bool CMOOSRemoteLite::MailLoop()
{
m_bRunMailLoop = true;
while(!m_bQuit)
{
MOOSPause(300);
MOOSMSG_LIST MailIn;
if(m_bRunMailLoop && m_Comms.Fetch(MailIn))
{
//process mail
//simply write out
MOOSMSG_LIST::iterator p;
//make it in time order
MailIn.sort();
MailIn.reverse();
for(p = MailIn.begin();p!=MailIn.end();p++)
{
if(p->IsSkewed(MOOSTime()))
continue;
if(MOOSStrCmp(p->m_sKey,"NAV_SUMMARY"))
{
DoNavSummary(*p);
}
else
if(p->GetKey().find("DEBUG")!=string::npos)
{
//we print MOOS_DEBUG messages to the screen
string sMsg = p->m_sVal;
MOOSRemoveChars(sMsg,"\r\n");
MOOSTrace(">%-10s @ %7.2f \"%s\"\n",
p->m_sSrc.c_str(),
p->m_dfTime-GetAppStartTime(),
sMsg.c_str());
}
else
{
CUSTOMJOURNAL_MAP::iterator w = m_CustomJournals.find(p->GetKey());
if(w!=m_CustomJournals.end())
{
w->second.Add(p->GetAsString());
}
}
}
UpdateMOOSVariables(MailIn);
}
}
return true;
}
bool CMOOSLogger::OnNewMail(MOOSMSG_LIST &NewMail)
{
//these three calls look through the incoming mail
//and handle all appropriate logging
DoAsyncLog(NewMail);
UpdateMOOSVariables(NewMail);
LogSystemMessages(NewMail);
//here we look for more unusual things
MOOSMSG_LIST::iterator q;
for(q=NewMail.begin();q!=NewMail.end();q++)
{
if(q->IsSkewed(MOOSTime()))
continue;
//are we being asked to restart?
if(MOOSStrCmp(q->GetKey(),"LOGGER_RESTART"))
{
OnLoggerRestart();
}
}
return true;
}
//this is a mail callback - it is called as soon as mail arrives
bool OnMail(void *pParam){
CMOOSCommClient* pC = reinterpret_cast<CMOOSCommClient*>(pParam);
//grab all the held mail
MOOSMSG_LIST M;
pC->Fetch(M); //get the mail
MOOSMSG_LIST::iterator q; //process it
for(q=M.begin();q!=M.end();q++){
q->Trace();//print it
}
return true;
}
bool OnMail (void * pParam)
{
CMOOSCommClient* pC = reinterpret_cast<CMOOSCommClient*> (pParam);
MOOSMSG_LIST M;
pC->Fetch(M);
MOOSMSG_LIST::iterator q;
for(q=M.begin();q!=M.end();q++)
{
q->Trace();
}
return true;
}
bool CMOOSApp::LookForAndHandleAppCommand(MOOSMSG_LIST & NewMail)
{
MOOSMSG_LIST::iterator q;
bool bResult = true;
for(q=NewMail.begin();q!=NewMail.end();q++)
{
if(MOOSStrCmp(q->GetKey(),GetCommandKey()))
{
//give a derived class a chance to respond
bResult&= OnCommandMsg(*q);
}
}
return bResult;
}
void moossafir::SimDriver::do_work()
{
MOOSMSG_LIST msgs;
if(moos_client_.Fetch(msgs))
{
for(MOOSMSG_LIST::iterator it = msgs.begin(),
end = msgs.end(); it != end; ++it)
{
const std::string& in_moos_var = driver_cfg_.GetExtension(moossafir::Config::incoming_moos_var);
if(it->GetKey() == in_moos_var)
{
const std::string& value = it->GetString();
glog.is(DEBUG1) &&
glog << group(glog_in_group()) << in_moos_var << ": " << value << std::endl;
goby::acomms::protobuf::ModemRaw in_raw;
in_raw.set_raw(value);
ModemDriverBase::signal_raw_incoming(in_raw);
try
{
goby::acomms::protobuf::ModemTransmission m;
std::string data;
int id;
if(goby::moos::val_from_string(data, value, "data"))
m.add_frame(dccl::hex_decode(data));
if(!goby::moos::val_from_string(id, value, "modem_id"))
throw(std::runtime_error("No `modem_id` field"));
m.set_src(id);
receive_message(m);
}
catch(std::exception& e)
{
glog.is(DEBUG1) &&
