ClientHeartbeat::ClientHeartbeat(zmq::context_t& context, const HeartbeatSettings& settings)
: msFrequency_(settings.msRate), msPollingFrequency_(settings.msPollRate), msTimeout_(settings.msTimeout)
{
// Create the router's socket
std::unique_ptr<zmq::socket_t> heartbeat(new zmq::socket_t(context, ZMQ_PAIR));
heartbeat->connect(CLIENT_HB_SOCKET_ADDR.c_str());
router_.add_socket(SocketID::HEARTBEAT, heartbeat);
// Specify functionality
auto onRcvHEARTBEAT = [&] (const Message&m)
{ heartbeatArrived(lastReceivedTime_);};
auto onRcvGOODBYE = [&] (const Message&m)
{ router_.stop();};
auto timeout = [&] ()
{ monitorTimeout(lastReceivedTime_, router_, msTimeout_);};
auto send = [&] ()
{ sendHeartbeat(lastSendTime_, router_, msFrequency_);};
// Bind to router
router_(SocketID::HEARTBEAT).onRcvHEARTBEAT.connect(onRcvHEARTBEAT);
router_(SocketID::HEARTBEAT).onRcvGOODBYE.connect(onRcvGOODBYE);
router_(SocketID::HEARTBEAT).onPoll.connect(timeout);
router_(SocketID::HEARTBEAT).onPoll.connect(send);
router_(SocketID::HEARTBEAT).onFailedSend.connect(failedSend);
}
HeartbeatManager::HeartbeatManager(int queueSize, int interval, QObject *parent) : QThread(parent)
{
m_queueSize = queueSize;
m_inteval = interval;
m_running = false;
m_timer = new QTimer(this);
connect(m_timer, SIGNAL(timeout()), this, SLOT(sendHeartbeat()));
}
void HeartbeatManager::run(){
while(1){
msleep(m_inteval);
sendHeartbeat();
}
}
int8_t smartSleep(uint8_t interrupt1, uint8_t mode1, uint8_t interrupt2, uint8_t mode2, unsigned long ms) {
int8_t ret = sleep(interrupt1, mode1, interrupt2, mode2, ms);
// notifiy controller about wake up
sendHeartbeat();
// listen for incoming messages
wait(MY_SMART_SLEEP_WAIT_DURATION);
return ret;
}
// Message delivered through _msg
void _processInternalMessages() {
bool isMetric;
uint8_t type = _msg.type;
#if !defined(MY_DISABLE_REMOTE_RESET)
if (type == I_REBOOT) {
// Requires MySensors or other bootloader with watchdogs enabled
hwReboot();
} else
#endif
if (type == I_CONFIG) {
// Pick up configuration from controller (currently only metric/imperial)
// and store it in eeprom if changed
if (_msg.getString() == NULL) {
isMetric = true;
} else {
isMetric = _msg.getString()[0] == 'M';
}
_cc.isMetric = isMetric;
hwWriteConfig(EEPROM_CONTROLLER_CONFIG_ADDRESS, isMetric);
} else if (type == I_PRESENTATION) {
if (!mGetAck(_msg)) {
// Re-send node presentation to controller
#if defined(MY_RADIO_FEATURE)
transportPresentNode();
#endif
if (presentation)
presentation();
}
} else if (type == I_HEARTBEAT) {
sendHeartbeat();
} else if (type == I_TIME) {
// Deliver time to callback
if (receiveTime)
receiveTime(_msg.getULong());
}
#if defined(MY_REPEATER_FEATURE)
if (type == I_CHILDREN) {
if (_msg.getString()[0] == 'C') {
// Clears child relay data for this node
debug(PSTR("clear routing table\n"));
uint8_t i = 255;
do {
hwWriteConfig(EEPROM_ROUTES_ADDRESS+i, BROADCAST_ADDRESS);
} while (i--);
// Clear parent node id & distance to gw
hwWriteConfig(EEPROM_PARENT_NODE_ID_ADDRESS, AUTO);
hwWriteConfig(EEPROM_DISTANCE_ADDRESS, DISTANCE_INVALID);
// Find parent node
transportFindParentNode();
_sendRoute(build(_msg, _nc.nodeId, GATEWAY_ADDRESS, NODE_SENSOR_ID, C_INTERNAL, I_CHILDREN,false).set(""));
