void CBuzzController::ProcessOutMsgs() {
/* Send robot id */
CByteArray cData;
cData << m_tBuzzVM->robot;
/* Send messages from FIFO */
do {
/* Are there more messages? */
if(buzzoutmsg_queue_isempty(m_tBuzzVM->outmsgs)) break;
/* Get first message */
buzzmsg_payload_t m = buzzoutmsg_queue_first(m_tBuzzVM->outmsgs);
/* Make sure the next message fits the data buffer */
if(cData.Size() + buzzmsg_payload_size(m) + sizeof(UInt16)
>
m_pcRABA->GetSize()) {
buzzmsg_payload_destroy(&m);
break;
}
/* Add message length to data buffer */
cData << static_cast<UInt16>(buzzmsg_payload_size(m));
/* Add payload to data buffer */
cData.AddBuffer(reinterpret_cast<UInt8*>(m->data), buzzmsg_payload_size(m));
/* Get rid of message */
buzzoutmsg_queue_next(m_tBuzzVM->outmsgs);
buzzmsg_payload_destroy(&m);
} while(1);
/* Pad the rest of the data with zeroes */
while(cData.Size() < m_pcRABA->GetSize()) cData << static_cast<UInt8>(0);
/* Send message */
m_pcRABA->SetData(cData);
}
void CBuzzController::ProcessOutMsgs() {
/* Process outgoing messages */
buzzvm_process_outmsgs(m_tBuzzVM);
/* Send robot id */
CByteArray cData;
cData << m_tBuzzVM->robot;
/* Send messages from FIFO */
do {
/* Are there more messages? */
if(buzzoutmsg_queue_isempty(m_tBuzzVM)) break;
/* Get first message */
buzzmsg_payload_t m = buzzoutmsg_queue_first(m_tBuzzVM);
/* Make sure the message is smaller than the data buffer
* Without this check, large messages would clog the queue forever
*/
size_t unMsgSize = buzzmsg_payload_size(m) + sizeof(UInt16);
if(unMsgSize < m_pcRABA->GetSize() - sizeof(UInt16)) {
/* Make sure the next message fits the data buffer */
if(cData.Size() + unMsgSize > m_pcRABA->GetSize()) {
buzzmsg_payload_destroy(&m);
break;
}
/* Add message length to data buffer */
cData << static_cast<UInt16>(buzzmsg_payload_size(m));
/* Add payload to data buffer */
cData.AddBuffer(reinterpret_cast<UInt8*>(m->data), buzzmsg_payload_size(m));
}
else {
RLOGERR << "Discarded oversize message ("
<< unMsgSize
<< " bytes). Max size is "
<< m_pcRABA->GetSize() - sizeof(UInt16)
<< " bytes."
<< std::endl;
}
/* Get rid of message */
buzzoutmsg_queue_next(m_tBuzzVM);
buzzmsg_payload_destroy(&m);
} while(1);
/* Pad the rest of the data with zeroes */
while(cData.Size() < m_pcRABA->GetSize()) cData << static_cast<UInt8>(0);
/* Send message */
m_pcRABA->SetData(cData);
}
void buzzvm_process_inmsgs(buzzvm_t vm) {
/* Go through the messages */
while(!buzzinmsg_queue_isempty(vm->inmsgs)) {
/* Make sure the VM is in the right state */
if(vm->state != BUZZVM_STATE_READY) return;
/* Extract the message data */
uint16_t rid;
buzzmsg_payload_t msg;
buzzinmsg_queue_extract(vm, &rid, &msg);
/* Dispatch the message wrt its type in msg->payload[0] */
switch(buzzmsg_payload_get(msg, 0)) {
case BUZZMSG_BROADCAST: {
/* Deserialize the topic */
buzzobj_t topic;
int64_t pos = buzzobj_deserialize(&topic, msg, 1, vm);
/* Make sure there's a listener to call */
const buzzobj_t* l = buzzdict_get(vm->listeners, &topic->s.value.sid, buzzobj_t);
if(!l) {
/* No listener, ignore message */
break;
}
/* Deserialize value */
buzzobj_t value;
pos = buzzobj_deserialize(&value, msg, pos, vm);
/* Make an object for the robot id */
buzzobj_t rido = buzzheap_newobj(vm, BUZZTYPE_INT);
