src/main.cpp

#include "associations.hpp"
#include "processing.hpp"
#include "types.hpp"

#include <tinyxml2.h>

#include <boost/asio/io_context.hpp>
#include <boost/asio/signal_set.hpp>
#include <boost/container/flat_map.hpp>
#include <sdbusplus/asio/connection.hpp>
#include <sdbusplus/asio/object_server.hpp>
#include <xyz/openbmc_project/Common/error.hpp>

#include <atomic>
#include <chrono>
#include <exception>
#include <iomanip>
#include <iostream>
#include <string>
#include <string_view>
#include <utility>

AssociationMaps associationMaps;

void updateOwners(sdbusplus::asio::connection* conn,
                  boost::container::flat_map<std::string, std::string>& owners,
                  const std::string& newObject)
{
    if (newObject.starts_with(":"))
    {
        return;
    }
    conn->async_method_call(
        [&, newObject](const boost::system::error_code ec,
                       const std::string& nameOwner) {
            if (ec)
            {
                std::cerr << "Error getting owner of " << newObject << " : "
                          << ec << "\n";
                return;
            }
            owners[nameOwner] = newObject;
        },
        "org.freedesktop.DBus", "/", "org.freedesktop.DBus", "GetNameOwner",
        newObject);
}

void sendIntrospectionCompleteSignal(sdbusplus::asio::connection* systemBus,
                                     const std::string& processName)
{
    // TODO(ed) This signal doesn't get exposed properly in the
    // introspect right now.  Find out how to register signals in
    // sdbusplus
    sdbusplus::message_t m = systemBus->new_signal(
        "/xyz/openbmc_project/object_mapper",
        "xyz.openbmc_project.ObjectMapper.Private", "IntrospectionComplete");
    m.append(processName);
    m.signal_send();
}

struct InProgressIntrospect
{
    InProgressIntrospect() = delete;
    InProgressIntrospect(const InProgressIntrospect&) = delete;
    InProgressIntrospect(InProgressIntrospect&&) = delete;
    InProgressIntrospect& operator=(const InProgressIntrospect&) = delete;
    InProgressIntrospect& operator=(InProgressIntrospect&&) = delete;
    InProgressIntrospect(
        sdbusplus::asio::connection* systemBus, boost::asio::io_context& io,
        const std::string& processName, AssociationMaps& am
#ifdef MAPPER_ENABLE_DEBUG
        ,
        std::shared_ptr<std::chrono::time_point<std::chrono::steady_clock>>
            globalStartTime
#endif
        ) :
        systemBus(systemBus),
        io(io), processName(processName), assocMaps(am)
#ifdef MAPPER_ENABLE_DEBUG
        ,
        globalStartTime(std::move(globalStartTime)),
        processStartTime(std::chrono::steady_clock::now())
#endif
    {}
    ~InProgressIntrospect()
    {
        try
        {
            sendIntrospectionCompleteSignal(systemBus, processName);
#ifdef MAPPER_ENABLE_DEBUG
            std::chrono::duration<float> diff =
                std::chrono::steady_clock::now() - processStartTime;
            std::cout << std::setw(50) << processName << " scan took "
                      << diff.count() << " seconds\n";

            // If we're the last outstanding caller globally, calculate the
            // time it took
            if (globalStartTime != nullptr && globalStartTime.use_count() == 1)
            {
                diff = std::chrono::steady_clock::now() - *globalStartTime;
                std::cout << "Total scan took " << diff.count()
                          << " seconds to complete\n";
            }
#endif
        }
        catch (const std::exception& e)
        {
            std::cerr
                << "Terminating, unhandled exception while introspecting: "
                << e.what() << "\n";
            std::terminate();
        }
        catch (...)
        {
            std::cerr
                << "Terminating, unhandled exception while introspecting\n";
            std::terminate();
        }
    }
    sdbusplus::asio::connection* systemBus;
    boost::asio::io_context& io;
    std::string processName;
    AssociationMaps& assocMaps;
#ifdef MAPPER_ENABLE_DEBUG
    std::shared_ptr<std::chrono::time_point<std::chrono::steady_clock>>
        globalStartTime;
    std::chrono::time_point<std::chrono::steady_clock> processStartTime;
#endif
};

