public static void ExcludeNode(INode myNode, DetectFailureRequest request)
{
ConstellationPlan RecoveryPlan = GenerateConstellation.GenerateTargetConstellation(myNode.Router.ReachableSats(myNode).Count, 7.152f);
PlanRequest recoveryRequest = new PlanRequest {
SourceID = myNode.Id,
DestinationID = myNode.Id,
Command = Request.Commands.GENERATE,
Plan = RecoveryPlan,
Dir = Router.CommDir.CW
};
NetworkUpdateRequest updateRequest = new NetworkUpdateRequest(new List <uint?>()
{
request.NodeToCheck
});
recoveryRequest.DependencyRequests.Add(updateRequest);
if (myNode.Router.NextSequential(myNode, Router.CommDir.CW) == null)
{
recoveryRequest.Dir = Router.CommDir.CCW;
}
PlanGenerator.GeneratePlan(myNode, recoveryRequest);
}
public static void Recovery(INode myNode, uint?secondFailedNode)
{
//Remove edge from router, ensuring it won't try to route through the failed node
myNode.Router.DeleteEdge(myNode.Id, secondFailedNode);
// Find positions of nodes this node can reach
List <Vector3> positions = new List <Vector3> {
myNode.Position
};
List <uint?> nodesToVisit = new List <uint?> {
myNode.Id
};
while (nodesToVisit.Count > 0)
{
uint?nodeToVisit = nodesToVisit[0];
nodesToVisit.RemoveAt(0);
List <NetworkMapEntry> neighbourEntries = myNode.Router.NetworkMap.GetEntryByID(nodeToVisit).Neighbours.Select(x => myNode.Router.NetworkMap.GetEntryByID(x)).ToList();
nodesToVisit.AddRange(neighbourEntries.Where(x => positions.Contains(x.Position) == false).Select(x => x.ID));
positions.AddRange(neighbourEntries.Where(x => positions.Contains(x.Position) == false).Select(x => x.Position));
}
// Calculate midpoint
Vector3 midpoint = positions.Aggregate(Vector3.Zero, (x, y) => x + y);
Vector3 midpointOnRightAltitude = Vector3.Normalize(midpoint) * Vector3.Distance(Vector3.Zero, myNode.Position);
// Generate recovery plan and start planning
ConstellationPlan recoveryPlan = GenerateConstellation.GenerateRecoveryConstellation(midpointOnRightAltitude, positions.Count);
PlanRequest recoveryRequest = new PlanRequest {
SourceID = myNode.Id,
DestinationID = myNode.Id,
Command = Request.Commands.GENERATE,
Plan = recoveryPlan,
};
NetworkUpdateRequest updateRequest =
new NetworkUpdateRequest(new NetworkUpdateRequest(new List <uint?>()
{
secondFailedNode
}));
recoveryRequest.DependencyRequests.Add(updateRequest);
myNode.Router.NetworkMap.Entries.RemoveAll(entry => entry.ID == secondFailedNode);
myNode.CommsModule.Send(myNode.Id, recoveryRequest);
}
public NetworkUpdateRequest(NetworkUpdateRequest other) : base(other)
{
DeadNodes = other.DeadNodes;
}
public Task<NetworkDetailResponse> UpdateNetwork(string networkId, NetworkUpdateRequest request)
{
throw new NotImplementedException();
}
public async static void FailureDetected(INode myNode, uint?failedNode)
{
//Remove edge from router, ensuring it won't try to route through the failed node
myNode.Router.DeleteEdge(myNode.Id, failedNode);
List <uint?> failedNeighbours = new List <uint?>()
{
myNode.Id
};
List <uint?> neighboursToCheck = myNode.Router.NetworkMap.GetEntryByID(failedNode).Neighbours.Except(failedNeighbours).ToList();
// Start recovery plan gen without failedNode in case myNode is the only neighbour
if (neighboursToCheck.Count == 0)
{
ConstellationPlan RecoveryPlan = GenerateConstellation.GenerateTargetConstellation(myNode.Router.ReachableSats(myNode).Count, 7.152f);
