/// <summary>
/// Determines if the outgoing message is local, or needs to be routed through
/// the node manager.
/// </summary>
/// <param name="msg">the outgoing message wrapped in a Send wrapper.</param>
public void sendMessage(ref Send msg)
{
// Pull the destination ID
JausAddress destination = new JausAddress((ushort)msg.getBody().getSendRec().getDestinationID().getSubsystemID(),
(byte)msg.getBody().getSendRec().getDestinationID().getNodeID(),
(byte)msg.getBody().getSendRec().getDestinationID().getComponentID());
// If the destination is local, loopback to the route message function
if (destination.get() == jausAddress.get())
{
Receive message = new Receive();
message.getBody().getReceiveRec().getSourceID().setSubsystemID(jausAddress.getSubsystemID());
message.getBody().getReceiveRec().getSourceID().setNodeID(jausAddress.getNodeID());
message.getBody().getReceiveRec().getSourceID().setComponentID(jausAddress.getComponentID());
message.getBody().getReceiveRec().getMessagePayload().set(msg.getBody().getSendRec().getMessagePayload().getLength(),
msg.getBody().getSendRec().getMessagePayload().getData());
routeMessage(message);
}
// Otherwise, forward the message to NodeManager
else
{
JrErrorCode ret = JuniorAPI.JrSend((int)jrHandle, destination.get(),
(uint)msg.getBody().getSendRec().getMessagePayload().getLength(),
msg.getBody().getSendRec().getMessagePayload().getData());
}
}
/// <summary>
/// Wraps the message buffer into a Send wrapper and sends it through
/// the JausRouter.
/// </summary>
/// <param name="bufsize">the size of the given buffer in bytes</param>
/// <param name="buffer">the bytes from the message to be sent</param>
/// <param name="dest">the destination of the message</param>
protected void sendJausMessage(uint bufsize, byte[] buffer, JausAddress dest)
{
Send response = new Send();
response.getBody().getSendRec().getMessagePayload().set((int)bufsize, buffer);
response.getBody().getSendRec().getDestinationID().setSubsystemID(dest.getSubsystemID());
response.getBody().getSendRec().getDestinationID().setNodeID(dest.getNodeID());
response.getBody().getSendRec().getDestinationID().setComponentID(dest.getComponentID());
//Console.WriteLine("Sending response msg " + BitConverter.ToInt16(b, 0));
jausRouter.sendMessage(ref response);
}
public virtual bool isControllingClient(Receive.Body.ReceiveRec transportData)
{
JausAddress requester = new JausAddress((ushort)transportData.getSourceID().getSubsystemID(),
(byte)transportData.getSourceID().getNodeID(),
(byte)transportData.getSourceID().getComponentID());
if ((currentController != null) &&
(requester.getSubsystemID() == currentController.getSubsystemID() &&
requester.getNodeID() == currentController.getNodeID() &&
requester.getComponentID() == currentController.getComponentID()))
{
return true;
}
return false;
}
/// <summary>
/// Checks the C++ framework for incoming messages, routing them as needed.
/// </summary>
public override void run()
{
int priority = 0;
uint source = 0;
int flags = 0;
uint bufsize = 0;
byte[] buffer;
ushort msg_id = 0;
//runLock._lock();
isRunning = true;
//runLock.unlock();
while (isRunning)
{
buffer = JuniorAPI.JrReceive((int)jrHandle, ref source, ref priority, ref flags, ref msg_id);
if (buffer != null & buffer.Length > 0)
{
if (!isRunning)
{
break;
}
bufsize = (uint)buffer.Length;
byte[] tmpBuff = new byte[buffer.Length];
for (int i = 0; i < buffer.Length; i++)
{
tmpBuff[i] = buffer[i];
}
buffer = null;
Receive message = new Receive();
JausAddress sender = new JausAddress(source);
message.getBody().getReceiveRec().setSrcSubsystemID(sender.getSubsystemID());
message.getBody().getReceiveRec().setSrcNodeID(sender.getNodeID());
message.getBody().getReceiveRec().setSrcComponentID(sender.getComponentID());
message.getBody().getReceiveRec().getMessagePayload().set(bufsize, tmpBuff);
routeMessage(message);
}
else
{
//OS.JrSleep(1); //throttle
}
}
}
/// <summary>
/// Wraps the message buffer into a Send wrapper and sends it through
/// the JausRouter.
/// </summary>
/// <param name="bufsize">the size of the given buffer in bytes</param>
/// <param name="buffer">the bytes from the message to be sent</param>
/// <param name="dest">the destination of the message</param>
protected void sendJausMessage(uint bufsize, byte[] buffer, JausAddress dest, bool force = false)
{
// We need to have a complete JAUS ID (no wildcards)
// to send any messages, unless that message is specifically forced
// to send by the calling application
if (jausRouter.getJausAddress().containsWildcards() && !force)
{
Console.WriteLine("Can't send message when ID contains wildcards");
return;
}
Send response = new Send();
response.getBody().getSendRec().getMessagePayload().set((int)bufsize, buffer);
response.getBody().getSendRec().getDestinationID().setSubsystemID(dest.getSubsystemID());
response.getBody().getSendRec().getDestinationID().setNodeID(dest.getNodeID());
response.getBody().getSendRec().getDestinationID().setComponentID(dest.getComponentID());
//Console.WriteLine("Sending response msg " + BitConverter.ToInt16(b, 0));
jausRouter.sendMessage(ref response);
}
/// <summary>
/// Wraps the message buffer into a Send wrapper and sends it through
/// the JausRouter.
/// </summary>
/// <param name="bufsize">the size of the given buffer in bytes</param>
/// <param name="buffer">the bytes from the message to be sent</param>
/// <param name="dest">the destination of the message</param>
protected void sendJausMessage(uint bufsize, byte[] buffer, JausAddress dest)
{
Send response = new Send();
response.getBody().getSendRec().getMessagePayload().set((int)bufsize, buffer);
response.getBody().getSendRec().getDestinationID().setSubsystemID(dest.getSubsystemID());
response.getBody().getSendRec().getDestinationID().setNodeID(dest.getNodeID());
response.getBody().getSendRec().getDestinationID().setComponentID(dest.getComponentID());
//Console.WriteLine("Sending response msg " + BitConverter.ToInt16(b, 0));
jausRouter.sendMessage(ref response);
}
/// <summary>
/// Checks the C++ framework for incoming messages, routing them as needed.
/// </summary>
public override void run()
{
int priority = 0;
uint source = 0;
int flags =0;
uint bufsize = 0;
byte[] buffer;
ushort msg_id = 0;
//runLock._lock();
isRunning = true;
//runLock.unlock();
while(isRunning)
{
buffer = JuniorAPI.JrReceive((int) jrHandle, ref source, ref priority, ref flags, ref msg_id);
if( buffer != null & buffer.Length > 0)
{
if(!isRunning)
{
break;
}
bufsize = (uint) buffer.Length;
Receive message = new Receive();
JausAddress sender = new JausAddress(source);
message.getBody().getReceiveRec().getSourceID().setSubsystemID(sender.getSubsystemID());
message.getBody().getReceiveRec().getSourceID().setNodeID(sender.getNodeID());
message.getBody().getReceiveRec().getSourceID().setComponentID(sender.getComponentID());
message.getBody().getReceiveRec().getMessagePayload().set((int) bufsize, buffer);
routeMessage(message);
}
else
{
//OS.JrSleep(1); //throttle
}
}
}