rido->i.value = rid;
/* Call listener */
buzzvm_push(vm, *l);
buzzvm_push(vm, topic);
buzzvm_push(vm, value);
buzzvm_push(vm, rido);
buzzvm_closure_call(vm, 3);
break;
}
case BUZZMSG_VSTIG_PUT: {
/* Deserialize the vstig id */
uint16_t id;
int64_t pos = buzzmsg_deserialize_u16(&id, msg, 1);
if(pos < 0) {
fprintf(stderr, "[WARNING] [ROBOT %u] Malformed BUZZMSG_VSTIG_PUT message received\n", vm->robot);
break;
}
/* Look for virtual stigmergy */
const buzzvstig_t* vs = buzzdict_get(vm->vstigs, &id, buzzvstig_t);
if(!vs) break;
/* Virtual stigmergy found */
/* Deserialize key and value from msg */
buzzobj_t k; // key
buzzvstig_elem_t v = // value
(buzzvstig_elem_t)malloc(sizeof(struct buzzvstig_elem_s));
if(buzzvstig_elem_deserialize(&k, &v, msg, pos, vm) < 0) {
fprintf(stderr, "[WARNING] [ROBOT %u] Malformed BUZZMSG_VSTIG_PUT message received\n", vm->robot);
free(v);
break;
}
/* Deserialization successful */
/* Fetch local vstig element */
const buzzvstig_elem_t* l = buzzvstig_fetch(*vs, &k);
if((!l) || /* Element not found */
((*l)->timestamp < v->timestamp)) { /* Local element is older */
/* Local element must be updated */
/* Store element */
buzzvstig_store(*vs, &k, &v);
buzzoutmsg_queue_append_vstig(vm, BUZZMSG_VSTIG_PUT, id, k, v);
}
else if(((*l)->timestamp == v->timestamp) && /* Same timestamp */
((*l)->robot != v->robot)) { /* Different robot */
/* Conflict! */
/* Call conflict manager */
buzzvstig_elem_t c =
buzzvstig_onconflict_call(vm, *vs, k, *l, v);
if(!c) {
fprintf(stderr, "[WARNING] [ROBOT %u] Error resolving PUT conflict\n", vm->robot);
break;
}
/* Get rid of useless vstig element */
free(v);
/* Did this robot lose the conflict? */
if((c->robot != vm->robot) &&
((*l)->robot == vm->robot)) {
/* Yes */
/* Save current local entry */
buzzvstig_elem_t ol = buzzvstig_elem_clone(vm, *l);
/* Store winning value */
buzzvstig_store(*vs, &k, &c);
/* Call conflict lost manager */
buzzvstig_onconflictlost_call(vm, *vs, k, ol);
}
else {
/* This robot did not lose the conflict */
/* Just propagate the PUT message */
buzzvstig_store(*vs, &k, &c);
}
buzzoutmsg_queue_append_vstig(vm, BUZZMSG_VSTIG_PUT, id, k, c);
}
else {
/* Remote element is older, ignore it */
/* Get rid of useless vstig element */
free(v);
}
break;
}
case BUZZMSG_VSTIG_QUERY: {
/* Deserialize the vstig id */
uint16_t id;
int64_t pos = buzzmsg_deserialize_u16(&id, msg, 1);
if(pos < 0) {
fprintf(stderr, "[WARNING] [ROBOT %u] Malformed BUZZMSG_VSTIG_QUERY message received (1)\n", vm->robot);
break;
}
/* Deserialize key and value from msg */
buzzobj_t k; // key
buzzvstig_elem_t v = // value
(buzzvstig_elem_t)malloc(sizeof(struct buzzvstig_elem_s));
if(buzzvstig_elem_deserialize(&k, &v, msg, pos, vm) < 0) {
fprintf(stderr, "[WARNING] [ROBOT %u] Malformed BUZZMSG_VSTIG_QUERY message received (2)\n", vm->robot);
free(v);
break;
}
/* Look for virtual stigmergy */
const buzzvstig_t* vs = buzzdict_get(vm->vstigs, &id, buzzvstig_t);
if(!vs) {
/* Virtual stigmergy not found, simply propagate the message */
buzzoutmsg_queue_append_vstig(vm, BUZZMSG_VSTIG_QUERY, id, k, v);
free(v);
break;
}
/* Virtual stigmergy found */
/* Fetch local vstig element */
const buzzvstig_elem_t* l = buzzvstig_fetch(*vs, &k);
if(!l) {
