void AmSipDialog::updateStatus(const AmSipRequest& req)
{
if(uas_trans.find(req.cseq) == uas_trans.end())
uas_trans[req.cseq] = AmSipTransaction(req.method,req.cseq);
remote_uri = req.from_uri;
sip_ip = req.dstip;
sip_port = req.port;
if(callid.empty()){
callid = req.callid;
remote_tag = req.from_tag;
user = req.user;
domain = req.domain;
local_uri = req.r_uri;
remote_party = req.from;
local_party = req.to;
setRoute(req.route);
next_hop = req.next_hop;
}
}
void multitrain_driver() {
MultiTrainDriver me;
initDriver(&me);
unsigned int naggCount = 0;
unsigned int updateStoppingDistanceCount = 0;
for (;;) {
int tid = -1;
MultiTrainDriverMsg actualMsg;
DriverMsg* msg = (DriverMsg*)&actualMsg;
msg->data3 = 0;
Receive(&tid, (char *)msg, sizeof(MultiTrainDriverMsg));
if (msg->type != REPORT_INFO &&
msg->type != QUERY_STOP_COUNT &&
msg->type != MULTI_TRAIN_DRIVER_COURIER &&
msg->type != SENSOR_TRIGGER &&
msg->type != DELTA_DISTANCE) {
Reply(tid, (char*)1, 0);
}
switch (msg->type) {
case SET_SPEED: {
if (!me.tailMode) {
Reply(msg->replyTid, (char*)1, 0);
}
groupSetSpeed(&me, msg->data2);
break;
}
case SENSOR_TRIGGER: {
if (me.tailMode && tid == me.sensorWatcher) {
Reply(tid, (char *)NULL, 0);
break;
}
if (me.tailMode) {
int isHandled = 0;
Send(me.trainId[0],
(char*)msg, sizeof(DriverMsg), (char *)&isHandled, sizeof(int));
Reply(tid, (char *)&isHandled, sizeof(int));
} else {
int isSensorReserved = QueryIsSensorReserved(&me, msg->data2, msg->data3);
if (isSensorReserved) {
// sensor is reserved
for (int i = 0; i < me.numTrainInGroup; i ++) {
int isHandled = 0;
Send(me.trainId[i],
(char*)msg, sizeof(DriverMsg), (char *)&isHandled, sizeof(int));
if (isHandled) {
break;
}
}
}
Reply(tid, (char *)NULL, 0);
}
break;
} // case
case NAVIGATE_NAGGER: {
if (me.tailMode) break;
updateInfo(&me);
if (me.routeRemaining != -1) {
if (!me.stopCommited) {
if (shouldStopNow(&me)) {
if (me.route.nodes[me.stopNode].num == REVERSE) {
//TrainDebug(&me, "Navi reversing.");
groupSetSpeed(&me, -1); // reverse
}
else {
//TrainDebug(&me, "Navi Nagger stopping.");
groupSetSpeed(&me, 0); // stopping
me.route.length = 0; // Finished the route.
me.testMode = 0;
me.routeRemaining = -1;
}
me.stopCommited = 1;
me.useLastSensorNow = 0;
me.stopNow = 0;
me.stopSensorHit = 0;
} else {
if ((++updateStoppingDistanceCount & 15) == 0) updateStopNode(&me);
}
}
}
if (me.nextSetSwitchNode != -1 && (++me.setSwitchNaggerCount & 3) == 0) {
trySetSwitch_and_getNextSwitch(&me);
}
if (me.rerouteCountdown-- == 0) {
if (me.testMode) {
int reserveStatus = makeReservation(&me, 440);
if (reserveStatus == RESERVE_FAIL) {
reroute(&me);
} else {
me.nextSetSwitchNode = -1;
updateSetSwitch(&me);
groupSetSpeed(&me, 8);
}
} else {
// reroute
if (me.route.length != 0) {
setRoute(&me, &(me.info[0].pos), &(me.routeMsg));
}
}
}
break;
}
case UPDATE_PREDICTION: {
if (me.tailMode) {
MultiTrainDriverCourierMsg cMsg;
cMsg.destTid = me.headTid;
cMsg.msg = actualMsg;
cMsg.msg.data = MyTid();
Reply(me.courier, (char *)&cMsg, sizeof(MultiTrainDriverCourierMsg));
break;
}
for (int i = 0; i < MAX_TRAIN_IN_GROUP; i++) {
if (actualMsg.data == me.trainId[i]) {
for (int j = 0; j < actualMsg.numSensors; j++) {
me.sensorToReserve[i][j] = actualMsg.sensors[j];
}
me.numSensorToReserve[i] = actualMsg.numSensors;
}
}
makeReservation(&me, me.info[0].maxStoppingDistance);
break;
}
case STOP_COMPLETED: {
// notify actual train controller.
