2");
                    if(pChild3->Attribute("input3"))
                        mList[mission_num].services[service_num].input[2] = pChild3->Attribute("input3");
                    if(pChild3->Attribute("output1"))
                        mList[mission_num].services[service_num].output[0] = pChild3->Attribute("output1");
                    if(pChild3->Attribute("output2"))
                        mList[mission_num].services[service_num].output[1] = pChild3->Attribute("output2");
                    if(pChild3->Attribute("output3"))
                        mList[mission_num].services[service_num].output[2] = pChild3->Attribute("output3");
                    cond_array[1]++;
                }

                if(conditional_1 != service_num){
                    mList[mission_num].services[conditional_1].name = pChild2->Value();
                    if(pChild2->Attribute("input_t"))
                        mList[mission_num].services[conditional_1].input[0] = pChild2->Attribute("input_t");
                    if(pChild2->Attribute("input_f"))
                        mList[mission_num].services[conditional_1].input[1] = pChild2->Attribute("input_f");
                }
                else{
                    mList[mission_num].services[service_num].name = pChild2->Attribute("name");
                    if(pChild2->Attribute("input1"))
                        mList[mission_num].services[service_num].input[0] = pChild2->Attribute("input1");
                    if(pChild2->Attribute("input2"))
                        mList[mission_num].services[service_num].input[1] = pChild2->Attribute("input2");
                    if(pChild2->Attribute("input3"))
                        mList[mission_num].services[service_num].input[2] = pChild2->Attribute("input3");
                    if(pChild2->Attribute("output1"))
                        mList[mission_num].services[service_num].output[0] = pChild2->Attribute("output1");
                    if(pChild2->Attribute("output2"))
                        mList[mission_num].services[service_num].output[1] = pChild2->Attribute("output2");
                    if(pChild2->Attribute("output3"))
                        mList[mission_num].services[service_num].output[2] = pChild2->Attribute("output3");
                }

                mList[mission_num].services[conditional_1].num_conds = cond_array[1];
                cond_array[1] = 0;
                cond_array[0]++;
            }
            if(conditional_0 != service_num){
                mList[mission_num].services[conditional_0].name = pChild1->Value();
                if(pChild1->Attribute("input_t"))
                    mList[mission_num].services[conditional_0].input[0] = pChild1->Attribute("input_t");
                if(pChild1->Attribute("input_f"))
                    mList[mission_num].services[conditional_0].input[1] = pChild1->Attribute("input_f");
                printf("if detected %s, %s\n", pChild1->Attribute("input_f"), pChild1->Attribute("input_t"));
            }
            else{
                mList[mission_num].services[service_num].name = pChild1->Attribute("name");
                if(pChild1->Attribute("input1"))
                    mList[mission_num].services[service_num].input[0] = pChild1->Attribute("input1");
                if(pChild1->Attribute("input2"))
                    mList[mission_num].services[service_num].input[1] = pChild1->Attribute("input2");
                if(pChild1->Attribute("input3"))
                    mList[mission_num].services[service_num].input[2] = pChild1->Attribute("input3");
                if(pChild1->Attribute("output1"))
                    mList[mission_num].services[service_num].output[0] = pChild1->Attribute("output1");
                if(pChild1->Attribute("output2"))
                    mList[mission_num].services[service_num].output[1] = pChild1->Attribute("output2");
                if(pChild1->Attribute("output3"))
                    mList[mission_num].services[service_num].output[2] = pChild1->Attribute("output3");
            }

            mList[mission_num].services[conditional_0].num_conds = cond_array[0];
            //printf("hello\n");
            
            cond_array[0] = 0;
            service_num++;
        }
        for(int i = 0; i < service_num; i++)
                printf("input1=%s, output1=%s\n", mList[mission_num].services[i].input[0].c_str(), mList[mission_num].services[service_num].output[0].c_str());

        mList[mission_num].numServices = service_num;
        mList[mission_num].name = pChild0->Attribute("name");
        mList[mission_num].missionID = atoi(pChild0->Attribute("id"));
        if(pChild0->Attribute("input1"))
            mList[mission_num].input[0] = pChild0->Attribute("input1");
        if(pChild0->Attribute("input2"))
            mList[mission_num].input[1] = pChild0->Attribute("input2");
        if(pChild0->Attribute("input3"))
            mList[mission_num].input[2] = pChild0->Attribute("input3");
        if(pChild0->Attribute("output1"))
            mList[mission_num].output[0] = pChild0->Attribute("output1");
        if(pChild0->Attribute("output2"))
            mList[mission_num].output[1] = pChild0->Attribute("output2");
        if(pChild0->Attribute("output3"))
            mList[mission_num].output[2] = pChild0->Attribute("output3");
        printf("input1=%s, outpu1=%s\n", mList[mission_num].input[0].c_str(), mList[mission_num].output[0].c_str());
        mission_num++;
    }*/