/// <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 virtual bool isLocalComponent(JausAddress address)
{
bool ret = JausAddressModulePINVOKE.JausAddress_isLocalComponent__SWIG_1(swigCPtr, JausAddress.getCPtr(address));
if (JausAddressModulePINVOKE.SWIGPendingException.Pending)
{
throw JausAddressModulePINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
/// <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 void sendManagementMessageAction(MenuItemEntered msg)
{
Resume resume_msg = new Resume();
Standby standby_msg = new Standby();
SetEmergency set_emergency_msg = new SetEmergency();
ClearEmergency clear_emergency_msg = new ClearEmergency();
QueryStatus query_status_msg = new QueryStatus();
ReleaseControl release_control_msg = new ReleaseControl();
Shutdown shutdown_msg = new Shutdown();
JausAddress dest = new JausAddress(jausRouter.getJausAddress().getSubsystemID(),
jausRouter.getJausAddress().getNodeID(),
(byte)160);
switch (msg.getMenuItemEnteredBody().getMenuItemEnteredRecord().getSelection())
{
case 1:
Console.WriteLine("Sending Resume");
sendJausMessage(resume_msg, dest);
break;
case 2:
Console.WriteLine("Sending Standby");
sendJausMessage(standby_msg, dest);
break;
case 3:
Console.WriteLine("Sending SetEmergency");
sendJausMessage(set_emergency_msg, dest);
break;
case 4:
Console.WriteLine("Sending ClearEmergency");
sendJausMessage(clear_emergency_msg, dest);
break;
case 5:
Console.WriteLine("Sending QueryStatus");
sendJausMessage(query_status_msg, dest);
break;
case 6:
Console.WriteLine("Sending Shutdown");
sendJausMessage(shutdown_msg, dest);
break;
case 7:
Console.WriteLine("Sending ReleaseControl");
sendJausMessage(release_control_msg, dest);
break;
case 8:
Console.WriteLine("Sending Terminate");
terminateServiceAction();
break;
default:
Console.WriteLine("Unknown input: " + msg.getMenuItemEnteredBody().getMenuItemEnteredRecord().getSelection());
break;
}
}
/// <summary>
/// Encodes the given message into a buffer and prepares to send it.
/// </summary>
/// <param name="msg">The message to be sent</param>
/// <param name="dest">The address to which the message is going.</param>
protected void sendJausMessage(Message msg, JausAddress dest)
{
// Encode the message
uint bufsize = (uint)msg.getSize();
byte[] buffer = new byte[bufsize];
int pos = 0;
msg.encode(buffer, pos);
// and send...
sendJausMessage(bufsize, buffer, dest);
}
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;
}
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>
/// 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);
}
internal static HandleRef getCPtr(JausAddress obj)
{
return (obj == null) ? new HandleRef(null, IntPtr.Zero) : obj.swigCPtr;
}
public virtual void StoreAddressAction(Receive.Body.ReceiveRec transportData)
{
Console.WriteLine( "Storing address of controlling component as " +
(ushort)transportData.getSourceID().getSubsystemID(),
(byte)transportData.getSourceID().getNodeID(),
(byte)transportData.getSourceID().getComponentID());
currentController = new JausAddress((ushort)transportData.getSourceID().getSubsystemID(),
(byte)transportData.getSourceID().getNodeID(),
(byte)transportData.getSourceID().getComponentID());
}
public virtual void SendAction(string arg0, string arg1, Receive.Body.ReceiveRec transportData)
{
if (arg0.CompareTo("RejectControl") == 0)
{
RejectControl reject_msg = new RejectControl();
if (arg1.CompareTo("CONTROL_RELEASED") == 0) reject_msg.getBody().getRejectControlRec().setResponseCode(0);
if (arg1.CompareTo("NOT_ACCEPTED") == 0) reject_msg.getBody().getRejectControlRec().setResponseCode(1);
// Now send it to the requesting component
JausAddress sender = new JausAddress((ushort)transportData.getSourceID().getSubsystemID(),
(byte)transportData.getSourceID().getNodeID(),
(byte)transportData.getSourceID().getComponentID());
sendJausMessage(reject_msg, sender);
}
else if (arg0.CompareTo("ConfirmControl") == 0)
{
ConfirmControl confirm_msg = new ConfirmControl();
byte responseCode = 0;
if (arg1.CompareTo("CONTROL_ACCEPTED") == 0) responseCode = 0;
if (arg1.CompareTo("NOT_AVAILABLE") == 0) responseCode = 1;
if (arg1.CompareTo("INSUFFICIENT_AUTHORITY") == 0) responseCode = 2;
Console.WriteLine("Sending ConfirmControl with argument " + arg1);
confirm_msg.getBody().getConfirmControlRec().setResponseCode(responseCode);
// Now send it to the requesting component
JausAddress sender = new JausAddress((ushort)transportData.getSourceID().getSubsystemID(),