void doAssociations(boost::asio::io_context& io,
                    sdbusplus::asio::connection* systemBus,
                    InterfaceMapType& interfaceMap,
                    sdbusplus::asio::object_server& objectServer,
                    const std::string& processName, const std::string& path,
                    int timeoutRetries = 0)
{
    constexpr int maxTimeoutRetries = 3;
    systemBus->async_method_call(
        [&io, &objectServer, path, processName, &interfaceMap, systemBus,
         timeoutRetries](
            const boost::system::error_code ec,
            const std::variant<std::vector<Association>>& variantAssociations) {
            if (ec)
            {
                if (ec.value() == boost::system::errc::timed_out &&
                    timeoutRetries < maxTimeoutRetries)
                {
                    doAssociations(io, systemBus, interfaceMap, objectServer,
                                   processName, path, timeoutRetries + 1);
                    return;
                }
                std::cerr << "Error getting associations from " << path << "\n";
            }
            std::vector<Association> associations =
                std::get<std::vector<Association>>(variantAssociations);
            associationChanged(io, objectServer, associations, path,
                               processName, interfaceMap, associationMaps);
        },
        processName, path, "org.freedesktop.DBus.Properties", "Get",
        assocDefsInterface, assocDefsProperty);
}

void doIntrospect(boost::asio::io_context& io,
                  sdbusplus::asio::connection* systemBus,
                  const std::shared_ptr<InProgressIntrospect>& transaction,
                  InterfaceMapType& interfaceMap,
                  sdbusplus::asio::object_server& objectServer,
                  const std::string& path, int timeoutRetries = 0)
{
    constexpr int maxTimeoutRetries = 3;
    systemBus->async_method_call(
        [&io, &interfaceMap, &objectServer, transaction, path, systemBus,
         timeoutRetries](const boost::system::error_code ec,
                         const std::string& introspectXml) {
            if (ec)
            {
                if (ec.value() == boost::system::errc::timed_out &&
                    timeoutRetries < maxTimeoutRetries)
                {
                    doIntrospect(io, systemBus, transaction, interfaceMap,
                                 objectServer, path, timeoutRetries + 1);
                    return;
                }
                std::cerr << "Introspect call failed with error: " << ec << ", "
                          << ec.message()
                          << " on process: " << transaction->processName
                          << " path: " << path << "\n";
                return;
            }

            tinyxml2::XMLDocument doc;

            tinyxml2::XMLError e = doc.Parse(introspectXml.c_str());
            if (e != tinyxml2::XMLError::XML_SUCCESS)
            {
                std::cerr << "XML parsing failed\n";
                return;
            }

            tinyxml2::XMLNode* pRoot = doc.FirstChildElement("node");
            if (pRoot == nullptr)
            {
                std::cerr << "XML document did not contain any data\n";
                return;
            }
            auto& thisPathMap = interfaceMap[path];
            tinyxml2::XMLElement* pElement =
                pRoot->FirstChildElement("interface");
            while (pElement != nullptr)
            {
                const char* ifaceName = pElement->Attribute("name");
                if (ifaceName == nullptr)
                {
                    continue;
                }

                thisPathMap[transaction->processName].emplace(ifaceName);

                if (std::strcmp(ifaceName, assocDefsInterface) == 0)
                {
                    doAssociations(io, systemBus, interfaceMap, objectServer,
                                   transaction->processName, path);
                }

                pElement = pElement->NextSiblingElement("interface");
            }

            // Check if this new path has a pending association that can
            // now be completed.
            checkIfPendingAssociation(io, path, interfaceMap,
                                      transaction->assocMaps, objectServer);

