/// <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>
/// Constructor. Connects with nodeManager and sets up variables.
/// </summary>
/// <param name="jausAddress">The JausAddress of the current component.</param>
public JausRouter(JausAddress jausAddress, InternalEventHandler ieHandler)
{
this.jausAddress = jausAddress;
this.ieHandler = ieHandler;
jrHandle = 0;
if (JuniorAPI.JrConnect((int)jausAddress.get(), "nm.cfg", ref jrHandle) != 0)
{
Console.WriteLine("UNABLE TO CONNECT TO THE NODE MANAGER. IS IT RUNNING?");
}
}
/// <summary>
/// Constructor. Connects with nodeManager and sets up variables.
/// </summary>
/// <param name="jausAddress">The JausAddress of the current component.</param>
public JausRouter(JausAddress jausAddress, InternalEventHandler ieHandler)
{
this.jausAddress = jausAddress;
this.ieHandler = ieHandler;
jrHandle = 0;
if (JuniorAPI.JrConnect((int)jausAddress.get(), "nm.cfg", ref jrHandle) != 0)
{
Console.WriteLine("UNABLE TO CONNECT TO THE NODE MANAGER. IS IT RUNNING?");
}
}
public void updateJausID(JausAddress jausAddress, bool allowWildcards = false)
{
// Request to change our JAUS ID. This means we have to close the current connection
// to junior, and recreate it. But first we need to stop the receive thread.
stop();
JuniorAPI.JrDisconnect((int)jrHandle);
this.jausAddress = jausAddress;
jrHandle = 0;
int jWildcards = allowWildcards ? 1 : 0;
if (JuniorAPI.JrConnect((int)jausAddress.get(), "nm.cfg", ref jrHandle, jWildcards) != 0)
{
Console.WriteLine("UNABLE TO CONNECT TO THE NODE MANAGER. IS IT RUNNING?");
}
start();
}
/// <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());
}
}