glog << group(glog_in_group()) << warn << "Failed to parse incoming message: " << e.what() << std::endl;
}
}
}
}
}
bool OnNewMail(MOOSMSG_LIST & Mail){
//process it
MOOSMSG_LIST::iterator q;
for(q=Mail.begin();q!=Mail.end();q++)
{
//are we a ponger
if(q->GetKey()=="ex1010-ping")
Notify("ex1010-pong",q->GetDouble());
if(q->GetKey()=="ex1010-pong"){
double latency =(MOOSLocalTime()-q->GetDouble())/2;
mean_latency_+= latency;
if(count_>2)//this simply removes case of stale data in DB
max_latency_ = std::max(latency,max_latency_);
if(count_<burstsize_-1)
Notify("ex1010-ping",MOOSLocalTime());
}
count_++;
}
return true;
}
bool NodeManager::OnNewMail(MOOSMSG_LIST &NewMail)
{
MOOSMSG_LIST::iterator p;
for(p=NewMail.begin(); p!=NewMail.end(); p++) {
CMOOSMsg &msg = *p;
if (msg.GetKey() == "NAV_LAT") {
m_node_lat = msg.GetDouble();
m_lat_set = true;
} else if (msg.GetKey() == "NAV_LONG") {
m_node_lon = msg.GetDouble();
m_lon_set = true;
} else if (msg.GetKey() == "MSEASOCEANMODEL_RETURN") {
int num_values = p->GetBinaryDataSize()/sizeof(double);
int num_rows = num_values;
Matrix a(num_rows, 1);
double *a_data = a.fortran_vec();
memcpy(a_data, p->GetBinaryData(), p->GetBinaryDataSize());
m_model_values_return = a;
double drift_x = m_model_values_return(0)/100; //MSEAS model velocity data is in cm/s
double drift_y = m_model_values_return(1)/100;
m_Comms.Notify("DRIFT_X", drift_x);
m_Comms.Notify("DRIFT_Y", drift_y);
}
#if 0 // Keep these around just for template
string key = msg.GetKey();
string comm = msg.GetCommunity();
double dval = msg.GetDouble();
string sval = msg.GetString();
string msrc = msg.GetSource();
double mtime = msg.GetTime();
bool mdbl = msg.IsDouble();
bool mstr = msg.IsString();
#endif
}
return(true);
}
/** OnNewMail */
bool CImageGrabberApp::OnNewMail(MOOSMSG_LIST &NewMail)
{
std::string cad;
for(MOOSMSG_LIST::iterator i = NewMail.begin(); i != NewMail.end(); ++i)
{
if( (i->GetName()=="SHUTDOWN") && (MOOSStrCmp(i->GetString(),"true")) )
{
// Disconnect comms:
MOOSTrace("Closing Module \n");
this->RequestQuit();
}
if( (i->GetName()=="IMG_GRABBER_CMD") ) // process command to the grabber, typically: start or stop to grab
{
VERBOSE_LEVEL(2) << "[pImageGrabber -- INFO] Received Command: " << i->GetString().c_str() << endl;
std::deque<std::string> lista;
mrpt::system::tokenize( i->GetString(), " ", lista );
cad = MOOSToLower( lista[0].c_str() );
if( MOOSStrCmp(cad,"start") )
{
if( !m_start_grabbing )
{
m_grabbed_images_counter = 0; // reset counter of grabbed images
m_start_grabbing = true;
VERBOSE_LEVEL(1) << "[pImageGrabber -- INFO] Image recording started." << endl;
} // end-start-grabbing
}
else if( MOOSStrCmp(cad,"stop") )
{
if( m_start_grabbing )
{
m_start_grabbing = false;
VERBOSE_LEVEL(1) << "[pImageGrabber -- INFO] Image recording stopped." << endl;
} // end-stop-grabbing
}
else VERBOSE_LEVEL(0) << "[pImageGrabber -- INFO] Command not recognized: " << cad << endl;
}
}
UpdateMOOSVariables(NewMail);
return true;
} // end-OnNewMail
bool CMOOSCommClient::DispatchInBoxToActiveThreads()
{
//here we dispatch to special callbacks managed by threads
MOOS::ScopedLock L(ActiveQueuesLock_);
//before we start we can see if we have a default queue installed...
