bool CLimitBox::OnNewMail(MOOSMSG_LIST &NewMail)
{
CMOOSMsg Msg;
if(PeekMail(NewMail,"NAV_X",Msg))
{
if(!Msg.IsSkewed(GetTimeNow()))
{
m_XDOF.SetCurrent(Msg.m_dfVal,Msg.m_dfTime);
}
}
if(PeekMail(NewMail,"NAV_Y",Msg))
{
if(!Msg.IsSkewed(GetTimeNow()))
{
m_YDOF.SetCurrent(Msg.m_dfVal,Msg.m_dfTime);
}
}
if(PeekMail(NewMail,"NAV_DEPTH",Msg))
{
if(!Msg.IsSkewed(GetTimeNow()))
{
m_DepthDOF.SetCurrent(Msg.m_dfVal,Msg.m_dfTime);
}
}
//always call base class version
CMOOSBehaviour::OnNewMail(NewMail);
return true;
}
bool CZPatternTask::OnNewMail(MOOSMSG_LIST &NewMail)
{
CMOOSMsg Msg;
if(PeekMail(NewMail,"NAV_DEPTH",Msg))
{
if(!Msg.IsSkewed(GetTimeNow()))
{
m_DepthDOF.SetCurrent(Msg.m_dfVal,Msg.m_dfTime);
}
}
if(PeekMail(NewMail,"NAV_PITCH",Msg))
{
if(!Msg.IsSkewed(GetTimeNow()))
{
m_PitchDOF.SetCurrent(Msg.m_dfVal,Msg.m_dfTime);
}
}
//always call base class version
CMOOSBehaviour::OnNewMail(NewMail);
return true;
}
// Send a marker packet to output
void ARec::SendMarkerPkt(string marker)
{
AStringData *sd = new AStringData(cname+"::"+marker);
APacket mkrpkt(sd);
mkrpkt.SetStartTime(GetTimeNow());
mkrpkt.SetEndTime(GetTimeNow());
out->PutPacket(mkrpkt);
if (trace&T_OUT)mkrpkt.Show();
}
// ChkAckBuf: check acks coming from sink and update host on status
void ASyn::ChkAckBuf()
{
if (!ackbuf->IsEmpty()){
// first unpack the incoming packet which has the form
// cmd(ss,playedSamps,totalSamps)
APacket p = ackbuf->GetPacket();
if (p.GetKind() != CommandPacket) {
HRError(12002,"ASyn:ChkAckBuf - non-command pkt in ackbuf\n");
throw ATK_Error(12002);
}
ACommandData * cd = (ACommandData *) p.GetData();
string ack = cd->GetCommand();
int ss = cd->GetInt(0);
int played = cd->GetInt(1);
int total = cd->GetInt(2);
// next construct reply command
cd = new ACommandData(ack);
// if intermediate state, then figure out what has been played
string word;
if (ack=="aborted" || ack=="muted" || ack=="unmuted"){
int idx;
float percent;
if (ss==seqnum) { // still current output utterance
//printf("********* p=%d,t=%d,nw=%d,b1=%d,b2=%d\n",
//played,total,syn->GetNumWords(),
//syn->GetBoundary(1),syn->GetBoundary(2));
idx = syn->GetNumWords();
while (idx>0 && syn->GetBoundary(idx)>played) --idx;
word = "";
if (idx>0) word = syn->GetWord(idx);
percent = 100.0*played/total;
}else{
idx=0; percent=100.0; word=".";
}
cd->AddArg(ss); cd->AddArg(idx);
cd->AddArg(word); cd->AddArg(percent);
if (ack=="aborted") syn->EndUtterance();
if (trace&T_ABT)
printf("ASyn: syn interrupted: ss=%d,played=%d,total=%d,idx=%d[%s]\n",
ss,played,total,idx,word.c_str());
}else if (ack == "started") {
cd->AddArg(ss); cd->AddArg(total);
}else if (ack == "error" || ack == "finished") {
cd->AddArg(ss); syn->EndUtterance();
}
APacket reppkt(cd);
reppkt.SetStartTime(GetTimeNow());
reppkt.SetEndTime(GetTimeNow());
repbuf->PutPacket(reppkt);
if (trace&T_TOP){
printf("ASyn: reply sent - "); cd->Show(); printf("\n");
}
}
}
/* Simple error logging to stderr with msg caching for later re-use */
void
mpp_err_msg_cache(const char *loglevel, const char *prog, const char *fmt,...)
{
va_list ap;
char szTimeNow[18];
int len;
va_start(ap, fmt);
fprintf(stderr, "%s|%s-[%s]:-", GetTimeNow(szTimeNow), prog, loglevel);
vfprintf(stderr, gettext(fmt), ap);
va_end(ap);
/* cache a copy of the message - we may need it for a report */
va_start(ap, fmt);
len = vsnprintf(predump_errmsg, sizeof(predump_errmsg), gettext(fmt), ap);
va_end(ap);
/*
* If the passed error string exceeds the size of the buffer, indicate that
* by suffixing the string with ".."
