daily_automated
This commit is contained in:
topicchi
491
trunk/Arduino/libraries/SpacebrewYun/src/SpacebrewYun.cpp
Normal file
491
trunk/Arduino/libraries/SpacebrewYun/src/SpacebrewYun.cpp
Normal file
@@ -0,0 +1,491 @@
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#include "SpacebrewYun.h"
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SpacebrewYun::SpacebrewYun(const String& _name, const String& _description) {
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name = _name;
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description = _description;
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subscribers = NULL;
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publishers = NULL;
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server = "sandbox.spacebrew.cc";
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port = 9000;
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_started = false;
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_connected = false;
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_verbose = false;
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_error_msg = false;
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sub_name = "";
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sub_msg = "";
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sub_type = "";
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read_name = false;
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read_msg = false;
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connect_attempt = 0;
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connect_attempt_inter = 10000;
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for ( int i = 0; i < pidLength; i++ ) {
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pid [i] = '\0';
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}
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for ( int i = 0; i < sbPidsLen; i++ ) {
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sbPids [i] = '\0';
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}
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Console.buffer(64);
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}
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int SpacebrewYun::sub_msg_int_max = 6;
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int SpacebrewYun::sub_msg_bool_max = 5;
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int SpacebrewYun::sub_msg_str_max = 50;
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int SpacebrewYun::sub_name_max = 20;
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SpacebrewYun::OnBooleanMessage SpacebrewYun::_onBooleanMessage = NULL;
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SpacebrewYun::OnRangeMessage SpacebrewYun::_onRangeMessage = NULL;
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SpacebrewYun::OnStringMessage SpacebrewYun::_onStringMessage = NULL;
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SpacebrewYun::OnCustomMessage SpacebrewYun::_onCustomMessage = NULL;
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SpacebrewYun::OnSBOpen SpacebrewYun::_onOpen = NULL;
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SpacebrewYun::OnSBClose SpacebrewYun::_onClose = NULL;
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SpacebrewYun::OnSBError SpacebrewYun::_onError = NULL;
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void SpacebrewYun::onOpen(OnSBOpen function){
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_onOpen = function;
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}
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void SpacebrewYun::onClose(OnSBClose function){
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_onClose = function;
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}
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void SpacebrewYun::onRangeMessage(OnRangeMessage function){
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_onRangeMessage = function;
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}
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void SpacebrewYun::onStringMessage(OnStringMessage function){
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_onStringMessage = function;
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}
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void SpacebrewYun::onBooleanMessage(OnBooleanMessage function){
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_onBooleanMessage = function;
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}
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void SpacebrewYun::onCustomMessage(OnCustomMessage function){
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_onCustomMessage = function;
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}
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void SpacebrewYun::onError(OnSBError function){
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_onError = function;
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}
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void SpacebrewYun::addPublish(const String& name, const String& type) {
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struct Publisher *p = new Publisher();
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p->name = createString(name.length() + 1);
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p->type = createString(type.length() + 1);
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p->confirmed = false;
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p->time = 0;
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if (type == "range") {
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p->lastMsg = createString(sub_msg_int_max);
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emptyString(p->lastMsg, sub_msg_int_max);
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}
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else if (type == "boolean") {
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p->lastMsg = createString(sub_msg_bool_max);
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emptyString(p->lastMsg, sub_msg_bool_max);
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}
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else {
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p->lastMsg = createString(sub_msg_str_max);
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emptyString(p->lastMsg, sub_msg_str_max);
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}
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name.toCharArray(p->name, name.length() + 1);
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type.toCharArray(p->type, type.length() + 1);
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if (publishers == NULL){
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publishers = p;
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}
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else {
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struct Publisher *curr = publishers;
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int counter = 1;
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while(curr->next != NULL){
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curr = curr->next;
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counter++;
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}
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curr->next = p;
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}
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p->next = NULL;
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}
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void SpacebrewYun::addSubscribe(const String& name, const String& type) {
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Subscriber *s = new Subscriber();
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s->name = createString(name.length() + 1);
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s->type = createString(type.length() + 1);
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name.toCharArray(s->name, name.length() + 1);
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type.toCharArray(s->type, type.length() + 1);
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if (subscribers == NULL){
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subscribers = s;
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}
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else {
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struct Subscriber *curr = subscribers;
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while(curr->next != NULL){
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curr = curr->next;
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}
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curr->next = s;
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}
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}
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void SpacebrewYun::connect(String _server, int _port) {
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Serial.println(F("v2.3"));
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_started = true;
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server = _server;
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port = _port;
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connect_attempt = millis();
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killPids();
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brew.begin("run-spacebrew"); // Process should launch the "curl" command
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// brew.begin("python"); // Process should launch the "curl" command
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// brew.addParameter("/usr/lib/python2.7/spacebrew/spacebrew.py"); // Process should launch the "curl" command
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brew.addParameter("--server");
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brew.addParameter(server);
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brew.addParameter("--port");
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brew.addParameter(String(port));
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brew.addParameter("-n");
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brew.addParameter(name);
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brew.addParameter("-d");
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brew.addParameter(description);
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if (subscribers != NULL) {
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struct Subscriber *curr = subscribers;
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while(curr != NULL){
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if (_verbose) {
