void GOUpdate( GameObject* go )
{
MsgObject msg;
msg.name = MSG_RESERVED_Update;
msg.receiver_id = go->unique_id;
msg.sender_id = go->unique_id;
RouteMessage( &msg );
}
void sendSettingConfig(char *name, float var, float minV, float maxV, uint8_t req) {
struct timespec requested_time, remaining;
psMessage_t msg;
psInitPublish(msg, SETTING);
strncpy(msg.settingPayload.name, name, PS_NAME_LENGTH);
msg.settingPayload.value = var;
msg.settingPayload.min = minV;
msg.settingPayload.max = maxV;
msg.settingPayload.subsystem = req;
RouteMessage(&msg);
configCount++;
//delay
requested_time.tv_sec = 0;
requested_time.tv_nsec = MESSAGE_DELAY * 1000000;
nanosleep(&requested_time, &remaining);
}
//thread function for Rx
void *AgentRxThread(void *arg)
{
int mychan = (int) arg;
int socket = rxSocket[mychan];
psMessage_t rxMessage;
status_t parseStatus;
DEBUGPRINT("agent: Rx %i thread: fd=%i\n",mychan, socket);
parseStatus.noCRC = 0; ///< Do not expect a CRC, if > 0
parseStatus.noSeq = 0; ///< Do not check seq #s, if > 0
parseStatus.noLength2 = 0; ///< Do not check for duplicate length, if > 0
parseStatus.noTopic = 1; ///< Do not check for topic ID, if > 0
ResetParseStatus(&parseStatus);
agentOnline++;
connected[mychan] = true;
while(connected[mychan])
{
uint8_t readByte;
int result;
do {
if (recv(socket, &readByte, 1, 0) <= 0)
{
//quit on failure, EOF, etc.
ERRORPRINT("agent: Rx %i recv(fd=%i) error: %s\n", mychan, socket, strerror(errno));
AGENTreceiveErrors++;
pthread_mutex_lock(&agentMtx);
close(socket);
rxSocket[mychan] = -1;
close(txSocket[mychan]);
txSocket[mychan] = -1;
connected[mychan] = false;
agentOnline--;
pthread_mutex_unlock(&agentMtx);
pthread_exit(NULL);
return 0;
}
result = ParseNextCharacter(readByte, &rxMessage, &parseStatus);
} while (result == 0);
if (rxMessage.header.messageType == KEEPALIVE)
{
if (loopback)
{
rxMessage.header.source = 0;
CopyMessageToQ(&agentQueue, &rxMessage);
}
else
{
rxMessage.header.source = APP_XBEE;
XBeeBrokerProcessMessage(&rxMessage);
}
}
else
{
DEBUGPRINT("agent: Rx %i. %s message received\n", mychan, psLongMsgNames[rxMessage.header.messageType]);
AGENTmessagesReceived++;
rxMessage.header.source = APP_XBEE;
RouteMessage(&rxMessage);
}
}
//Tx disconnected
DEBUGPRINT("agent: Rx %i exiting.\n", mychan);
pthread_mutex_lock(&agentMtx);
close(socket);
rxSocket[mychan] = -1;
agentOnline--;
pthread_mutex_unlock(&agentMtx);
pthread_exit(NULL);
return 0;
}
//thread to receive messages and respond
void *ResponderMessageThread(void *arg)
{
uint8_t requestor;
DEBUGPRINT("responder: thread started\n");
while (1)
{
psMessage_t *msg = GetNextMessage(&responderQueue);
//check message for response requirement
switch (msg->header.messageType)
{
case CONFIG:
if (msg->configPayload.responder == XBEE)
{
requestor = msg->configPayload.requestor;
DEBUGPRINT("responder: Send Config received\n");
configCount = 0;
#define optionmacro(name, var, minV, maxV, def) sendOptionConfig(name, var, minV, maxV, requestor);
#include "options.h"
#undef optionmacro
#define settingmacro(name, var, minV, maxV, def) sendSettingConfig(name, var, minV, maxV, requestor);
#include "settings.h"
#undef settingmacro
{
psMessage_t msg;
psInitPublish(msg, CONFIG_DONE);
msg.configPayload.requestor = requestor;
msg.configPayload.responder = XBEE;
msg.configPayload.count = configCount;
RouteMessage(&msg);
}
DEBUGPRINT("responder: Config Done\n");
}
break;
case PING_MSG:
{
if (msg->header.source != OVERMIND)
{
DEBUGPRINT("responder: APP Ping received\n");
psMessage_t msg2;
psInitPublish(msg2, PING_RESPONSE);
strcpy(msg2.responsePayload.subsystem, "BEE");
msg2.responsePayload.flags = (startFlag ? RESPONSE_FIRST_TIME : 0) | (agentOnline ? RESPONSE_AGENT_ONLINE : 0);
msg2.responsePayload.requestor = msg->requestPayload.requestor;
startFlag = 0;
RouteMessage(&msg2);
PublishConditions(true);
SendXBeeStats();
SendAgentStats();
}
}
break;
case NEW_SETTING:
DEBUGPRINT("responder: New Setting: %s = %f\n", msg->settingPayload.name, msg->settingPayload.value);
#define settingmacro(n, var, minV, maxV, def) if (strncmp(n,msg->settingPayload.name,PS_NAME_LENGTH) == 0)\
var = msg->settingPayload.value;\
sendSettingConfig(n, var, minV, maxV, 0);
#include "settings.h"
#undef settingmacro
if (strncmp("Power Level",msg->settingPayload.name,PS_NAME_LENGTH) == 0) SetPowerLevel((int) powerLevel);
break;
case SET_OPTION:
DEBUGPRINT("responder: Set Option: %s = %i\n", msg->optionPayload.name, msg->optionPayload.value);
#define optionmacro(n, var, minV, maxV, def) if (strncmp(n,msg->optionPayload.name,PS_NAME_LENGTH) == 0)\
var = msg->optionPayload.value;\
sendOptionConfig(n, var, minV, maxV, 0);
#include "options.h"
#undef optionmacro
break;
default:
//ignore anything else
break;
}
DoneWithMessage(msg);
}
return 0;
}
