/// <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>
/// Overrides the SimpleThread.stop() method.
/// Wakes up any sleeping C++ threads.
/// Joins JausRouter thread.
/// </summary>
public override void stop()
{
lock (runLock){
isRunning = false;
}
// Send a message to ourselves to wake up the thread.
byte[] msg_id = { 0 };
JuniorAPI.JrSend(jrHandle, jausAddress.get(), (uint)2, msg_id);
thread.Join(THREAD_JOIN_TIME * 10);
}
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
}
}
}