std::map<std::string, std::set<std::string> >::iterator q;
MOOSMSG_LIST::iterator t = m_InBox.begin();
//iterate over all pending messages.
while(t!=m_InBox.end())
{
// std::cerr<<"Inbox size:"<<m_InBox.size()<<"\n";
// t->Trace();
//does this message have a active queue mapping?
q= Msg2ActiveQueueName_.find(t->GetKey());
//have we ever checked this message against the wildcard queues?
std::set<std::string>::iterator u = WildcardCheckSet_.find(t->GetKey());
if(q==Msg2ActiveQueueName_.end() || u==WildcardCheckSet_.end() )
{
//maybe the wildcard queues are interested?
//or maybe this is a new message whihc has not been seen by wildcard queues
//each element is a <nickname,pattern> string pair;
std::map<std::string, std::string >::iterator w;
bool bFoundWCMatch = false;
for(w = WildcardQueuePatterns_.begin();w!=WildcardQueuePatterns_.end();w++)
{
std::string sPattern = w->second;
//build a list of all wc queues that match this message
//add these queues to the list of queues pointed to by this message
if(MOOSWildCmp(sPattern,t->GetKey()))
{
// std::cerr<<"found wildcard match adding queue "<<w->first
// <<" to routing for "<<t->GetKey()<<"\n";
Msg2ActiveQueueName_[t->GetKey()].insert(w->first);
bFoundWCMatch = true;
}
}
//remember all messages that have been received...
//we do it here because at this point wild card queue have been given
//the option to register their interest....
//but what to do if a wc queue in installed at run time...?
WildcardCheckSet_.insert(t->GetKey());
//std::cerr<<"added key"<<t->GetKey()<<" to wildcard chacek set\n";
//if we found a least one mapping simply go again without
//incrementing t...smart
if(bFoundWCMatch)
{
continue;
}
else
{
if(q==Msg2ActiveQueueName_.end())
{
//wildcard queues are not interested
//no standard queue is interested
//nothing to do....
return true;
}
}
}
//now we know which queue(s) are relevant for us.
//there namaes are in a string list.
std::set<std::string>::iterator r;
bool bPickedUpByActiveQueue = false;
for(r = q->second.begin();r!=q->second.end();r++)
{
// std::cerr<<"found queue that is relevent "<<*r<<"\n";
//for each named queue find a pointer to
//the actual active queue
std::map<std::string,MOOS::ActiveMailQueue*>::iterator v;
v = ActiveQueueMap_.find(*r);
if(v!=ActiveQueueMap_.end())
{
//and now we have checked it exists push this message to that
//queue
MOOS::ActiveMailQueue* pQ = v->second;
// std::cerr<<"pushing to queue: "<<(void*)pQ<<"\n";
bPickedUpByActiveQueue = true;
pQ->Push(*t);
}
else
{
//this is bad news - we have be told to use a queue
//which does not exist.
//std::cerr<<"WTF\n";
throw std::runtime_error("active queue "+*r+" not found");
}
}
if(bPickedUpByActiveQueue)
{
//we have now handled this message remove it from the Inbox.
MOOSMSG_LIST::iterator to_erase = t;
++t;
m_InBox.erase(to_erase);
}
else
{
++t;
}
}
return true;
}
