public virtual void EnqueueAction(Send msg)
{
sendJausMessage(
(uint)msg.getBody().getSendRec().getMessagePayload().getLength(),
msg.getBody().getSendRec().getMessagePayload().getData(),
new JausAddress((ushort)msg.getBody().getSendRec().getDestinationID().getSubsystemID(),
(byte)msg.getBody().getSendRec().getDestinationID().getNodeID(),
(byte)msg.getBody().getSendRec().getDestinationID().getComponentID()));
}
/// <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>
/// 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, 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>
/// 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());
}
}