            pElement = pRoot->FirstChildElement("node");
            while (pElement != nullptr)
            {
                const char* childPath = pElement->Attribute("name");
                if (childPath != nullptr)
                {
                    std::string parentPath(path);
                    if (parentPath == "/")
                    {
                        parentPath.clear();
                    }

                    doIntrospect(io, systemBus, transaction, interfaceMap,
                                 objectServer, parentPath + "/" + childPath);
                }
                pElement = pElement->NextSiblingElement("node");
            }
        },
        transaction->processName, path, "org.freedesktop.DBus.Introspectable",
        "Introspect");
}

void startNewIntrospect(
    sdbusplus::asio::connection* systemBus, boost::asio::io_context& io,
    InterfaceMapType& interfaceMap, const std::string& processName,
    AssociationMaps& assocMaps,
#ifdef MAPPER_ENABLE_DEBUG
    std::shared_ptr<std::chrono::time_point<std::chrono::steady_clock>>
        globalStartTime,
#endif
    sdbusplus::asio::object_server& objectServer)
{
    if (needToIntrospect(processName))
    {
        std::shared_ptr<InProgressIntrospect> transaction =
            std::make_shared<InProgressIntrospect>(systemBus, io, processName,
                                                   assocMaps
#ifdef MAPPER_ENABLE_DEBUG
                                                   ,
                                                   globalStartTime
#endif
            );

        doIntrospect(io, systemBus, transaction, interfaceMap, objectServer,
                     "/");
    }
}

// TODO(ed) replace with std::set_intersection once c++17 is available
template <class InputIt1, class InputIt2>
bool intersect(InputIt1 first1, InputIt1 last1, InputIt2 first2, InputIt2 last2)
{
    while (first1 != last1 && first2 != last2)
    {
        if (*first1 < *first2)
        {
            ++first1;
            continue;
        }
        if (*first2 < *first1)
        {
            ++first2;
            continue;
        }
        return true;
    }
    return false;
}

void doListNames(
    boost::asio::io_context& io, InterfaceMapType& interfaceMap,
    sdbusplus::asio::connection* systemBus,
    boost::container::flat_map<std::string, std::string>& nameOwners,
    AssociationMaps& assocMaps, sdbusplus::asio::object_server& objectServer)
{
    systemBus->async_method_call(
        [&io, &interfaceMap, &nameOwners, &objectServer, systemBus,
         &assocMaps](const boost::system::error_code ec,
                     std::vector<std::string> processNames) {
            if (ec)
            {
                std::cerr << "Error getting names: " << ec << "\n";
                std::exit(EXIT_FAILURE);
                return;
            }
            // Try to make startup consistent
            std::sort(processNames.begin(), processNames.end());
#ifdef MAPPER_ENABLE_DEBUG
            std::shared_ptr<std::chrono::time_point<std::chrono::steady_clock>>
                globalStartTime = std::make_shared<
                    std::chrono::time_point<std::chrono::steady_clock>>(
                    std::chrono::steady_clock::now());
#endif
            for (const std::string& processName : processNames)
            {
                if (needToIntrospect(processName))
                {
                    startNewIntrospect(systemBus, io, interfaceMap, processName,
                                       assocMaps,
#ifdef MAPPER_ENABLE_DEBUG
                                       globalStartTime,
#endif
                                       objectServer);
                    updateOwners(systemBus, nameOwners, processName);
                }
            }
        },
        "org.freedesktop.DBus", "/org/freedesktop/DBus", "org.freedesktop.DBus",
        "ListNames");
}

void addObjectMapResult(std::vector<InterfaceMapType::value_type>& objectMap,
                        const std::string& objectPath,
                        const ConnectionNames::value_type& interfaceMap)
{
    // Adds an object path/service name/interface list entry to
    // the results of GetSubTree and GetAncestors.
    // If an entry for the object path already exists, just add the
    // service name and interfaces to that entry, otherwise create
    // a new entry.
    auto entry = std::find_if(
        objectMap.begin(), objectMap.end(),
        [&objectPath](const auto& i) { return objectPath == i.first; });

    if (entry != objectMap.end())
    {
        entry->second.emplace(interfaceMap);
    }
    else
    {
        InterfaceMapType::value_type object;
        object.first = objectPath;
        object.second.emplace(interfaceMap);
        objectMap.push_back(object);
    }
}

