l2task.cpp

来自「一个非常好的人工智能开发工具开源软件」· C++ 代码 · 共 118 行

/***
 *** See the file "L2_RTI_EO1/disclaimers-and-notices-L2.txt" for 
 *** information on usage and redistribution of this file, 
 *** and for a DISCLAIMER OF ALL WARRANTIES.
 ***/
#if defined( PRAGMA ) && ! defined( PRAGMA_IMPLEMENTED )
#pragma implementation "L2Task.hpp"
#endif

#include "L2Task.hpp"
// ICS:
#include <vxWorks.h>
#include <msgQLib.h>
#include <semLib.h>
#include <sysLib.h>
#include <taskLib.h>
// The Livingstone engine
#include <api/livingstone.h>
// The RTI
#include "ExceptionAction.hpp"
#include "Logging.hpp"
#include "RTIMessage.hpp"


L2Task::L2Task(Livingstone& livingstone) :
  d_livingstone(livingstone), d_reporter(livingstone) {
}


L2Task::~L2Task( void ) {
  Logging::log(Logging::L2_DEBUG, "L2:: Sent LOG_EXIT to Log\n");
  Logging::log(Logging::LOG_EXIT, "L2:: Sent LOG_EXIT to Log\n");
}


void L2Task::dequeueRealTimeInput( void ) {
  while (true) {
    RTIMessage rtiMessage;
    if (msgQReceive(RTI_TO_L2_MQID,
		    (char*)&rtiMessage,
		    sizeof(RTIMessage),
		    WAIT_FOREVER) ==
	ERROR) {
      ExceptionAction::receiveFailure(ExceptionAction::RCV_LIVINGSTONE_DISPATCHER,
				      errno);
    } else {
      // actionLivingstone() returns false on exit
      if (!actionLivingstone(rtiMessage)) { return; }
    }
  }
}


int L2Task::actionLivingstone(const RTIMessage&
					     livingstoneMessage) {
  // switch on the function specified, parse arguments accordingly
  switch(livingstoneMessage.getOpcode()) {
  case COMMAND:
    d_livingstone.command(livingstoneMessage.getVariableID(),
			  livingstoneMessage.getValueIndex());
    break;

  case OBSERVATION:
    d_livingstone.observe(livingstoneMessage.getVariableID(),
			  livingstoneMessage.getValueIndex());    
    break;

  case FIND_CANDIDATES:
    d_livingstone.diagnose();
    break;

  case PROGRESS:
    d_livingstone.idle();
    break;

  case REPORT_FULL_STATE:
    d_reporter.reportFullState();
    break;

  case REPORT_COMMAND:
    d_reporter.reportCommand(livingstoneMessage.getTimeStamp().seconds,
			     livingstoneMessage.getTimeStamp().nanosec,
			     livingstoneMessage.getVariableID(),
			     livingstoneMessage.getValueIndex());
    break;

  case REPORT_OBSERVATION:
    d_reporter.reportObservation(livingstoneMessage.getTimeStamp().seconds,
				 livingstoneMessage.getTimeStamp().nanosec,
				 livingstoneMessage.getVariableID(),
				 livingstoneMessage.getValueIndex());
    break;

  case REPORT_FIND_CANDIDATES:
    d_reporter.reportFindCandidates();
    break;

  case REPORT_DIAGNOSIS:
    d_reporter.reportDiagnosis(livingstoneMessage.getTimeStamp().seconds,
			       livingstoneMessage.getTimeStamp().nanosec); 
    break;

  case REPORT_PROGRESS:
    d_reporter.reportIdle(livingstoneMessage.getTimeStamp().seconds,
			  livingstoneMessage.getTimeStamp().nanosec); 
    break;

  case L2_EXIT:
    Logging::log(Logging::L2_DEBUG, "L2::Received L2_EXIT\n");
    return false; // do not continue running

  default:
    ExceptionAction::unhandledDispatcherOpcode(livingstoneMessage.getOpcode());
    break;
  }
  return true; // continue running
}