}
}
#endif
}
void AbstractProtocol::startHeartbeats(int ms)
{
QTimer *timer = new QTimer(this);
//Send out a message every now and then, to keep the tcp connection alive
connect(timer, &QTimer::timeout, [this]() {
sendHeartbeat();
});
connect(this, SIGNAL(destroyed()), timer, SLOT(stop()));
connect(this, SIGNAL(destroyed()), timer, SLOT(deleteLater()));
timer->start(ms);
}
bool RateListenPlan::execute() {
// split each second up into 10 pieces, allocate 1/10 total write to each tenth second
size_t leftThisSecond = settings.rate;
size_t msgsPerTenth = settings.rate / 10;
size_t leftThisTenth = msgsPerTenth;
expected = 0;
absolute_time startOfSecond = GetAbsoluteTime();
absolute_time startOfTenth = startOfSecond;
count = 0;
totalCount = 0;
for (;;) {
boost::this_thread::interruption_point();
if (leftThisTenth > 0) {
Message* message = getMessage();
if (message != NULL) {
leftThisTenth--;
leftThisSecond--;
delete message->getData();
delete message;
}
}
absolute_time currTime = GetAbsoluteTime();
int64_t tenthTime = GetTimeDurationMillisecs(startOfTenth, currTime);
if (tenthTime > 100) {
//start new tenth
leftThisTenth = msgsPerTenth;
startOfTenth = currTime;
} else
continue;
int64_t secondTime = GetTimeDurationMillisecs(startOfSecond, currTime);
if (secondTime >= 1000) {
//might be 1 message left over, if rate is less than 10
if (leftThisSecond > 0) {
Message* message = getMessage();
if (message != NULL) {
leftThisSecond--;
delete message->getData();
delete message;
}
}
leftThisSecond = settings.rate;
startOfSecond = currTime;
if (count > 0)
std::cout << count << " messages received\n";
count = 0;
sendHeartbeat(expected);
}
}
return true;
}
void loop() {
if (!finished) {
collectingLoops++;
finished = true;
for (int i = 0; i < functionsTop; i++) {
if (!functionComplete[i]) {
wdt_reset();
functionComplete[i] = heartbeatFunctions[i]();
if (!functionComplete[i]) finished = false;
}
}
}
if (finished) {
// After the heartbeatFunctions have completed, reset isAlive once
if (!aliveReset) {
isAlive = false;
aliveReset = true;
}
uint32_t currentTime = micros();
if (currentTime >= nextHeartbeat) {
sendHeartbeat();
// Set the micros delay for when the next heartbeat should be sent
nextHeartbeat = currentTime + microsBetweenFrames;
// Zero out the heartbeat state
collectingLoops = 0;
idleLoops = 0;
aliveReset = false;
for (int i = 0; i < MaxFunctions; i++) {
functionComplete[i] = false;
finished = false;
}
} else {
idleLoops++;
}
}
}
Message* RateListenPlan::getMessage() {
Message* result = subSocket->receive();
if (result != NULL) {
count++;
totalCount++;
if (expected == 0)
expected = result->getCounter();
if (result->getCounter() != expected) {
std::cout << "message drop detected. expected " << expected << " got " << result->getCounter();
std::cout << " skipped " << (result->getCounter() - expected) << "\n";
std::cout << "total count this bucket: " << totalCount << std::endl;
totalCount = 0;
}
expected = result->getCounter() + 1;
if (totalCount % 1000 == 0)
sendHeartbeat(result->getCounter());
}
return result;
}
int ModManDecentral::loop(const ros::TimerEvent& event)
{