*/
if (len > sizeof(predump_errmsg))
{
int i;
for (i = sizeof(predump_errmsg) - 3; predump_errmsg[i]; i++)
predump_errmsg[i] = '.';
}
}
// TalkCmd: synthesise the string and start playing it
void ASyn::TalkCmd()
{
AWaveData *wd;
char cbuf[100];
short *wave,*p;
int size,n;
string text;
if (!GetStrArg(text))
HPostMessage(HThreadSelf(),"TalkCmd: synthesis string expected\n");
if (trace&T_TOP)
printf("ASyn: talk request = %s\n",text.c_str()); // convert text to waveform
syn->StartUtterance(text);
n = syn->GetNumSamples();
if (n==0){
string err="TalkCmd: cannot synthesise "+text+"\n";
HPostMessage(HThreadSelf(),err.c_str());
}
// packet up the wave and send it to ASource
// - first create header
++seqnum;
sprintf(cbuf,"%d:%d",seqnum,n);
AStringData *sd = new AStringData(string(cbuf));
APacket hdrpkt(sd);
hdrpkt.SetStartTime(GetTimeNow());
hdrpkt.SetEndTime(GetTimeNow());
audbuf->PutPacket(hdrpkt);
// - then chop wave into packets
p = syn->GetWave();
while (n>0){
size = n;
if (size>WAVEPACKETSIZE) size = WAVEPACKETSIZE;
wd = new AWaveData(size,p);
n -= size; p += size;
APacket wavpkt(wd);
audbuf->PutPacket(wavpkt);
}
// - finally send command to start playback
sprintf(cbuf,"startout(%d)",seqnum);
sink->SendMessage(string(cbuf));
state = synth_talking;
}
/* Simple error logging to stdout */
void
mpp_msg(const char *loglevel, const char *prog, const char *fmt,...)
{
va_list ap;
char szTimeNow[18];
va_start(ap, fmt);
fprintf(stdout, "%s|%s-[%s]:-", GetTimeNow(szTimeNow), prog, loglevel);
vfprintf(stdout, gettext(fmt), ap);
va_end(ap);
}
// Flush a single observation
Boolean ARec::FlushObservation()
{
APacket pkt;
AStringData *sd;
AObsData *od;
PacketKind kind;
Boolean flushing = TRUE;
stTime = -1.0; // ensure -ve before switching to runstate
if (runmode&RUN_IMMED) // no flushing
return TRUE;
while (in->NumPackets()>0){
pkt = in->PeekPacket(); kind = pkt.GetKind();
if (kind==StringPacket) {
in->PopPacket(); StoreMarker(pkt);
sd = (AStringData *)pkt.GetData();
if (sd->data.find("TERMINATED")!=string::npos) terminated=TRUE;
if (runmode&FLUSH_TOMARK) {
// if start or endoflist marker found, flushing complete
string::size_type posn = sd->data.find("ENDOFLIST");
if (posn != string::npos ) {
OutPacket(Start_PT, "","ENDOFLIST",0,0,0.0,0.0,0.0,-1,0.0,0.0,0.0);
terminated = TRUE;
return TRUE;
}
posn = sd->data.find("START");
if (posn != string::npos) {
string::size_type pos1 = sd->data.find("(");
string::size_type pos2 = sd->data.find(")");
if (pos1<1 || pos2<pos1) return TRUE;
fname = string(sd->data,pos1+1,pos2-pos1-1);
return TRUE;
}
}
OutMarkers(GetTimeNow());
} else
if (kind==ObservationPacket){
// if speech flagged observation, flushing complete
if (runmode&FLUSH_TOSPEECH) {
od = (AObsData *)pkt.GetData();
if (od->data.vq[0]) return TRUE;
}
in->PopPacket();
} else {
in->PopPacket(); // ignore non-string or -obs packets
}
}
return FALSE;
}
bool CThirdPartyTask::Run(CPathAction &DesiredAction)
{
if(!m_bInitialised)
{
Initialise();
}
if(!m_bEnabled)
return true;
if(m_Rudder.GetAge(GetTimeNow())<THIRDPARTY_STALE)
{
DesiredAction.Set( ACTUATOR_RUDDER,
m_Rudder.GetDoubleVal(),
m_nPriority,
m_sJob.c_str());
}
if(m_Elevator.GetAge(GetTimeNow())<THIRDPARTY_STALE)
{
DesiredAction.Set( ACTUATOR_ELEVATOR,
m_Elevator.GetDoubleVal(),
m_nPriority,
m_sJob.c_str());
}
if(m_Thrust.GetAge(GetTimeNow())<THIRDPARTY_STALE)
{
DesiredAction.Set( ACTUATOR_THRUST,
m_Thrust.GetDoubleVal(),
m_nPriority,
m_sJob.c_str());
}
return true;
}
bool CThirdPartyTask::OnNewMail(MOOSMSG_LIST &NewMail)
{
CMOOSMsg Msg;
if(PeekMail(NewMail,m_sJob,Msg) && Msg.m_sSrc==m_sClient)
{
if(!Msg.IsSkewed(GetTimeNow()))
{
return OnNewInstruction(Msg.m_sVal,Msg.m_dfTime);
}
}
return true;
}
/* Simple error logging to stderr with msg caching for later re-use */
void
mpp_err_msg_cache(const char *loglevel, const char *prog, const char *fmt,...)
