void wdInitState(void)
{
static double nextRequestTimeSec = 0.0;
RequestComponentControlMessage requestControl = NULL;
JausMessage txMessage = NULL;
char buf[64] = {0};
// Check for critcal service connections or conditions here
if(gposSc->isActive && vssSc->isActive && pdWrenchSc->isActive && pdStatusSc->isActive && wdInControl && wdRequestControl)
{
// Transition to Standby
wd->state = JAUS_STANDBY_STATE;
//cDebug(4, "wd: Switching to STANDBY State\n");
}
else if(getTimeSeconds() > nextRequestTimeSec)
{
if(!gposSc->isActive)
{
if(scManagerCreateServiceConnection(wdNmi, gposSc))
{
//cDebug(4, "wd: Sent GPOS SC Request\n");
}
}
if(!vssSc->isActive)
{
if(scManagerCreateServiceConnection(wdNmi, vssSc))
{
//cDebug(4, "wd: Sent VSS SC Request\n");
}
}
if(!pdWrenchSc->isActive && wdInControl)
{
if(scManagerCreateServiceConnection(wdNmi, pdWrenchSc))
{
//cDebug(4, "wd: Sent PD Wrench SC Request\n");
}
}
if(!pdStatusSc->isActive && wdInControl)
{
if(scManagerCreateServiceConnection(wdNmi, pdStatusSc))
{
//cDebug(4, "wd: Sent PD Status SC Request\n");
}
}
nextRequestTimeSec = getTimeSeconds() + REQUEST_TIMEOUT_SEC;
}
if(!wdInControl && wdRequestControl)
{
if(!pd->address->node)
{
pd->address->subsystem = wd->address->subsystem;
if(nodeManagerLookupAddress(wdNmi, pd->address))
{
jausAddressCopy(wdWrench->destination, pd->address);
}
}
if(pd->address->node)
{
jausAddressToString(pd->address, buf);
//cDebug(4, "wd: Requesting control of PD %s\n", buf);
requestControl = requestComponentControlMessageCreate();
jausAddressCopy(requestControl->source, wd->address);
jausAddressCopy(requestControl->destination, pd->address);
requestControl->authorityCode = wd->authority;
txMessage = requestComponentControlMessageToJausMessage(requestControl);
nodeManagerSend(wdNmi, txMessage);
jausMessageDestroy(txMessage);
requestComponentControlMessageDestroy(requestControl);
if(scManagerCreateServiceConnection(wdNmi, pdStatusSc))
{
//cDebug(4, "wd: Sent PD Status SC Request\n");
}
if(scManagerCreateServiceConnection(wdNmi, pdWrenchSc))
{
//cDebug(4, "wd: Sent PD Wrench SC Request\n");
}
nextRequestTimeSec = getTimeSeconds() + REQUEST_TIMEOUT_SEC;
}
}
}
int ojCmptLookupAddress(OjCmpt ojCmpt, JausAddress address)
{
return nodeManagerLookupAddress(ojCmpt->nmi, address);
}
JausBoolean scManagerCreateServiceConnection(NodeManagerInterface nmi, ServiceConnection sc)
{
CreateServiceConnectionMessage createSc;
JausMessage txMessage;
JausAddress localAddress;
ServiceConnection prevSc = NULL;
ServiceConnection testSc = NULL;
if(!sc)
{
return JAUS_FALSE;
}
pthread_mutex_lock(&nmi->scm->mutex);
// Check: Is this SC already on the incomingSc list? If so, remove it (otherwise it ends up on the list twice == bad)
// Remove this service connection from the list of incoming service connections
testSc = nmi->scm->incomingSc;
while(testSc)
{
if(sc == testSc)
{
if(prevSc)
{
prevSc->nextSc = testSc->nextSc;
}
else
{
nmi->scm->incomingSc = testSc->nextSc;
}
testSc = testSc->nextSc;
nmi->scm->incomingScCount--;
}
else
{
prevSc = testSc;
testSc = testSc->nextSc;
}
}
sc->confirmedUpdateRateHz = 0;
sc->lastSentTime = 0;
sc->sequenceNumber = 65535;
sc->instanceId = -1;
sc->isActive = JAUS_FALSE;
sc->nextSc = NULL;
createSc = createServiceConnectionMessageCreate();
jausAddressCopy(createSc->source, nmi->cmpt->address);
createSc->serviceConnectionCommandCode = sc->commandCode;
createSc->requestedPeriodicUpdateRateHertz = sc->requestedUpdateRateHz;
createSc->presenceVector = sc->presenceVector;
// If the subsystem for this service connection is known
if(sc->address && sc->address->subsystem != 0)
{
jausAddressCopy(createSc->destination, sc->address);
txMessage = createServiceConnectionMessageToJausMessage(createSc);
nodeManagerSend(nmi, txMessage);
jausMessageDestroy(txMessage);
createServiceConnectionMessageDestroy(createSc);
// Add the service connection to the front of the incoming service connection list
sc->nextSc = nmi->scm->incomingSc;
nmi->scm->incomingSc = sc;
nmi->scm->incomingScCount++;
pthread_mutex_unlock(&nmi->scm->mutex);
return JAUS_TRUE;
}
// otherwise the subsystem is unknown so we assume it is the same subsystem?