if (robot.state == voraus::Voraus::idle || robot.state == voraus::Voraus::working || robot.state == voraus::Voraus::failure)
{
//the robot will be unregistered if he didn't send a heartbeat-message after this time
if (robot.lastHeartbeatTime < event.current_real - robot.maxTimeWithoutHeartbeat)
{
ROS_ERROR("%s master is lost. Trying to reconnect.", name.full.c_str());
registerAtServer();
}
//a warning will be printed if the master didn't send a heartbeat-message after this time
if (robot.lastHeartbeatTime < event.current_real - robot.maxTimeWithoutHeartbeat * 0.7)
{
ROS_WARN("%s no heartbeat from master since %.2f sec", name.full.c_str(), event.current_real.toSec() - robot.lastHeartbeatTime.toSec());
}
sendHeartbeat();
}
}
void CGame::sendUserInput() {
sf::Packet clientUpdate;
short packetType;
int input;
packetType = CLIENT_UPDATE;
clientUpdate << packetType;
if (sf::Keyboard::isKeyPressed(sf::Keyboard::Up)) {
input = THRUSTUP;
clientUpdate << input;
gameClient.send(clientUpdate);
return;
}
if (sf::Keyboard::isKeyPressed(sf::Keyboard::Down)) {
input = THRUSTDOWN;
clientUpdate << input;
gameClient.send(clientUpdate);
return;
}
if (sf::Keyboard::isKeyPressed(sf::Keyboard::Left)) {
input = TURNLEFT;
clientUpdate << input;
gameClient.send(clientUpdate);
return;
}
if (sf::Keyboard::isKeyPressed(sf::Keyboard::Right)) {
input = TURNRIGHT;
clientUpdate << input;
gameClient.send(clientUpdate);
return;
}
sendHeartbeat();
}
void CGame::receiveServerUpdate() {
sf::Packet serverPacket;
short packetType;
while (gameClient.receive(&serverPacket) != 0) {
serverPacket >> packetType;
switch (packetType) {
case SERVER_UPDATE:
gameWorld.packetToWorld(serverPacket);
break;
case HEARTBEAT:
sendHeartbeat();
break;
case DISCONNECT:
setState(LOGIN);
break;
}
}
}
void XapClass::heartbeat(void) {
if (after(heartbeatTimeout)) {
sendHeartbeat();
resetHeartbeat();
}
}
// process all incoming server messages
void Visualight::processClient(){
int available;
if(millis()-lastHeartbeat > heartBeatInterval && reconnectCount == 0){
sendHeartbeat();
}
if(millis()-connectTime > connectServerInterval){
VPRINTLN(F("reconnect from timeout"));
//reconnect = true;
//connectTime = millis();
if(!connectToServer()){
reconnectCount++;
}
}
else {
available = wifly.available();
if (available < 0) {
VPRINT(F("reconnect from available()"));
reconnectCount++;
if(!connectToServer()){
//reconnectCount++;
}
}
else if(available > 0){
connectTime = millis();
char thisChar;
thisChar = wifly.read();
if( thisChar == 97){
wifly.readBytesUntil('x', serBuf, 31);
int duration;
int red, green, blue, white;
sscanf(serBuf,"%i,%i,%i,%i,%i,%i,%i",&red,&green,&blue,&white,&duration,&_frequency,&_blinkType); // INDIGO v0.1.1
VPRINT("buf: ");
VPRINTLN(serBuf);
if(duration > 0 && _blinkType <=1){ //we are STARTING AN ALERT
_durationTime = duration*1000;
_frequency = (_frequency+1); //* 100; //get the right freq out //100 - 1000
setAlert(_blinkType, _durationTime, _frequency, red, green, blue, white);
}
else if(_blinkType == 2){ // we are setting the start color here
saveStartColor(red,green,blue,white);
}
else if(_blinkType == 3){ // reset WiFi, become a server
//this is sent from server when a bulb is deleted from a Visualight account.