// Remove parents of the passed in path that:
// 1) Only have the 3 default interfaces on them
//    - Means D-Bus created these, not application code,
//      with the Properties, Introspectable, and Peer ifaces
// 2) Have no other child for this owner
void removeUnneededParents(const std::string& objectPath,
                           const std::string& owner,
                           InterfaceMapType& interfaceMap)
{
    auto parent = objectPath;

    while (true)
    {
        auto pos = parent.find_last_of('/');
        if ((pos == std::string::npos) || (pos == 0))
        {
            break;
        }
        parent = parent.substr(0, pos);

        auto parentIt = interfaceMap.find(parent);
        if (parentIt == interfaceMap.end())
        {
            break;
        }

        auto ifacesIt = parentIt->second.find(owner);
        if (ifacesIt == parentIt->second.end())
        {
            break;
        }

        if (ifacesIt->second.size() != 3)
        {
            break;
        }

        auto childPath = parent + '/';

        // Remove this parent if there isn't a remaining child on this owner
        auto child = std::find_if(
            interfaceMap.begin(), interfaceMap.end(),
            [&owner, &childPath](const auto& entry) {
                return entry.first.starts_with(childPath) &&
                       (entry.second.find(owner) != entry.second.end());
            });

        if (child == interfaceMap.end())
        {
            parentIt->second.erase(ifacesIt);
            if (parentIt->second.empty())
            {
                interfaceMap.erase(parentIt);
            }
        }
        else
        {
            break;
        }
    }
}

std::vector<InterfaceMapType::value_type>
    getAncestors(const InterfaceMapType& interfaceMap, std::string reqPath,
                 std::vector<std::string>& interfaces)
{
    // Interfaces need to be sorted for intersect to function
    std::sort(interfaces.begin(), interfaces.end());

    if (reqPath.ends_with("/"))
    {
        reqPath.pop_back();
    }
    if (!reqPath.empty() && interfaceMap.find(reqPath) == interfaceMap.end())
    {
        throw sdbusplus::xyz::openbmc_project::Common::Error::
            ResourceNotFound();
    }

    std::vector<InterfaceMapType::value_type> ret;
    for (const auto& objectPath : interfaceMap)
    {
        const auto& thisPath = objectPath.first;

        if (reqPath == thisPath)
        {
            continue;
        }

        if (reqPath.starts_with(thisPath))
        {
            if (interfaces.empty())
            {
                ret.emplace_back(objectPath);
            }
            else
            {
                for (const auto& interfaceMap : objectPath.second)
                {
                    if (intersect(interfaces.begin(), interfaces.end(),
                                  interfaceMap.second.begin(),
                                  interfaceMap.second.end()))
                    {
                        addObjectMapResult(ret, thisPath, interfaceMap);
                    }
                }
            }
        }
    }

    return ret;
}

ConnectionNames getObject(const InterfaceMapType& interfaceMap,
                          const std::string& path,
                          std::vector<std::string>& interfaces)
{
    ConnectionNames results;