if (me.tailMode) {
MultiTrainDriverCourierMsg cMsg;
cMsg.destTid = me.headTid;
cMsg.msg = actualMsg;
cMsg.msg.data = MyTid();
Reply(me.courier, (char *)&cMsg, sizeof(MultiTrainDriverCourierMsg));
break;
}
me.stoppedCount++;
if (me.stoppedCount == me.numTrainInGroup) {
makeReservation(&me, 1);
if (me.isReversing) {
handleReverse(&me);
} else if (me.route.length != 0) {
// Reroute.
setRoute(&me, &(me.info[0].pos), &(me.routeMsg));
}
}
if (!me.reserveTrackMode) {
clearReservation(me.trackManager, me.trainNum);
}
break;
}
case SET_ROUTE: {
Reply(msg->replyTid, (char*)1, 0);
me.routeMsg = *msg;
setRoute(&me, &(me.info[0].pos), msg);
break;
}
case GET_POSITION: {
if (me.tailMode) {
PrintDebug(me.ui, "Get position from a tail train ??");
break;
}
// If don't have any valid info yet, reply empty message
if (me.infoUpdater == -1) {
Reply(msg->replyTid, (char*)1, 0);
} else {
Reply(msg->replyTid, (char*)&(me.info[0]), sizeof(DumbDriverInfo));
}
break;
}
case FIND_POSITION: {
if (me.tailMode) {
PrintDebug(me.ui, "find position while merge????");
break;
}
me.reserveTrackMode = (msg->data2 == RESERVE);
PrintDebug(me.ui, "Train locking %d", me.trainNum);
// Only 1 train can lock at the same time.
lock(me.timeserver);
// begin finding position in a slow speed
DumbTrainSetSpeed(me.trainId[0], 5);
Reply(msg->replyTid, (char*)1, 0);
for (;;) {
Receive(&tid, (char*)msg, sizeof(MultiTrainDriverMsg));
Reply(tid, (char*)1, 0);
if (msg->type == SENSOR_TRIGGER) {
Send(me.trainId[0], (char*)msg,
sizeof(DriverMsg), (char*)NULL, 0);
DumbTrainSetSpeed(me.trainId[0], 0);
break;
} else if (msg->type == GET_POSITION) {
Reply(msg->replyTid, (char*)1, 0);
} else {
PrintDebug(me.ui, "WARNN Drop %d", msg->type);
}
}
DriverMsg dMsg;
dMsg.type = REPORT_INFO;
for (int i = 0; i < me.numTrainInGroup; i++) {
Send(me.trainId[i],
(char *)&dMsg, sizeof(DriverMsg),
(char*)&me.info[i], sizeof(DumbDriverInfo));
}
me.infoUpdater = Create(3, trainNavigateNagger);
unlock();
break;
}
case MERGE_HEAD: {
if (me.tailMode) {
PrintDebug(me.ui, "Cannot be a head when in tail mode??");
break;
}
me.reserveTrackMode = 1; // Head always reserves track.
// Other train controller's id.
me.trainId[me.numTrainInGroup] = msg->data2;
me.numTrainInGroup++;
Reply(msg->replyTid, (char*)1, 0);
DriverMsg dMsg;
dMsg.type = QUERY_STOP_COUNT;
int tailStopCount = 0;
Send(msg->data2, (char *)&dMsg, sizeof(DriverMsg), (char *)&tailStopCount, sizeof(int));
me.stoppedCount += tailStopCount;
dMsg.type = UPDATE_PARENT_ABOUT_PREDICTION;
Send(msg->data2, (char *)&dMsg, sizeof(DriverMsg), (char *)NULL, 0);
PrintDebug(me.ui, "merged. head is %d", me.trainNum);
break;
}
case MERGE_TAIL: {
if (me.tailMode) {
PrintDebug(me.ui, "Double merge tail??");
break;
}
// Enters courier mode that passes dumb_train msg to 'real' controller
me.tailMode = 1;
me.headTid = msg->data2;
clearReservation(me.trackManager, me.trainNum);
Reply(msg->replyTid, (char*)1, 0);
PrintDebug(me.ui, "Train %d is tail", me.trainNum);
break;
}
case SEPARATE_TAIL: {
if (!me.tailMode) {
PrintDebug(me.ui, "Not in tail mode..??"); break;
}
me.tailMode = 0;
me.headTid = 0;
// TODO, behaviour is not clearly defined yet.