else
{
localAddress = jausAddressCreate();
localAddress->subsystem = nmi->cmpt->address->subsystem;
localAddress->node = 0;
localAddress->component = sc->address->component;
localAddress->instance = 0;
// Lookup Address from nodeManager
// Tests if the target component exists or not
if(nodeManagerLookupAddress(nmi, localAddress))
{
jausAddressCopy(createSc->destination, localAddress);
jausAddressCopy(sc->address, localAddress);
txMessage = createServiceConnectionMessageToJausMessage(createSc);
nodeManagerSend(nmi, txMessage);
jausMessageDestroy(txMessage);
jausAddressDestroy(localAddress);
createServiceConnectionMessageDestroy(createSc);
// Add the service connection to the front of the incoming service connection list
sc->nextSc = nmi->scm->incomingSc;
nmi->scm->incomingSc = sc;
nmi->scm->incomingScCount++;
pthread_mutex_unlock(&nmi->scm->mutex);
return JAUS_TRUE;
}
else
{
jausAddressDestroy(localAddress);
createServiceConnectionMessageDestroy(createSc);
pthread_mutex_unlock(&nmi->scm->mutex);
return JAUS_FALSE;
}
}
pthread_mutex_unlock(&nmi->scm->mutex);
return JAUS_FALSE;
}
JausBoolean scManagerCreateServiceConnection(NodeManagerInterface nmi, ServiceConnection sc)
{
CreateServiceConnectionMessage createSc;
JausMessage txMessage;
JausAddress localAddress;
ServiceConnection prevSc = NULL;
ServiceConnection testSc = nmi->scm->incommingSc;
if(!sc)
{
return JAUS_FALSE;
}
while(testSc)
{
if(sc == testSc)
{
if(prevSc)
{
prevSc->nextSc = testSc->nextSc;
}
else
{
nmi->scm->incommingSc = testSc->nextSc;
}
nmi->scm->incommingScCount--;
}
prevSc = testSc;
testSc = testSc->nextSc;
}
sc->confirmedUpdateRateHz = 0;
sc->lastSentTime = 0;
sc->sequenceNumber = 65535;
sc->instanceId = -1;
sc->isActive = JAUS_FALSE;
sc->nextSc = NULL;
createSc = createServiceConnectionMessageCreate();
createSc->source->id = nmi->cmpt->address->id;
createSc->serviceConnectionCommandCode = sc->commandCode;
createSc->requestedPeriodicUpdateRateHertz = sc->requestedUpdateRateHz;
createSc->presenceVector = sc->presenceVector;
if(sc->address && sc->address->subsystem != 0)
{
createSc->destination->id = sc->address->id;
txMessage = createServiceConnectionMessageToJausMessage(createSc);
nodeManagerSend(nmi, txMessage);
jausMessageDestroy(txMessage);
createServiceConnectionMessageDestroy(createSc);
sc->nextSc = nmi->scm->incommingSc;
nmi->scm->incommingSc = sc;
nmi->scm->incommingScCount++;
return JAUS_TRUE;
}
else
{
localAddress = jausAddressCreate();
localAddress->subsystem = nmi->cmpt->address->subsystem;
localAddress->node = 0;
localAddress->component = sc->address->component;
localAddress->instance = 0;
// Lookup Address from nodeManager
// Tests if the target component exists or not
if(nodeManagerLookupAddress(nmi, localAddress))
{
createSc->destination->id = localAddress->id;
sc->address->id = localAddress->id;
txMessage = createServiceConnectionMessageToJausMessage(createSc);
nodeManagerSend(nmi, txMessage);
jausMessageDestroy(txMessage);
jausAddressDestroy(localAddress);
createServiceConnectionMessageDestroy(createSc);
sc->nextSc = nmi->scm->incommingSc;
nmi->scm->incommingSc = sc;
nmi->scm->incommingScCount++;
return JAUS_TRUE;
}
else
{
jausAddressDestroy(localAddress);
createServiceConnectionMessageDestroy(createSc);
return JAUS_FALSE;
}
}
}
