void loop(){
/*
* Check battery status
*/
do_battery_diagnostics();
/*
* Check for danger status (draw or re-charge issues)
*/
if(has_recharging_error() || is_battery_in_dangerous_state()){
motors_shutdown();
if(is_battery_in_dangerous_state()) set_overload_timeout();
return;
}
/*
* Does the battery need to be recharged?
*/
if(is_battery_recharing()) return;
/*
* Now that we pass all those checks, send off control
*/
switch(control_mode){
case RC: handle_rc(); break;
case SERIAL: handle_serial(); break;
case I2C: handle_i2c(); break;
DEFAULT: motors_shutdown();
}
//if(DEBUGGING_ENABLED) debugger();
//delay(loop_delay);
}
void k8s_dispatcher::dispatch()
{
for (list::iterator it = m_messages.begin(); it != m_messages.end();)
{
if(is_ready(*it))
{
Json::Value root;
Json::Reader reader;
if(reader.parse(*it, root, false))
{
std::ostringstream os;
msg_data data = get_msg_data(root);
if(data.is_valid())
{
std::ostringstream os;
os << '[' << to_reason_desc(data.m_reason) << ',';
switch (m_type)
{
case k8s_component::K8S_NODES:
os << "NODE,";
handle_node(root, data);
break;
case k8s_component::K8S_NAMESPACES:
os << "NAMESPACE,";
handle_namespace(root, data);
break;
case k8s_component::K8S_PODS:
os << "POD,";
handle_pod(root, data);
break;
case k8s_component::K8S_REPLICATIONCONTROLLERS:
os << "REPLICATION_CONTROLLER,";
handle_rc(root, data);
break;
case k8s_component::K8S_SERVICES:
os << "SERVICE,";
handle_service(root, data);
break;
default:
{
std::ostringstream eos;
eos << "Unknown component: " << static_cast<int>(m_type);
throw sinsp_exception(os.str());
}
}
os << data.m_name << ',' << data.m_uid << ',' << data.m_namespace << ']';
g_logger.log(os.str(), sinsp_logger::SEV_INFO);
//g_logger.log(root.toStyledString(), sinsp_logger::SEV_DEBUG);
{
K8S_LOCK_GUARD_MUTEX;
m_state.update_cache(m_type);
}
}
}
else
{
// TODO: bad notification - discard or throw?
g_logger.log("Bad JSON message received.", sinsp_logger::SEV_ERROR);
}
it = m_messages.erase(it);
}
else
{
++it;
}
}
}