{
va_list ap;
char szTimeNow[18];
va_start(ap, fmt);
fprintf(stderr, "%s|%s-[%s]:-", GetTimeNow(szTimeNow), prog, loglevel);
vfprintf(stderr, gettext(fmt), ap);
va_end(ap);
/* cache a copy of the message - we may need it for a report */
va_start(ap, fmt);
vsprintf(predump_errmsg, gettext(fmt), ap);
va_end(ap);
}
void FileOutputer :: FileCheckOpen()
{
char curpath[FileNameMaxLen];
uint32_t daynow = GetTimeNow();
if (daynow != mLastDay)
{
close(m_fd);
snprintf(curpath, sizeof(curpath), "%s.%d", m_path, daynow);
m_fd = open(curpath, O_WRONLY|O_CREAT|O_APPEND, S_IRWXU|S_IRWXG|S_IRWXO);
if (m_fd < 0)
{
fprintf(stderr, "FILE[%s:%u] create logfile[%s] fail. msg[%m]\n", __FILE__, __LINE__, curpath);
while(0 != raise(SIGKILL)){}
}
mLastDay = daynow;
}
}
void init( ) {
int i;
double sum, avg;
double TimeNow;
char TempString[50];
printf("----- Network Simulator Version 2.30 -------- \n\n");
if ( CallingArgc >= 9 ) {
MaxMsgsToSimulate = atoi( CallingArgv[1] );
LossProb = atof( CallingArgv[2] );
CorruptProb = atof( CallingArgv[3] );
OutOfOrderProb = atof( CallingArgv[4] );
AveTimeBetweenMsgs = atof( CallingArgv[5] );
TraceLevel = atoi( CallingArgv[6] );
RandomizationRequested = atoi( CallingArgv[7] );
Bidirectional = atoi( CallingArgv[8] );
}
else {
printf("Enter the number of messages to simulate: ");
scanf( "%d", &MaxMsgsToSimulate);
printf("Packet loss probability [enter number between 0.0 and 1.0]: ");
scanf( "%s", &TempString );
LossProb = atof( TempString );
printf("Packet corruption probability [0.0 for no corruption]: ");
scanf( "%s", &TempString );
CorruptProb = atof( TempString );
printf("Packet out-of-order probability [0.0 for no out-of-order]: ");
scanf( "%s", &TempString );
OutOfOrderProb = atof( TempString );
printf("Average time between messages from sender's layer5 [ > 0.0]: ");
scanf( "%s", &TempString );
AveTimeBetweenMsgs = atof( TempString );
printf("Enter Level of tracing desired: ");
scanf( "%d", &TraceLevel);
printf("Do you want actions randomized: (1 = yes, 0 = no)? " );
scanf( "%d", &RandomizationRequested);
printf("Do you want Bidirectional: (1 = yes, 0 = no)? " );
scanf( "%d", &Bidirectional);
}
// Do sanity checking on inputs:
if ( LossProb < 0 || LossProb> 1.0 || CorruptProb < 0
|| CorruptProb > 1.0 || OutOfOrderProb < 0
|| OutOfOrderProb > 1.0 || AveTimeBetweenMsgs <= 0.0 )
{
printf( "One of your input parameters is out of range\n");
exit(0);
}
printf( "Input parameters:\n");
printf( "Number of Messages = %d", MaxMsgsToSimulate );
printf( " Lost Packet Prob. = %6.3f\n", LossProb );
printf( "Corrupt Packet Prob. = %6.3f", CorruptProb );
printf( " Out Of Order Prob. = %6.3f\n", OutOfOrderProb );
printf( "Ave. time between messages = %8.2f", AveTimeBetweenMsgs );
printf( " Trace level = %d\n", TraceLevel );
printf( "Randomize = %d", RandomizationRequested );
printf( " Bi-directional = %d\n\n", Bidirectional );
if ( RandomizationRequested == 1 ) {
GetTimeNow( &TimeNow );
SetRandomSeed( (long)TimeNow );
}
// test random number generator for students
// GetRandomNumber() should be uniform in [0,1]
sum = 0.0;
for (i = 0; i < 1000; i++)
sum = sum + GetRandomNumber();
avg = sum/1000.0;
if (avg < 0.25 || avg > 0.75) {
printf("It is likely that random number generation on your machine\n" );
printf("is different from what this emulator expects. Please look\n");
printf("at the routine GetRandomNumber() in the emulator. Sorry. \n");
exit(0);
}
NumMsgs4To3 = 0; /* Initialize Counters */
NumMsgsLost = 0;
NumMsgsCorrupt = 0;
NumSimutaneousMsgs = 0;
CurrentSimTime = 0.0; /* initialize time to 0.0 */
GenerateNextArrival(); /* initialize event list */
} /* End of init() */