PlanRequest recoveryRequest = new PlanRequest {
SourceID = myNode.Id,
DestinationID = myNode.Id,
Command = Request.Commands.GENERATE,
Plan = RecoveryPlan,
Dir = Router.CommDir.CW
};
NetworkUpdateRequest updateRequest = new NetworkUpdateRequest(new NetworkUpdateRequest(new List <uint?>()
{
failedNode
}));
recoveryRequest.DependencyRequests.Add(updateRequest);
if (myNode.Router.NextSequential(myNode, Router.CommDir.CW) == null)
{
recoveryRequest.Dir = Router.CommDir.CCW;
}
PlanGenerator.GeneratePlan(myNode, recoveryRequest);
}
else // Otherwise ask another neighbour to try to contact failedNode
{
uint?neighbourID = neighboursToCheck[0];
uint?nextHop = myNode.Router.NextHop(myNode.Id, neighbourID);
DetectFailureRequest request = new DetectFailureRequest {
DestinationID = neighbourID,
SourceID = myNode.Id,
Command = Request.Commands.DETECTFAILURE,
ResponseExpected = false,
AckExpected = true,
NodeToCheck = failedNode,
DeadEdges = new List <Tuple <uint?, uint?> > {
new Tuple <uint?, uint?>(myNode.Id, failedNode)
},
FailedNeighbours = failedNeighbours
};
myNode.Router.NetworkMap.Entries.RemoveAll(entry => entry.ID == failedNode);
await myNode.CommsModule.SendAsync(nextHop, request, Constants.COMMS_TIMEOUT, Constants.COMMS_ATTEMPTS);
}
}
private async void ExecuteRequest(Request request, bool isDependency)
{
switch (request.Command)
{
case Request.Commands.GENERATE:
PlanGenerator.GeneratePlan(this, request as PlanRequest);
break;
case Request.Commands.EXECUTE:
PlanExecuter.ExecutePlan(this, request as PlanRequest);
break;
case Request.Commands.HEARTBEAT:
Heartbeat.RespondToHeartbeat(this, request);
break;
case Request.Commands.PING:
Ping.RespondToPing(this, request);
break;
case Request.Commands.DETECTFAILURE:
FailureDetection.DetectFailure(this, request as DetectFailureRequest);
break;
case Request.Commands.DISCOVER:
await Discovery.DiscoverAsync(this, request as DiscoveryRequest);
break;
case Request.Commands.POSITION:
PositionResponse response = new PositionResponse(Id, request.SourceID, Response.ResponseCodes.OK, request.MessageIdentifer, Position);
CommsModule.Send(request.SourceID, response);
break;
case Request.Commands.ADDITION:
List <uint?> neighbours = CommsModule.Discover();
AdditionRequest addition = (request as AdditionRequest).DeepCopy();
List <ConstellationPlanField> fields = new List <ConstellationPlanField> {
new ConstellationPlanField("DeltaV", 0, (x, y) => x.CompareTo(y))
};
addition.plan.Entries.Add(new ConstellationPlanEntry(Id, Position, fields, (x, y) => 1));
ActivePlan = addition.plan;
Router.UpdateNetworkMap(addition.plan);
NodeAdditionResponse additionResponse = new NodeAdditionResponse(Id, request.SourceID, Response.ResponseCodes.OK, request.MessageIdentifer, Position, neighbours);
CommsModule.Send(request.SourceID, additionResponse);
break;
case Request.Commands.UPDATENETWORKMAP:
NetworkUpdateRequest updateRequest = request as NetworkUpdateRequest;
//Remove any dead nodes from the networkmap
Router.NetworkMap.Entries.RemoveAll(entry => updateRequest.DeadNodes.Contains(entry.ID));
//Remove any dead nodes from neighbour lists
foreach (NetworkMapEntry entry in Router.NetworkMap.Entries)
{
foreach (uint?deadNode in updateRequest.DeadNodes)
{
entry.Neighbours.Remove(deadNode);
}
}
break;
default:
throw new NotImplementedException(request.Command.ToString() + " was not implemented.");
}
}