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Serial.print(F("Creating subscribers: "));
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Serial.print(curr->name);
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Serial.print(F(" of type: "));
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Serial.println(curr->type);
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}
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brew.addParameter("-s"); // Add the URL parameter to "curl"
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brew.addParameter(curr->name); // Add the URL parameter to "curl"
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brew.addParameter(","); // Add the URL parameter to "curl"
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brew.addParameter(curr->type); // Add the URL parameter to "curl"
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// if (curr->next == NULL) curr = NULL;
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// else curr = curr->next;
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curr = curr->next;
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}
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}
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if (publishers != NULL) {
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struct Publisher *curr = publishers;
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while(curr != NULL){
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if (_verbose) {
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Serial.print(F("Creating publishers: "));
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Serial.print(curr->name);
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Serial.print(F(" of type: "));
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Serial.println(curr->type);
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}
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brew.addParameter("-p"); // Add the URL parameter to "curl"
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brew.addParameter(curr->name); // Add the URL parameter to "curl"
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brew.addParameter(","); // Add the URL parameter to "curl"
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brew.addParameter(curr->type); // Add the URL parameter to "curl"
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curr = curr->next;
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}
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}
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Console.begin();
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if (_verbose) {
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Serial.println(F("Console started "));
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}
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brew.runAsynchronously();
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if (_verbose) {
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Serial.println(F("Brew started "));
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}
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while (!Console) { ; }
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}
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void SpacebrewYun::monitor() {
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// if not connected try to reconnect after appropriate interval
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if (_started && !_connected) {
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if ((millis() - connect_attempt) > connect_attempt_inter) {
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connect(server, port);
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}
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}
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// if message received from console, then process it
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while (Console.available() > 0) {
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char c = Console.read();
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if (c == char(CONNECTION_START) && _started && !_connected) {
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if (_verbose) {
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Serial.print(F("Connected to: "));
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Serial.println(server);
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Serial.print(F("Application name: "));
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Serial.println(name);
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}
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if (_onOpen != NULL){
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_onOpen();
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}
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_connected = true;
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}
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else if (c == char(CONNECTION_END) && _connected) {
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_connected = false;
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if (_verbose) {
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Serial.print(F("Disconnected from: "));
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Serial.println(server);
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}
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if (_onClose != NULL){
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_onClose();
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}
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}
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if (_verbose) {
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if (c == char(CONNECTION_ERROR)) {
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_error_msg = true;
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Serial.println(F("ERROR :: Spacebrew.py ::"));
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}
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else if (_error_msg && c == char(MSG_END)) {
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_error_msg = false;
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Serial.println();
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}
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if (_error_msg) {
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Serial.print(c);
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}
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}
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if (_connected) {
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// set flag to read data message name
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if (c == char(MSG_START)) {
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read_name = true;
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// set flag to read data message payload
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} else if (c == char(MSG_DIV) || sub_name.length() > sub_name_max) {
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read_name = false;
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read_msg = true;
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// set flag to read confirm message
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} else if (c == char(MSG_CONFIRM)) {
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read_confirm = true;
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// process data or confirm message, or reset message
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} else if (c == char(MSG_END) || sub_msg.length() > sub_msg_str_max) {
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if (read_msg == true) {
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onMessage();
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}
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if (read_confirm == true) {
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onConfirm();
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delay(2);
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}
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read_confirm = false;
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read_msg = false;
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sub_name = "";
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sub_msg = "";
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sub_type = "";
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// send a message received confirmation
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Console.print(char(7));
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// read message body
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} else {
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if (read_name == true) {
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sub_name += c;
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} else if (read_confirm == true) {
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sub_name += c;
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} else if (read_msg == true) {
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sub_msg += c;
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}
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else if (_verbose) {
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Serial.print(c);
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}
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}
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}
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}
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// check if received confirmation that Linux received messages
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if (publishers != NULL && _connected) {
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struct Publisher *curr = publishers;
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while((curr != NULL)){
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if ( (curr->confirmed == 0) && ((millis() - curr->time) > 50) ) {
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if (_verbose) {
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Serial.print(F("resending msg: "));
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Serial.println(curr->name);
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}
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send(curr->name, curr->lastMsg);
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}
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curr = curr->next;
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}
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}
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// Serial.println(F(" - END monitor"));
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}