(byte)transportData.getSourceID().getNodeID(),
(byte)transportData.getSourceID().getComponentID());
sendJausMessage(confirm_msg, sender);
}
else if (arg0.CompareTo("ReportControl") == 0)
{
ReportControl control_msg = new ReportControl();
control_msg.getBody().getReportControlRec().setSubsystemID((ushort)(
(currentController == null) ? 0 : currentController.getSubsystemID()));
control_msg.getBody().getReportControlRec().setNodeID((byte)(
(currentController == null) ? 0 : currentController.getNodeID()));
control_msg.getBody().getReportControlRec().setComponentID((byte)(
(currentController == null) ? 0 : currentController.getComponentID()));
// Now send it to the requesting component
JausAddress sender = new JausAddress((ushort)transportData.getSourceID().getSubsystemID(),
(byte)transportData.getSourceID().getNodeID(),
(byte)transportData.getSourceID().getComponentID());
sendJausMessage(control_msg, sender);
}
}
public virtual void SendAction(string arg0, Receive.Body.ReceiveRec transportData)
{
if (arg0.CompareTo("ReportStatus") == 0)
{
ReportStatus status_msg = new ReportStatus();
// Get the state from the context. Note that since we are inside a transition, the "current state"
// is ill-defined. We instead use the state we left to execute this transition. Recall that the state
// is actually an amalgamation of all parent states, we're only concerned with the management
string currentState = context.PreviousState.Name; //getPreviousState().getName();
if (currentState.Contains("_"))
currentState = currentState.Substring(currentState.LastIndexOf("_") + 1);
if (currentState.CompareTo("Init") == 0) status_msg.getBody().getReportStatusRec().setStatus(0);
if (currentState.CompareTo("Ready") == 0) status_msg.getBody().getReportStatusRec().setStatus(1);
if (currentState.CompareTo("Standby") == 0) status_msg.getBody().getReportStatusRec().setStatus(2);
if (currentState.CompareTo("Shutdown") == 0) status_msg.getBody().getReportStatusRec().setStatus(3);
if (currentState.CompareTo("Failure") == 0) status_msg.getBody().getReportStatusRec().setStatus(4);
if (currentState.CompareTo("Emergency") == 0) status_msg.getBody().getReportStatusRec().setStatus(5);
Console.WriteLine("Sending ReportStatus: " + currentState);
// Now send it to the requesting component
JausAddress sender = new JausAddress((ushort)transportData.getSourceID().getSubsystemID(),
(byte)transportData.getSourceID().getNodeID(),
(byte)transportData.getSourceID().getComponentID());
sendJausMessage(status_msg, sender);
}
}
/// <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
}
}
}
/// <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>
/// Encodes the given message into a buffer and prepares to send it.
/// </summary>
/// <param name="msg">The message to be sent</param>
/// <param name="dest">The address to which the message is going.</param>
protected void sendJausMessage(Message msg, JausAddress dest)
{
// Encode the message
uint bufsize = (uint) msg.getSize();
byte[] buffer = new byte[bufsize];
int pos = 0;
msg.encode(buffer, pos);
// and send...
sendJausMessage (bufsize, buffer, dest);
}
internal static HandleRef getCPtr(JausAddress obj)
{
return((obj == null) ? new HandleRef(null, IntPtr.Zero) : obj.swigCPtr);
}
public virtual bool isLocalComponent(JausAddress address)
{
bool ret = JausAddressModulePINVOKE.JausAddress_isLocalComponent__SWIG_1(swigCPtr, JausAddress.getCPtr(address));
if (JausAddressModulePINVOKE.SWIGPendingException.Pending) throw JausAddressModulePINVOKE.SWIGPendingException.Retrieve();
return ret;
}
/// <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());
}
}
public virtual void sendRequestControlAction()
{
// what should really happen here is that an internal event is called, so that
// the send happens inside of a sendAction(), rather than here.
// Now, we need to send a RequestComponentControl to the management service
RequestControl request_control_msg = new RequestControl();
request_control_msg.getBody().getRequestControlRec().setAuthorityCode(200);
// send a message, to this subsystem, this node, component 11.
// Again, discovery should be used to find the JAUS ID of the service we want to
// address, rather than hardcoding the address
JausAddress dest = new JausAddress(jausRouter.getJausAddress().getSubsystemID(),
jausRouter.getJausAddress().getNodeID(),
(byte)160);
sendJausMessage(request_control_msg, dest);
}