    // Interfaces need to be sorted for intersect to function
    std::sort(interfaces.begin(), interfaces.end());
    auto pathRef = interfaceMap.find(path);
    if (pathRef == interfaceMap.end())
    {
        throw sdbusplus::xyz::openbmc_project::Common::Error::
            ResourceNotFound();
    }
    if (interfaces.empty())
    {
        return pathRef->second;
    }
    for (const auto& interfaceMap : pathRef->second)
    {
        if (intersect(interfaces.begin(), interfaces.end(),
                      interfaceMap.second.begin(), interfaceMap.second.end()))
        {
            results.emplace(interfaceMap.first, interfaceMap.second);
        }
    }

    if (results.empty())
    {
        throw sdbusplus::xyz::openbmc_project::Common::Error::
            ResourceNotFound();
    }

    return results;
}

std::vector<InterfaceMapType::value_type>
    getSubTree(const InterfaceMapType& interfaceMap, std::string reqPath,
               int32_t depth, std::vector<std::string>& interfaces)
{
    if (depth <= 0)
    {
        depth = std::numeric_limits<int32_t>::max();
    }
    // Interfaces need to be sorted for intersect to function
    std::sort(interfaces.begin(), interfaces.end());

    // reqPath is now guaranteed to have a trailing "/" while reqPathStripped
    // will be guaranteed not to have a trailing "/"
    if (!reqPath.ends_with("/"))
    {
        reqPath += "/";
    }
    std::string_view reqPathStripped =
        std::string_view(reqPath).substr(0, reqPath.size() - 1);

    if (!reqPathStripped.empty() &&
        interfaceMap.find(reqPathStripped) == interfaceMap.end())
    {
        throw sdbusplus::xyz::openbmc_project::Common::Error::
            ResourceNotFound();
    }

    std::vector<InterfaceMapType::value_type> ret;
    for (const auto& objectPath : interfaceMap)
    {
        const auto& thisPath = objectPath.first;

        // Skip exact match on stripped search term
        if (thisPath == reqPathStripped)
        {
            continue;
        }

        if (thisPath.starts_with(reqPath))
        {
            // count the number of slashes past the stripped search term
            int32_t thisDepth = std::count(
                thisPath.begin() + reqPathStripped.size(), thisPath.end(), '/');
            if (thisDepth <= depth)
            {
                for (const auto& interfaceMap : objectPath.second)
                {
                    if (intersect(interfaces.begin(), interfaces.end(),
                                  interfaceMap.second.begin(),
                                  interfaceMap.second.end()) ||
                        interfaces.empty())
                    {
                        addObjectMapResult(ret, thisPath, interfaceMap);
                    }
                }
            }
        }
    }

    return ret;
}

std::vector<std::string> getSubTreePaths(const InterfaceMapType& interfaceMap,
                                         std::string reqPath, int32_t depth,
                                         std::vector<std::string>& interfaces)
{
    if (depth <= 0)
    {
        depth = std::numeric_limits<int32_t>::max();
    }
    // Interfaces need to be sorted for intersect to function
    std::sort(interfaces.begin(), interfaces.end());

    // reqPath is now guaranteed to have a trailing "/" while reqPathStripped
    // will be guaranteed not to have a trailing "/"
    if (!reqPath.ends_with("/"))
    {
        reqPath += "/";
    }
    std::string_view reqPathStripped =
        std::string_view(reqPath).substr(0, reqPath.size() - 1);

    if (!reqPathStripped.empty() &&
        interfaceMap.find(reqPathStripped) == interfaceMap.end())
    {
        throw sdbusplus::xyz::openbmc_project::Common::Error::
            ResourceNotFound();
    }

    std::vector<std::string> ret;
    for (const auto& objectPath : interfaceMap)
    {
        const auto& thisPath = objectPath.first;

        // Skip exact match on stripped search term
        if (thisPath == reqPathStripped)
        {
            continue;
        }

        if (thisPath.starts_with(reqPath))
        {
            // count the number of slashes past the stripped search term
            int thisDepth = std::count(
                thisPath.begin() + reqPathStripped.size(), thisPath.end(), '/');
            if (thisDepth <= depth)
            {
                bool add = interfaces.empty();
                for (const auto& interfaceMap : objectPath.second)
                {
                    if (intersect(interfaces.begin(), interfaces.end(),
                                  interfaceMap.second.begin(),
                                  interfaceMap.second.end()))
                    {
                        add = true;
                        break;
                    }
                }
                if (add)
                {
                    // TODO(ed) this is a copy
                    ret.emplace_back(thisPath);
                }
            }
        }
    }

    return ret;
}

int main()
{
    boost::asio::io_context io;
    std::shared_ptr<sdbusplus::asio::connection> systemBus =
        std::make_shared<sdbusplus::asio::connection>(io);

    sdbusplus::asio::object_server server(systemBus);