// reserve my own track and prediction??
break;
}
case REPORT_INFO: {
if (!me.tailMode) {
PrintDebug(me.ui, "Report info Not in tail mode..??"); break;
}
// ASSUME ONLY 1 train when in tail mode.
Send(me.trainId[0], (char*)msg, sizeof(DriverMsg),
(char*)&me.info[0], sizeof(DumbDriverInfo));
// Reply the head that made query.
Reply(me.headTid, (char*)&me.info[0], sizeof(DumbDriverInfo));
break;
}
case DELTA_DISTANCE: {
if (!me.tailMode) {
PrintDebug(me.ui, "Delta distance and not in tail mode..??"); break;
}
// ASSUME ONLY 1 train when in tail mode.
Send(me.trainId[0], (char*)msg,
sizeof(DriverMsg) - sizeof(Position), (char*)1, 0);
// Reply the head that made query.
Reply(me.headTid, (char*)1, 0);
break;
}
case UPDATE_PARENT_ABOUT_PREDICTION: {
if (!me.tailMode) {
PrintDebug(me.ui, "%d Update Parent Not in tail mode..??", me.trainNum);
break;
}
// ASSUME ONLY 1 train when in tail mode.
Send(me.trainId[0], (char*)msg, sizeof(DriverMsg),
(char*)NULL, 0);
break;
}
case QUERY_STOP_COUNT: {
// asuumption: no tree strucutre
Reply(tid, (char *)&me.stoppedCount, sizeof(int));
break;
}
case MULTI_TRAIN_DRIVER_COURIER: {
// nothing
break;
}
case REVERSE_SPEED: {
if (!me.tailMode) {
PrintDebug(me.ui, "Reverse Speed Not in tail mode..??"); break;
}
for (int i = 0; i < me.numTrainInGroup; i++) {
Send(me.trainId[i], (char *)msg, sizeof(DriverMsg), (char*)1, 0);
}
break;
}
case QUERY_STOPPING_DISTANCE: {
if (!me.tailMode) {
PrintDebug(me.ui, "Query stopping dist Not in tail mode..??"); break;
}
int stoppingDist = 0;
// ASSUME ONLY 1 train when in tail mode.
Send(me.trainId[0], (char*)msg, sizeof(DriverMsg),
(char*)&stoppingDist, sizeof(int));
// Reply the head that made query.
Reply(me.headTid, (char*)&stoppingDist, sizeof(int));
break;
}
case HIT_SECONDARY: {
if (me.route.length != 0) {
PrintDebug(me.ui, "Hit secondary rerouting..");
groupSetSpeed(&me, 0);
}
break;
}
case SET_FOLLOWING_DISTANCE: {
me.minFollowingDist = msg->data2;
me.maxFollowingDist = msg->data3;
Reply(msg->replyTid, (char*)1, 0);
break;
}
default: {
PrintDebug(me.ui, "Not Handled %d", msg->type);
}
} // switch
} // for
}
void AmSipDialog::updateStatus(const AmSipReply& reply)
{
TransMap::iterator t_it = uac_trans.find(reply.cseq);
if(t_it == uac_trans.end()){
ERROR("could not find any transaction matching reply\n");
return;
}
DBG("updateStatus(reply): transaction found!\n");
AmSipTransaction& t = t_it->second;
//t->reply_code = reply.code;
// rfc3261 12.1
// && method==INVITE
// Dialog established only by 101-199 or 2xx
// responses to INVITE
if ((reply.code >= 101) && (reply.code < 300) &&
(remote_tag.empty() && !reply.remote_tag.empty()))
remote_tag = reply.remote_tag;
// allow route overwritting
if(status < Connected) {
if(!reply.route.empty())
setRoute(reply.route);
next_hop = reply.next_hop;
}
remote_uri = reply.next_request_uri;
switch(status){
case Disconnecting:
if( t.method == "INVITE" ){
if(reply.code == 487){
// CANCEL accepted
status = Disconnected;
}
else {
// CANCEL rejected
sendRequest("BYE");
}
}
break;
case Pending:
case Disconnected:
// only change status of dialog if reply
// to INVITE received
