void Robot::ProcessMessage(const SMsgHeader* header,const string& body)
{
log.debug("ProcessMessage start...");
SATCPConnectionPtr spSocket = m_spSocket;
log.debug(format("Process robot msg='%s'", body));
rapidjson::Document oDocument;
string sRes = "";
const string sFailedResTemple = "{\"sender\": \"server1\",\"sendertype\": \"server\",\"msgid\": \"%s\",\"errcode\": %d,\"errmsg\": \"%s\"}";
string sErrorMsg = "";
int nErrcode = 0;
string sMsgID = "";
if (!oDocument.Parse<0>(body.c_str()).HasParseError()
&& oDocument.IsObject())
{
string sSender = "";
string sSendertype = "";
if (oDocument.HasMember("sender") && oDocument["sender"].IsString())
{
sSender = oDocument["sender"].GetString();
}
if (oDocument.HasMember("sendertype") && oDocument["sendertype"].IsString())
{
sSendertype = oDocument["sendertype"].GetString();
}
if (oDocument.HasMember("msgid") && oDocument["msgid"].IsString())
{
sMsgID = oDocument["msgid"].GetString();
}
if (sMsgID.empty() || sSender.empty() || sSendertype.empty())
{
nErrcode = 2;
sErrorMsg = "request msg format error!";
log.warning("request msg format error!");
}
else
{
rapidjson::Document response;
response.SetObject();
rapidjson::Document::AllocatorType& allocator = response.GetAllocator();
response.AddMember("sender", "server1", allocator);
response.AddMember("sendertype", "server", allocator);
response.AddMember("msgid", sMsgID.c_str(), allocator);
if (IsRegistered())
{
m_oLastRecvMsg.update();
if (sMsgID == "robot.heartbeat")
{
Process_Heartbeat(oDocument, response,sRes);
}
else if (sMsgID == "server.get.robot_status")
{
// 更新状态信息
Process_Status(oDocument);
return;
}
else if (sMsgID == "robot.request.customer")
{
// 请求人工服务
Process_RequestCustomer(oDocument);
}
}
else if (sMsgID == "robot.register")
{
Process_Register(oDocument, response, sRes);
}
else
{
log.error(format("Can't process msg,has't registered!msgid='%s'", sMsgID));
nErrcode = 1;
sErrorMsg = "Has't registered!";
}
}
}
else
{
nErrcode = 3;
sErrorMsg = "invalid json format!";
log.warning("robot request format error,invalid json format");
}
if (sRes.empty())
{
sRes = Poco::format(sFailedResTemple,sMsgID, nErrcode, sErrorMsg);
}
if (sRes.length() > 0)
{
SendMessage(sRes, header->nInvokeID);
}
if (sMsgID == "robot.register")
{
if (m_bIsRegistered)
{
SendGetStatusRequest();
}
}
}
//-------------------------------------------------------------------
//----------------------------Code-----------------------------------
//-------------------------------------------------------------------
void main(void)
{
// should only execute main loop once; after this just respond to interrupts
InitTimers();
InitPorts();
InitComm();
InitInterrupts();
SSPBUF = BytesOut[i];
while(1)
{
//-----------------------------------------------------------------------------------------
//-----------------------------------------------------------------------------------------
//-----EUART STUFF-------------------------------------------------------------------------
//-----------------------------------------------------------------------------------------
//-----------------------------------------------------------------------------------------
if(CommActive)
{
if( X_Transition!=0 )
{
X_Transition = 0;
switch( CurrentX_State )
{
case X_Idle_State :
{
SEND = 1;
NextX_State = X_StartDelim_State;
NextByteOut = 0x7E;
// Starting Edit for Variable Message Size
MessageCounter = Encode_Message(CurrentType);
X_LengthLSB = MessageCounter + 5; //For framing bytes
// Populating the Message Frame
X_CMD = TXData[0];
X_RF1 = TXData[1];
X_RF2 = TXData[2];
X_RF3 = TXData[3];
X_RF4 = TXData[4];
X_RF5 = TXData[5];
}
break;
case X_StartDelim_State :
{
NextX_State = X_LengthMSB_State;
NextByteOut = X_LengthMSB ;
}
break;
case X_LengthMSB_State :
{
NextX_State = X_LengthLSB_State;
NextByteOut = X_LengthLSB;
}
break;
case X_LengthLSB_State :
{