    // Construct a signal set registered for process termination.
    boost::asio::signal_set signals(io, SIGINT, SIGTERM);
    signals.async_wait(
        [&io](const boost::system::error_code&, int) { io.stop(); });

    InterfaceMapType interfaceMap;
    boost::container::flat_map<std::string, std::string> nameOwners;

    std::function<void(sdbusplus::message_t & message)> nameChangeHandler =
        [&interfaceMap, &io, &nameOwners, &server,
         systemBus](sdbusplus::message_t& message) {
            std::string name;     // well-known
            std::string oldOwner; // unique-name
            std::string newOwner; // unique-name

            message.read(name, oldOwner, newOwner);

            if (name.starts_with(':'))
            {
                // We should do nothing with unique-name connections.
                return;
            }

            if (!oldOwner.empty())
            {
                processNameChangeDelete(io, nameOwners, name, oldOwner,
                                        interfaceMap, associationMaps, server);
            }

            if (!newOwner.empty())
            {
#ifdef MAPPER_ENABLE_DEBUG
                auto transaction = std::make_shared<
                    std::chrono::time_point<std::chrono::steady_clock>>(
                    std::chrono::steady_clock::now());
#endif
                // New daemon added
                if (needToIntrospect(name))
                {
                    nameOwners[newOwner] = name;
                    startNewIntrospect(systemBus.get(), io, interfaceMap, name,
                                       associationMaps,
#ifdef MAPPER_ENABLE_DEBUG
                                       transaction,
#endif
                                       server);
                }
            }
        };

    sdbusplus::bus::match_t nameOwnerChanged(
        static_cast<sdbusplus::bus_t&>(*systemBus),
        sdbusplus::bus::match::rules::nameOwnerChanged(), nameChangeHandler);

    std::function<void(sdbusplus::message_t & message)> interfacesAddedHandler =
        [&io, &interfaceMap, &nameOwners,
         &server](sdbusplus::message_t& message) {
            sdbusplus::message::object_path objPath;
            InterfacesAdded interfacesAdded;
            message.read(objPath, interfacesAdded);
            std::string wellKnown;
            if (!getWellKnown(nameOwners, message.get_sender(), wellKnown))
            {
                return; // only introspect well-known
            }
            if (needToIntrospect(wellKnown))
            {
                processInterfaceAdded(io, interfaceMap, objPath,
                                      interfacesAdded, wellKnown,
                                      associationMaps, server);
            }
        };

    sdbusplus::bus::match_t interfacesAdded(
        static_cast<sdbusplus::bus_t&>(*systemBus),
        sdbusplus::bus::match::rules::interfacesAdded(),
        interfacesAddedHandler);

    std::function<void(sdbusplus::message_t & message)>
        interfacesRemovedHandler = [&io, &interfaceMap, &nameOwners,
                                    &server](sdbusplus::message_t& message) {
            sdbusplus::message::object_path objPath;
            std::vector<std::string> interfacesRemoved;
            message.read(objPath, interfacesRemoved);
            auto connectionMap = interfaceMap.find(objPath.str);
            if (connectionMap == interfaceMap.end())
            {
                return;
            }

            std::string sender;
            if (!getWellKnown(nameOwners, message.get_sender(), sender))
            {
                return;
            }
            for (const std::string& interface : interfacesRemoved)
            {
                auto interfaceSet = connectionMap->second.find(sender);
                if (interfaceSet == connectionMap->second.end())
                {
                    continue;
                }

                if (interface == assocDefsInterface)
                {
                    removeAssociation(io, objPath.str, sender, server,
                                      associationMaps);
                }

                interfaceSet->second.erase(interface);

                if (interfaceSet->second.empty())
                {
                    // If this was the last interface on this connection,
                    // erase the connection
                    connectionMap->second.erase(interfaceSet);