if(t.method == "INVITE"){
if(reply.code < 200)
status = Pending;
else if(reply.code >= 300)
status = Disconnected;
else
status = Connected;
}
break;
default:
break;
}
if(reply.code >= 200)
uac_trans.erase(t_it);
}
void driver() {
Driver me;
initDriver(&me, 1);
unsigned int naggCount = 0;
unsigned int updateStoppingDistanceCount = 0;
for (;;) {
int tid = -1;
DriverMsg msg;
msg.data2 = -1;
msg.data3 = -1;
msg.replyTid = -1;
Receive(&tid, (char*)&msg, sizeof(DriverMsg));
if (tid != me.delayer && tid != me.stopDelayer) {
Reply(tid, (char*)1, 0);
}
const int replyTid = msg.replyTid;
switch (msg.type) {
case SET_SPEED: {
//TrainDebug(&me, "Set speed from msg");
trainSetSpeed(msg.data2,
getStoppingTime(&me),
(msg.data3 == DELAYER),
&me);
if (msg.data3 != DELAYER) {
//TrainDebug(&me, "Replied to %d", replyTid);
Reply(replyTid, (char*)1, 0);
sendUiReport(&me);
break;
} else if (me.route.length != 0) {
// Delayer came back. Reverse command completed
me.stopCommited = 0; // We're moving again.
// We've completed everything up to the reverse node.
me.routeRemaining = me.stopNode+1;
me.previousStopNode = me.routeRemaining;
me.distanceFromLastSensorAtPreviousStopNode = me.distanceFromLastSensor;
// Calculate the next stop node.
updateStopNode(&me);
me.nextSetSwitchNode = -1;
updateSetSwitch(&me);
// if the reverse is last node, nothing to do
// if it isn't.. it should speed up again.
}
}
case DELAYER: {
//TrainDebug(&me, "delayer come back.");
break;
}
case STOP_DELAYER: {
// To prevent the first receive from this delayer
if (me.lastSensorActualTime > 0 && me.speed == 0 && !me.isAding) {
TrainDebug(&me, "releasing reserveration");
int reserveStatus = reserveMoreTrack(&me, 1, 0);
if (reserveStatus == RESERVE_FAIL) {
TrainDebug(&me, "WARNING: unable to reserve during init");
}
}
break;
}
case SENSOR_TRIGGER: {
// only handle sensor reports in primary + secondary prediction if not position finding
int sensorReportValid = 0;
TrackLandmark conditionLandmark;
int condition;
int isSensorReserved = QueryIsSensorReserved(&me, msg.data2, msg.data3);
if (me.positionFinding) {
sensorReportValid = 1;
me.lastSensorUnexpected = 1;
//FinishPositionFinding(me.trainNum, me.trainController);
} else if (isSensorReserved) {
//TrainDebug(&me, "Predictions.");
for (int i = 0; i < me.numPredictions; i ++) {
TrackLandmark predictedSensor = me.predictions[i].sensor;
//printLandmark(&me, &predictedSensor);
if (predictedSensor.type == LANDMARK_SENSOR && predictedSensor.num1 == msg.data2 && predictedSensor.num2 == msg.data3) {
sensorReportValid = 1;
if (i != 0) {
TrainDebug(&me, "Trigger Secondary");
// secondary prediction, need to do something about them
conditionLandmark = me.predictions[i].conditionLandmark;
condition = me.predictions[i].condition;
me.lastSensorUnexpected = 1;
if (conditionLandmark.type == LANDMARK_SWITCH) {
TrackMsg setSwitch;
setSwitch.type = UPDATE_SWITCH_STATE;
TrainDebug(&me, "UPDATE SWITCH STATE");
setSwitch.landmark1 = conditionLandmark;
setSwitch.data = condition;
Send(me.trackManager, (char*)&setSwitch, sizeof(TrackMsg), (char *)1, 0);
}
// Stop and then try to reroute.
