// Function: cmptThread
// Access: Private
// Description: All core component functionality is contained in this thread.
// All of the JAUS component state machine code can be found here.
void *cmptThread(void *threadData)
{
JausMessage rxMessage;
double time, prevTime, nextExcecuteTime = 0.0;
struct timespec sleepTime;
cmptThreadRunning = TRUE;
sleepTime.tv_sec = 0;
sleepTime.tv_nsec = 1000;
time = getTimeSeconds();
cmpt->state = JAUS_INITIALIZE_STATE; // Set JAUS state to INITIALIZE
cmptStartupState();
while(cmptRun) // Execute state machine code while not in the SHUTDOWN state
{
do
{
if(nodeManagerReceive(cmptNmi, &rxMessage))
{
cDebug(4, "CMPT: Got message: %s from %d.%d.%d.%d\n", jausMessageCommandCodeString(rxMessage), rxMessage->source->subsystem, rxMessage->source->node, rxMessage->source->component, rxMessage->source->instance);
cmptProcessMessage(rxMessage);
}
else
{
if(getTimeSeconds() > nextExcecuteTime)
{
break;
}
else
{
nanosleep(&sleepTime, NULL);
}
}
}while(getTimeSeconds() < nextExcecuteTime);
prevTime = time;
time = getTimeSeconds();
cmptThreadHz = 1.0/(time-prevTime); // Compute the update rate of this thread
switch(cmpt->state) // Switch component behavior based on which state the machine is in
{
case JAUS_INITIALIZE_STATE:
cmptInitState();
break;
case JAUS_STANDBY_STATE:
cmptStandbyState();
break;
case JAUS_READY_STATE:
cmptReadyState();
break;
case JAUS_EMERGENCY_STATE:
cmptEmergencyState();
break;
case JAUS_FAILURE_STATE:
cmptFailureState();
break;
case JAUS_SHUTDOWN_STATE:
cmptRun = FALSE;
break;
default:
cmpt->state = JAUS_FAILURE_STATE; // The default case JAUS_is undefined, therefore go into Failure State
break;
}
cmptAllState();
nodeManagerSendCoreServiceConnections(cmptNmi);
nextExcecuteTime = 2.0 * time + 1.0/CMPT_THREAD_DESIRED_RATE_HZ - getTimeSeconds();
}
cmptShutdownState();
usleep(50000); // Sleep for 50 milliseconds and then exit
cmptThreadRunning = FALSE;
return NULL;
}
void* ojCmptThread(void *threadData)
{
int i = 0;
OjCmpt ojCmpt;
JausMessage rxMessage;
double prevTime = 0;
double time = ojGetTimeSec();
double nextStateTime = ojGetTimeSec();
// Get handle to OpenJausComponent that was created
ojCmpt = (OjCmpt)threadData;
while(ojCmpt->run) // Execute state machine code while not in the SHUTDOWN state
{
switch(nodeManagerTimedReceive(ojCmpt->nmi, &rxMessage, nextStateTime))
{
case NMI_MESSAGE_RECEIVED:
// If we were sent a message
if(rxMessage)
{
ojCmptProcessMessage(ojCmpt, rxMessage);
}
// Always check for messages on incoming SC queues
for(i=0; i<OJ_CMPT_MAX_INCOMING_SC_COUNT; i++)
{
if(ojCmpt->inConnection[i] && ojCmpt->inConnection[i]->isActive) // Attempt to process incoming message
{
if(scManagerReceiveServiceConnection(ojCmpt->nmi, ojCmpt->inConnection[i], &rxMessage))
{
ojCmptProcessMessage(ojCmpt, rxMessage);
}
}
}
break;
case NMI_RECEIVE_TIMED_OUT:
prevTime = time;
time = ojGetTimeSec();
ojCmpt->rateHz = 1.0/(time-prevTime); // Compute the update rate of this thread
nextStateTime = time + 1.0/ojCmpt->frequencyHz;
if(ojCmpt->mainCallback)
{
ojCmpt->mainCallback(ojCmpt);
}
if(ojCmpt->state != JAUS_UNDEFINED_STATE && ojCmpt->stateCallback[ojCmpt->state])
{
ojCmpt->stateCallback[ojCmpt->state](ojCmpt);
}
ojCmptManageServiceConnections(ojCmpt);
nodeManagerSendCoreServiceConnections(ojCmpt->nmi);
break;
case NMI_CONDITIONAL_WAIT_ERROR:
printf("ojCmpt.c : Conditional Wait Error in nodeManagerTimedReceive, Exiting ojCmpt Thread\n");
ojCmpt->run = FALSE;
break;
case NMI_CLOSED_ERROR:
printf("ojCmpt.c : Node Manager Interface closed when calling nodeManagerTimedReceive, Exiting ojCmpt Thread\n");
ojCmpt->run = FALSE;
break;
default:
printf("ojCmpt.c : Error in nodeManagerTimedReceive, Exiting ojCmpt Thread\n");
ojCmpt->run = FALSE;
break;
}
}
return NULL;
}
