private static void Transmit(PlanRequest request, INode myNode)
{
// If last location is filled, execute the plan
if (request.Plan.Entries.All(x => x.NodeID != null))
{
request.Command = Request.Commands.EXECUTE;
request.SourceID = myNode.Id;
PlanExecuter.ExecutePlan(myNode, request);
}
else
{
uint?nextSeq = myNode.Router.NextSequential(myNode, request.Dir);
if (nextSeq == null)
{
Router.CommDir newDir = request.Dir == Router.CommDir.CW ? Router.CommDir.CCW : Router.CommDir.CW;
request.Dir = newDir;
nextSeq = myNode.Router.NextSequential(myNode, newDir);
}
request.DestinationID = nextSeq;
if (myNode.Router.NetworkMap.GetEntryByID(myNode.Id).Neighbours.Contains(nextSeq))
{
myNode.CommsModule.SendAsync(nextSeq, request, Constants.COMMS_TIMEOUT, Constants.COMMS_ATTEMPTS);
}
else
{
uint?nextHop = myNode.Router.NextHop(myNode.Id, nextSeq);
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.");
}
}
