void roombatest::receive(uint8 len, const uint8 * buf, uint16 src_addr,
uint16 dest_addr, uint16 lqi, uint8 seq_no, uint8 interface)
{
// os_.debug("receive, len: %i, src: %h, dest: %h", len, src_addr, dest_addr);
if(len > 0) {
// os_.debug("receive, buf[0]: %i", buf[0]);
}
if(!connectedTo && dest_addr == 0xffff) {
if(len > 0 && buf[0] == ROOMBA_REMOTE_START_COMMUNICATION && connectCandidate == 0) {
uint8 buffer[] = {ROOMBA_REMOTE_PING};
os_.radio().send(src_addr, 1, buffer, 0, NULL);
connectCandidate = src_addr;
os_.add_timeout_in(Time(2000), this, (uint8*) TASK_CONNECTCAND_TIMEOUT);
}
}
if(!connectedTo && dest_addr == os_.id() && connectCandidate == src_addr) {
if(len > 0 && buf[0] == ROOMBA_REMOTE_PONG) {
connectCandidate = 0;
connectedTo = src_addr;
m_robot.setLeds(8,16,255);
os_.add_timeout_in(Time(3000), this, (uint8*) TASK_PINGPONG);
os_.debug("connected to %h", connectedTo);
}
}
if(connectedTo == src_addr && dest_addr == os_.id()) {
interpretMessage(len, buf);
}
}
void startDistNode(DistNode *node){
char header_buf[sizeof(MessageHeader)], msg_buf[BUF_SIZE], total_buf[BUF_SIZE + sizeof(MessageHeader)];
int fd, header_bytes, msg_bytes, offset = 0, last_hb = 0, hb_length = 0;
MessageHeader* head;
char* pipe_name = convertPidToPipe(node->pid);
// Open pipe for reading
if ((fd = open(pipe_name, O_RDONLY)) == -1) {
perror("Failed to open pipe for reading");
exit(-1);
}
srand(time(NULL));
while (node->running) {
// Synchronize with neighbors
if (node->start_syn == 1 && node->syn == 0) {
node->start_syn = 0;
node->syn = 1;
node->resp_count = 3;
node->msg_count += 3;
sendMessage(peek_bottom(node->local_hist)->pid, MSG_GETTIME, 0, 0);
sendMessage(node->pid, MSG_GETTIME, 0, 0);
sendMessage(node->local_hist->pid, MSG_GETTIME, 0, serializeListNode(node->local_hist));
}
//read from pipe for new messages
//if ((num_bytes = read(fd, buf, sizeof(MessageHeader) + BUF_SIZE)) == -1) {
while ((header_bytes = read(fd, header_buf, sizeof(MessageHeader))) > 0) {
head = (MessageHeader*) header_buf;
if ((msg_bytes = read(fd, msg_buf, head->body_length)) == -1) {
perror("Unable to read from pipe");
exit(-1);
}
memcpy(total_buf, header_buf, sizeof(MessageHeader));
memcpy(total_buf + sizeof(MessageHeader), msg_buf, strlen(msg_buf) + 1);
interpretMessage(total_buf, node);
}
if (header_bytes == -1) {
perror("Unable to read from pipe");
exit(-1);
}
}
// Close pipe
if (close(fd) == -1) {
perror("Unable to close pipe");
exit(-1);
}
}
void startDistNode(DistNode *node) {
char header_buf[sizeof(MessageHeader)], msg_buf[BUF_SIZE], total_buf[BUF_SIZE + sizeof(MessageHeader)];
int fd, header_bytes, msg_bytes, offset = 0, last_hb = 0, hb_length = 0;
MessageHeader* head;
char* pipe_name = convertPidToPipe(node->pid);
// Open pipe for reading
if ((fd = open(pipe_name, O_RDONLY)) == -1) {
perror("Failed to open pipe for reading");
exit(-1);
}
srand(time(NULL));
while (node->running) {
//if master node, check if it needs to send a heartbeat
if( node->pid == node->master_pid) {
if((node->offset - last_hb) > hb_length) {
hb_length = MIN_HB + (rand() % (MAX_HB - MIN_HB + 1));
last_hb = node->offset;
int sent = 0;
//ask every node for their time
ListNode *iter = node->local_hist;
while(iter) {
node->msg_count++;
sendMessage(iter->pid, MSG_GETTIME, 0, 0);
++sent;
iter = iter->next;
}
node->resp_count = sent;
node->max_resp = sent;
}
}
// Check to see if master has died. Determined to be dead if 5 seconds passed and there is no communication from master
//else if (node->offset - node->master_comm > TIMEOUT) {
if ((node->election_in_progress == 0) && (node->offset - node->master_comm > TIMEOUT)) {
printf("Election Started\n");
// Start election algorithm
node->last_sent = MSG_ELECTION_E;
node->master_pid = 0;
node->initiated_election = 1;
node->election_in_progress = 1;
node->msg_count++;
sendMessage(node->local_hist->pid, MSG_ELECTION_E, node->pid, serializeListNode(node->local_hist));
}
//read from pipe for new messages
//if ((num_bytes = read(fd, buf, sizeof(MessageHeader) + BUF_SIZE)) == -1) {
while ((header_bytes = read(fd, header_buf, sizeof(MessageHeader))) > 0) {
head = (MessageHeader*) header_buf;
if ((msg_bytes = read(fd, msg_buf, head->body_length)) == -1) {
perror("Unable to read from pipe");
exit(-1);
}
memcpy(total_buf, header_buf, sizeof(MessageHeader));
memcpy(total_buf + sizeof(MessageHeader), msg_buf, strlen(msg_buf) + 1);
interpretMessage(total_buf, node);
}
if (header_bytes == -1) {
perror("Unable to read from pipe");
exit(-1);
}
}
// Close pipe
if (close(fd) == -1) {
perror("Unable to close pipe");
exit(-1);
}
}