/* Element not found */
if(v->data->o.type == BUZZTYPE_NIL) {
/* This robot knows nothing about the query, just propagate it */
buzzoutmsg_queue_append_vstig(vm, BUZZMSG_VSTIG_QUERY, id, k, v);
free(v);
}
else {
/* Store element and propagate PUT message */
buzzvstig_store(*vs, &k, &v);
buzzoutmsg_queue_append_vstig(vm, BUZZMSG_VSTIG_PUT, id, k, v);
}
break;
}
/* Element found */
if((*l)->timestamp < v->timestamp) {
/* Local element is older */
/* Store element */
buzzvstig_store(*vs, &k, &v);
buzzoutmsg_queue_append_vstig(vm, BUZZMSG_VSTIG_PUT, id, k, v);
}
else if((*l)->timestamp > v->timestamp) {
/* Local element is newer */
/* Append a PUT message to the out message queue */
buzzoutmsg_queue_append_vstig(vm, BUZZMSG_VSTIG_PUT, id, k, *l);
free(v);
}
else if(((*l)->timestamp == v->timestamp) && /* Same timestamp */
((*l)->robot != v->robot)) { /* Different robot */
/* Conflict! */
/* Call conflict manager */
buzzvstig_elem_t c =
buzzvstig_onconflict_call(vm, *vs, k, *l, v);
free(v);
/* Make sure conflict manager returned with an element to process */
if(!c) break;
/* Did this robot lose the conflict? */
if((c->robot != vm->robot) &&
((*l)->robot == vm->robot)) {
/* Yes */
/* Save current local entry */
buzzvstig_elem_t ol = buzzvstig_elem_clone(vm, *l);
/* Store winning value */
buzzvstig_store(*vs, &k, &c);
/* Call conflict lost manager */
buzzvstig_onconflictlost_call(vm, *vs, k, ol);
}
else {
/* This robot did not lose the conflict */
/* Just propagate the PUT message */
buzzvstig_store(*vs, &k, &c);
}
buzzoutmsg_queue_append_vstig(vm, BUZZMSG_VSTIG_PUT, id, k, c);
}
else {
/* Remote element is same as local, ignore it */
/* Get rid of useless vstig element */
free(v);
}
break;
}
case BUZZMSG_SWARM_LIST: {
/* Deserialize number of swarm ids */
uint16_t nsids;
int64_t pos = buzzmsg_deserialize_u16(&nsids, msg, 1);
if(pos < 0) {
fprintf(stderr, "[WARNING] [ROBOT %u] Malformed BUZZMSG_SWARM_LIST message received\n", vm->robot);
break;
}
if(nsids < 1) break;
/* Deserialize swarm ids */
buzzdarray_t sids = buzzdarray_new(nsids, sizeof(uint16_t), NULL);
uint16_t i;
for(i = 0; i < nsids; ++i) {
pos = buzzmsg_deserialize_u16(buzzdarray_makeslot(sids, i), msg, pos);
if(pos < 0) {
fprintf(stderr, "[WARNING] [ROBOT %u] Malformed BUZZMSG_SWARM_LIST message received\n", vm->robot);
break;
}
}
/* Update the information */
buzzswarm_members_refresh(vm->swarmmembers, rid, sids);
break;
}
case BUZZMSG_SWARM_JOIN: {
/* Deserialize swarm id */
uint16_t sid;
int64_t pos = buzzmsg_deserialize_u16(&sid, msg, 1);
if(pos < 0) {
fprintf(stderr, "[WARNING] [ROBOT %u] Malformed BUZZMSG_SWARM_JOIN message received\n", vm->robot);
break;
}
/* Update the information */
buzzswarm_members_join(vm->swarmmembers, rid, sid);
break;
}
case BUZZMSG_SWARM_LEAVE: {
/* Deserialize swarm id */
uint16_t sid;
int64_t pos = buzzmsg_deserialize_u16(&sid, msg, 1);
if(pos < 0) {
fprintf(stderr, "[WARNING] [ROBOT %u] Malformed BUZZMSG_SWARM_LEAVE message received\n", vm->robot);
break;
}
/* Update the information */
buzzswarm_members_leave(vm->swarmmembers, rid, sid);
break;
}
}
/* Get rid of the message */
buzzmsg_payload_destroy(&msg);
}
/* Update swarm membership */
buzzswarm_members_update(vm->swarmmembers);
}