NextX_State = X_API_State;
NextByteOut = X_API;
}
break;
case X_API_State :
{
NextX_State = X_FID_State;
NextByteOut = X_FID;
}
break;
case X_FID_State :
{
NextX_State = X_AddrMSB_State;
NextByteOut = X_AddrMSB;
}
break;
case X_AddrMSB_State :
{
NextX_State = X_AddrLSB_State;
NextByteOut = X_AddrLSB;
}
break;
case X_AddrLSB_State :
{
NextX_State = X_Options_State;
NextByteOut = X_Options;
}
break;
case X_Options_State :
{
NextX_State = X_CMD_State; // will later need logic here for what transition to do based on length LSB
NextByteOut = X_CMD;
}
break;
case X_CMD_State :
{
MessageCounter--;
if(MessageCounter)
{
NextX_State = X_RF1_State;
NextByteOut = X_RF1;
}
else
{
NextX_State = X_Checksum_State;
NextByteOut = CalculateChecksum();
}
}
break;
case X_RF1_State :
{
MessageCounter--;
if(MessageCounter)
{
NextX_State = X_RF2_State;
NextByteOut = X_RF2;
}
else
{
NextX_State = X_Checksum_State;
NextByteOut = CalculateChecksum();
}
}
break;
case X_RF2_State :
{
MessageCounter--;
if(MessageCounter)
{
NextX_State = X_RF3_State;
NextByteOut = X_RF3;
}
else
{
NextX_State = X_Checksum_State;
NextByteOut = CalculateChecksum();
}
}
break;
case X_RF3_State :
{
MessageCounter--;
if(MessageCounter)
{
NextX_State = X_RF4_State;
NextByteOut = X_RF4;
}
else
{
NextX_State = X_Checksum_State;
NextByteOut = CalculateChecksum();
}
}
break;
case X_RF4_State :
{
MessageCounter--;
if(MessageCounter)
{
NextX_State = X_RF5_State;
NextByteOut = X_RF5;
}
else
{
NextX_State = X_Checksum_State;
NextByteOut = CalculateChecksum();
}
}
break;
case X_RF5_State :
{
NextX_State = X_Checksum_State;
NextByteOut = CalculateChecksum();
}
break;
case X_Checksum_State :
{
SEND = 0;
NextX_State = X_Idle_State;
NextByteOut = 0x7E;
}
break;
} // end switch case
}// end if X_Transition
if( R_Transition!=0 )
{
R_Transition = 0;
switch( CurrentR_State )
{
case R_Idle_State :
{
if (ByteIn == 0x7E) // should always be this!
{ NextR_State = R_LengthMSB_State; }
}
break;
case R_LengthMSB_State :
{
if ( ByteIn == 0x00 ) // should always be this!
{ NextR_State = R_LengthLSB_State; }
}
break;
case R_LengthLSB_State :
{
NextR_State = R_API_State;
R_LengthLSB = ByteIn;
}
break;
case R_API_State :
{
///Adding Code to Handle different types of received messages
R_API = ByteIn;
if (R_API == API_TXSTAT)
NextR_State = R_FID_State;
else if (R_API == API_RXPACK)
{
NextR_State = R_AddrMSB_State;
LostCommCounter = 0;
}
else
NextR_State = R_Idle_State;
}
break;
case R_AddrMSB_State :
{
NextR_State = R_AddrLSB_State;
R_AddrMSB = ByteIn;
}
break;
case R_AddrLSB_State :
{
NextR_State =R_SigStr_State;
R_AddrLSB = ByteIn;
}
break;
case R_SigStr_State :
{
NextR_State = R_Options_State;
R_SigStr = ByteIn;
}
break;
case R_Options_State :
{
NextR_State = R_CMD_State; // will later need logic here for what transition to do based on length LSB
R_Options = ByteIn;
}
break;
case R_CMD_State:
{
NextR_State = R_RF1_State;
R_CMD = ByteIn;
}
break;
case R_RF1_State :
{
NextR_State = R_Idle_State;
R_RF1 = ByteIn;
if (R_CMD == 0x05)
{ //PAIR_RESP Received
if(R_RF1&BIT0HI)
{
Paired = 1;
//Stop Broadcasting and send Direct Messages
X_AddrMSB = R_AddrMSB;
X_AddrLSB = R_AddrLSB;
CurrentType = CTRL;
Set_PAIRED;
PORTC = PORTC_Copy;
LostCommCounter = 0;
}
else
{
XBee_State(0);
}
}
if (R_CMD == 0x06)
{ //STATUS Received
Process_Status(R_RF1);
}
}
break;
case R_FID_State :
{
NextR_State = R_STATUS_State;
R_FID = ByteIn;
}
break;
case R_STATUS_State :
{
NextR_State = R_Idle_State;
R_STATUS = ByteIn;
//Code to Resend Message if no ACK
if (R_STATUS)
{
X_Transition = 1;
CurrentX_State = X_Idle_State;
NextX_State = CurrentX_State;
}
}
break;
} // end switch case
}// end if R_Transition
if (SEND && TXIF) // for some reason, with TXIE I get 0x7E transmitted twice.
{
X_Transition = 1;
TXREG = NextByteOut;
}
CurrentX_State = NextX_State;
CurrentR_State = NextR_State;
}
}
}; // end main
