Dynamixel::Dynamixel()
{
cleanBuffers();
}
void receiveMessages ()
{
cleanBuffers ();
do
{
if (! atLeastOneActiveThread ())
{
waitMessage ();
}
int src, tag;
while (probeMessage (src, tag))
{
receiveMessage (src, tag);
initMessage ();
switch (tag)
{
case RUNNER_STOP_TAG:
unpackTerminationOfRunner ();
break;
case SYNCHRONIZE_REQ_TAG:
unpackSynchronRequest ();
break;
case SYNCHRONIZED_TAG:
{
RUNNER_ID runner_id;
unpack (runner_id);
COOP_ID coop_id;
unpack (coop_id);
getCooperative (coop_id) -> notifySynchronized ();
break;
}
case COOP_TAG:
COOP_ID coop_id;
unpack (coop_id);
getCooperative (coop_id) -> unpack ();
getCooperative (coop_id) -> notifyReceiving ();
break;
case SCHED_REQUEST_TAG:
unpackResourceRequest ();
break;
case SCHED_RESULT_TAG:
{
/* Unpacking the resource */
SERVICE_ID serv_id;
unpack (serv_id);
Service * serv = getService (serv_id);
int dest;
unpack (dest);
WORKER_ID worker_id;
unpack (worker_id);
/* Going back ... */
initMessage ();
pack (worker_id);
pack (serv_id);
serv -> packData ();
serv -> notifySendingData ();
sendMessage (dest, TASK_DATA_TAG);
break;
}
case TASK_DATA_TAG:
{
WORKER_ID worker_id;
unpack (worker_id);
Worker * worker = getWorker (worker_id);
worker -> setSource (src);
worker -> unpackData ();
worker -> wakeUp ();
break;
}
case TASK_RESULT_TAG:
{
SERVICE_ID serv_id;
unpack (serv_id);
Service * serv = getService (serv_id);
serv -> unpackResult ();
break;
}
case TASK_DONE_TAG:
unpackTaskDone ();
break;
default:
;
};
}
}
while ( ! atLeastOneActiveThread () && atLeastOneActiveRunner () /*&& ! allResourcesFree ()*/ );
}