wifiReset(); //set isServer = true, turn on AP mode
}
else { //simple set color
if(alerting){
_durationTime = 0; // will time out any currently running alert
}
setColor(red, green, blue, white);
}
memset(serBuf,0,31);
}
}
}
}
int main(int argc, char *argv[]) {
leaderCommand = NULL;
sendHeartBeatMillis = 5000;//send a heartbeat after this many millis
heartBeatTimeoutMillis = sendHeartBeatMillis * 3;//assume leader is dead if no heartbeat after this long
heartBeatMsgLength = strlen(heartBeatMsg);
addrs = (struct sockaddr_in *)malloc(sizeof(struct sockaddr_in) * MAX_HOSTS);//using a list here would be more memory efficient
if(addrs == NULL) {
fprintf(stderr, "Could not allocate memory\n");
exit(1);
}
parseArgs(argc, argv);
myIpAndPortStr = (char *)malloc(ipAndPortStrLength);
fromIpAndPortStr = (char *)malloc(ipAndPortStrLength);
serverSock = socket(AF_INET, SOCK_DGRAM, 0);
if (serverSock < 0) {
fprintf(stderr, "Opening socket\n");
exit(1);
}
struct sockaddr_in serverSockAddr;
memset(&serverSockAddr, 0, sizeof(serverSockAddr));
serverSockAddr.sin_family = AF_INET;
serverSockAddr.sin_addr.s_addr = INADDR_ANY;
serverSockAddr.sin_port = htons(serverPort);
if (bind(serverSock, (struct sockaddr *)&serverSockAddr, sizeof(struct sockaddr)) < 0) {
perror("Binding socket");
exit(1);
}
setIpAndPortStr(myIpAndPortStr, (struct sockaddr *)&serverSockAddr);
struct pollfd fd;
fd.fd = serverSock;
fd.events = POLLIN;
int isLeader = 0;
leaderChanged(0);//initialize not leader
while(1) {
if(isLeader) {
//send heartbeats unless we receive a heartbeat from someone else, then assume not leader
long lastHeartbeatSentMillis = 0;
long pollTimeout;
int pollResult;
while(1) {
//http://linux.die.net/man/2/poll
pollTimeout = lastHeartbeatSentMillis + sendHeartBeatMillis - getTimeMillis();
if(pollTimeout <= 0) {
pollTimeout = sendHeartBeatMillis;
}
pollResult = poll(&fd, 1, (int)pollTimeout);
if(pollResult < 0) {
perror("IsLeader poll error");
} else if(pollResult == 0) {
sendHeartbeat();
lastHeartbeatSentMillis = getTimeMillis();
} else {
if(fd.revents & POLLIN) {
if(recvHeartbeat()) {
//someone else thinks they are the leader, compare from ip+port to me, whichever sorts lower is the leader
//if i am the leader, immediately send a heartbeat msg, which will tell the other leader to not be the leader
//since it will get to this same spot, and by comparing ip+port determine that it is not the leader
setIpAndPortStr(fromIpAndPortStr, (struct sockaddr *)&from);
if(strcmp(myIpAndPortStr, fromIpAndPortStr) < 0) {
isLeader = 0;
leaderChanged(isLeader);
sendHeartbeat();
}
}
break;
} else if(fd.revents & POLLERR) {
//last message errored, what to do?
}
}
}
} else {
long lastHeartbeatReceivedMillis = 0;
int pollResult;
long pollTimeout;
while(1) {
//listen for heartbeats, if don't hear heartbeat within x sec, assume self is leader
pollTimeout = lastHeartbeatReceivedMillis + heartBeatTimeoutMillis - getTimeMillis();
if(pollTimeout <= 0) {
pollTimeout = heartBeatTimeoutMillis;
}
pollResult = poll(&fd, 1, (int)pollTimeout);
if(pollResult < 0) {
perror("IsNotLeader poll error");
} else if(pollResult == 0) {
isLeader = 1;
leaderChanged(isLeader);
sendHeartbeat();
break;
//no heartbeats received from leader, take over leadership
//TODO random delay to prevent slave storm to take over leadership?
} else {
if(fd.revents & POLLIN) {
if(recvHeartbeat()) {
lastHeartbeatReceivedMillis = getTimeMillis();
}
}
}
}
}
}
return 0;
}