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void SpacebrewYun::onConfirm() {
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if (publishers != NULL) {
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struct Publisher *curr = publishers;
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while((curr != NULL)){
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if (sub_name.equals(curr->name) == true) {
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curr->confirmed = true;
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break;
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}
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curr = curr->next;
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}
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}
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}
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boolean SpacebrewYun::connected() {
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return SpacebrewYun::_connected;
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}
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void SpacebrewYun::verbose(boolean verbose = true) {
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_verbose = verbose;
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}
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void SpacebrewYun::onMessage() {
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Serial.print(F("onMessage: name "));
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Serial.print(sub_name);
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Serial.print(F(", value "));
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Serial.print(sub_msg);
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if (subscribers != NULL && sub_name.equals("") == false) {
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struct Subscriber *curr = subscribers;
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while((curr != NULL) && (sub_type.equals("") == true)){
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if (sub_name.equals(curr->name) == true) {
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sub_type = curr->type;
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}
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curr = curr->next;
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}
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}
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Serial.print(F(", type "));
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Serial.println(sub_type);
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if ( sub_type.equals("range") ) {
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if (_onRangeMessage != NULL) {
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_onRangeMessage( sub_name, int(sub_msg.toInt()) );
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} else {
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Serial.println(F("ERROR :: Range message, no callback"));
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}
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} else if ( sub_type.equals("boolean") ) {
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if (_onBooleanMessage != NULL) {
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_onBooleanMessage( sub_name, ( sub_msg.equals("false") ? false : true ) );
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} else {
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Serial.println(F("ERROR :: Boolean message, no callback"));
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}
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} else if ( sub_type.equals("string") ) {
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if (_onStringMessage != NULL) {
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_onStringMessage( sub_name, sub_msg );
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} else {
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Serial.println(F("ERROR :: String message, no callback"));
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}
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} else if ( sub_type.equals("custom") ) {
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if (_onCustomMessage != NULL) {
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_onCustomMessage( sub_name, sub_msg, sub_type );
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} else {
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Serial.println(F("ERROR :: Custom message, no callback"));
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}
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}
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}
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void SpacebrewYun::send(const String& name, const String& value){
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if (publishers != NULL) {
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Console.print(char(29));
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Console.print(name);
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Console.print(char(30));
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Console.print(value);
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Console.print(char(31));
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Console.flush();
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struct Publisher *curr = publishers;
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while(curr != NULL){
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if (name.equals(curr->name) == true) {
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int msg_len = 0;
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if (curr->type == "range") msg_len = sub_msg_int_max;
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else if (curr->type == "boolean") msg_len = sub_msg_bool_max;
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else msg_len = sub_msg_str_max;
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if (value.length() < msg_len) msg_len = value.length() + 1;
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value.toCharArray(curr->lastMsg, msg_len);
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curr->confirmed = false;
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curr->time = millis();
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}
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curr = curr->next;
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}
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}
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}
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/**
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* method that gets the pid of all spacebrew.py instances running on Linux.
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*/
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void SpacebrewYun::getPids() {
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// request the pid of all python processes
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// brew.begin("run-getsbpids"); // Process should launch the "curl" command
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pids.begin("python");
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pids.addParameter("/usr/lib/python2.7/spacebrew/getprocpid.py"); // Process should launch the "curl" command
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pids.run();
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if (_verbose) {
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Serial.println(F("Checking if spacebrew running"));
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}
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int sbPidsIndex = 0;
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int pidCharIndex = 0;
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char c = '\0';
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while ( pids.available() > 0 ) {
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c = pids.read();
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if ( c >= '0' && c <= '9' ) {
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pid[pidCharIndex] = c;
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pidCharIndex = (pidCharIndex + 1) % pidLength;
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}
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else if ( (c == ' ' || c == '\n') && pidCharIndex > 0) {
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sbPids[sbPidsIndex] = atoi(pid);
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if ( sbPidsIndex < (sbPidsLen - 1) ) sbPidsIndex = (sbPidsIndex + 1);
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for( int i = 0; i < pidLength; i++ ){
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pid[i] = '\0';
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pidCharIndex = 0;
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}
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}
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}
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}
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/**
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* method that kills all of the spacebrew.py instances that are running
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* on Linux.
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*/
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void SpacebrewYun::killPids() {
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getPids();
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delay(400);
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for (int i = 0; i < sbPidsLen; i ++) {
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if (sbPids[i] > 0) {
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char * newPID = itoa(sbPids[i], pid, 10);
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if (_verbose) {
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Serial.print(F("Stopping existing processes: "));
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Serial.println(newPID);
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}
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Process p;
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p.begin("kill");
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p.addParameter("-9");
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p.addParameter(newPID); // Process should launch the "curl" command
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p.run(); // Run the process and wait for its termination
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delay(400);
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}
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}
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}
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