                    // Instead of checking if every single path is the endpoint
                    // of an association that needs to be moved to pending,
                    // only check when the only remaining owner of this path is
                    // ourself, which would be because we still own the
                    // association path.
                    if ((connectionMap->second.size() == 1) &&
                        (connectionMap->second.begin()->first ==
                         "xyz.openbmc_project.ObjectMapper"))
                    {
                        // Remove the 2 association D-Bus paths and move the
                        // association to pending.
                        moveAssociationToPending(io, objPath.str,
                                                 associationMaps, server);
                    }
                }
            }
            // If this was the last connection on this object path,
            // erase the object path
            if (connectionMap->second.empty())
            {
                interfaceMap.erase(connectionMap);
            }

            removeUnneededParents(objPath.str, sender, interfaceMap);
        };

    sdbusplus::bus::match_t interfacesRemoved(
        static_cast<sdbusplus::bus_t&>(*systemBus),
        sdbusplus::bus::match::rules::interfacesRemoved(),
        interfacesRemovedHandler);

    std::function<void(sdbusplus::message_t & message)>
        associationChangedHandler = [&io, &server, &nameOwners, &interfaceMap](
                                        sdbusplus::message_t& message) {
            std::string objectName;
            boost::container::flat_map<std::string,
                                       std::variant<std::vector<Association>>>
                values;
            message.read(objectName, values);
            auto prop = values.find(assocDefsProperty);
            if (prop != values.end())
            {
                std::vector<Association> associations =
                    std::get<std::vector<Association>>(prop->second);

                std::string wellKnown;
                if (!getWellKnown(nameOwners, message.get_sender(), wellKnown))
                {
                    return;
                }
                associationChanged(io, server, associations, message.get_path(),
                                   wellKnown, interfaceMap, associationMaps);
            }
        };
    sdbusplus::bus::match_t assocChangedMatch(
        static_cast<sdbusplus::bus_t&>(*systemBus),
        sdbusplus::bus::match::rules::interface(
            "org.freedesktop.DBus.Properties") +
            sdbusplus::bus::match::rules::member("PropertiesChanged") +
            sdbusplus::bus::match::rules::argN(0, assocDefsInterface),
        associationChangedHandler);

    std::shared_ptr<sdbusplus::asio::dbus_interface> iface =
        server.add_interface("/xyz/openbmc_project/object_mapper",
                             "xyz.openbmc_project.ObjectMapper");

    iface->register_method(
        "GetAncestors", [&interfaceMap](std::string& reqPath,
                                        std::vector<std::string>& interfaces) {
            return getAncestors(interfaceMap, reqPath, interfaces);
        });

    iface->register_method(
        "GetObject", [&interfaceMap](const std::string& path,
                                     std::vector<std::string>& interfaces) {
            return getObject(interfaceMap, path, interfaces);
        });

    iface->register_method(
        "GetSubTree", [&interfaceMap](std::string& reqPath, int32_t depth,
                                      std::vector<std::string>& interfaces) {
            return getSubTree(interfaceMap, reqPath, depth, interfaces);
        });

    iface->register_method(
        "GetSubTreePaths",
        [&interfaceMap](std::string& reqPath, int32_t depth,
                        std::vector<std::string>& interfaces) {
            return getSubTreePaths(interfaceMap, reqPath, depth, interfaces);
        });

    iface->initialize();

    io.post([&]() {
        doListNames(io, interfaceMap, systemBus.get(), nameOwners,
                    associationMaps, server);
    });

    systemBus->request_name("xyz.openbmc_project.ObjectMapper");

    io.run();
}