reroute(&me);
} else {
me.lastSensorUnexpected = 0;
}
}
}
}
if (sensorReportValid) {
updateRoute(&me, msg.data2, msg.data3);
me.lastSensorBox = msg.data2; // Box
me.lastSensorVal = msg.data3; // Val
me.lastSensorIsTerminal = 0;
me.lastSensorActualTime = msg.timestamp;
dynamicCalibration(&me);
me.lastSensorPredictedTime = me.nextSensorPredictedTime;
TrackNextSensorMsg trackMsg;
QueryNextSensor(&me, &trackMsg);
// Reserve the track above train and future (covers case of init)
for (int i = 0; i < trackMsg.numPred; i++) {
me.predictions[i] = trackMsg.predictions[i];
}
me.numPredictions = trackMsg.numPred;
int reserveStatus = reserveMoreTrack(&me, me.positionFinding, getStoppingDistance(&me));
if (reserveStatus == RESERVE_FAIL) {
if (!me.positionFinding) {
reroute(&me);
} else {
TrainDebug(&me, "WARNING: unable to reserve during init");
}
}
TrackSensorPrediction primaryPrediction = me.predictions[0];
me.calibrationStart = msg.timestamp;
me.calibrationDistance = primaryPrediction.dist;
int dPos = 50 * getVelocity(&me) / 100000.0;
me.lastSensorDistanceError = -(int)me.distanceToNextSensor - dPos;
me.distanceFromLastSensor = dPos;
me.distanceToNextSensor = primaryPrediction.dist - dPos;
me.lastPosUpdateTime = msg.timestamp;
if (primaryPrediction.sensor.type != LANDMARK_SENSOR &&
primaryPrediction.sensor.type != LANDMARK_END) {
TrainDebug(&me, "QUERY_NEXT_SENSOR_FROM_SENSOR ..bad");
}
me.nextSensorIsTerminal = (primaryPrediction.sensor.type == LANDMARK_END);
me.nextSensorBox = primaryPrediction.sensor.num1;
me.nextSensorVal = primaryPrediction.sensor.num2;
me.nextSensorPredictedTime =
msg.timestamp + me.distanceToNextSensor*100000 /
getVelocity(&me);
updatePosition(&me, msg.timestamp);
sendUiReport(&me);
if (me.positionFinding) {
trainSetSpeed(0, getStoppingTime(&me), 0, &me); // Found position, stop.
me.positionFinding = 0;
me.currentlyLost = 0;
}
}
break;
}
case NAVIGATE_NAGGER: {
updatePosition(&me, msg.timestamp);
if (me.routeRemaining != -1) {
if (!me.stopCommited) {
if (shouldStopNow(&me)) {
if (me.route.nodes[me.stopNode].num == REVERSE) {
//TrainDebug(&me, "Navi reversing.");
const int speed = -1;
trainSetSpeed(speed, getStoppingTime(&me), 0, &me);
}
else {
//TrainDebug(&me, "Navi Nagger stopping.");
const int speed = 0; // Set speed zero.
trainSetSpeed(speed, getStoppingTime(&me), 0, &me);
me.route.length = 0; // Finished the route.
me.testMode = 0;
}
me.stopCommited = 1;
me.useLastSensorNow = 0;
me.stopNow = 0;
me.stopSensorHit = 0;
} else {
if ((++updateStoppingDistanceCount & 15) == 0) updateStopNode(&me);
}
}
}
if (me.nextSetSwitchNode != -1 && (++me.setSwitchNaggerCount & 3) == 0) {
trySetSwitch_and_getNextSwitch(&me);
}
if (me.rerouteCountdown-- == 0) {
if (me.testMode) {
int reserveStatus = reserveMoreTrack(&me, 0, me.d[8][ACCELERATE][MAX_VAL]); // moving
if (reserveStatus == RESERVE_FAIL) {
reroute(&me);
} else {
me.nextSetSwitchNode = -1;
updateSetSwitch(&me);
trainSetSpeed(8, 0, 0, &me);
}
} else {
// reroute
if (me.route.length != 0) {
setRoute(&me, &(me.routeMsg));
}
}
}
if ((++naggCount & 15) == 0) sendUiReport(&me);
break;
}
case SET_ROUTE: {
Reply(replyTid, (char*)1, 0);
me.routeMsg = msg;
setRoute(&me, &msg);
break;
}
case BROADCAST_UPDATE_PREDICTION: {
updatePrediction(&me);
int reserveStatus = reserveMoreTrack(&me, 0, getStoppingDistance(&me)); // moving
if (reserveStatus == RESERVE_FAIL) {
reroute(&me);
}
break;
}
case BROADCAST_TEST_MODE: {
me.testMode = 1;
setRoute(&me, &msg);
break;
}
case FIND_POSITION: {
me.positionFinding = 1;
trainSetSpeed(5, 0, 0, &me);
break;
}
default: {
TrainDebug(&me, "Not suppported train message type.");
}
}
}
}