Merge pull request #88 from RI-SE/feature_reportStateLessFrequently

Reduced period between object control state transmissions

server/src/objectcontrol.c

@@ -29,6 +29,7 @@
 #include <stdlib.h>
 #include <sys/time.h>
 #include "timecontrol.h"
+#include "maestroTime.h"
 
 
 /*------------------------------------------------------------
@@ -49,12 +50,16 @@
 #define OC_SLEEP_TIME_NONEMPTY_MQ_S 0
 #define OC_SLEEP_TIME_NONEMPTY_MQ_NS 0
 
+
 #define TASK_PERIOD_MS 1
 #define HEARTBEAT_TIME_MS 10
 #define OBJECT_CONTROL_CONTROL_MODE 0
 #define OBJECT_CONTROL_REPLAY_MODE 1
 #define OBJECT_CONTROL_ABORT_MODE 1
 
+#define OC_STATE_REPORT_PERIOD_S 1
+#define OC_STATE_REPORT_PERIOD_US 0
+
 #define COMMAND_MESSAGE_HEADER_LENGTH sizeof(HeaderType)
 #define COMMAND_MESSAGE_FOOTER_LENGTH sizeof(FooterType)
 #define COMMAND_CODE_INDEX 0
@@ -247,6 +252,8 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel)
  struct timespec sleep_time, ref_time;
  const struct timespec mqEmptyPollPeriod = {OC_SLEEP_TIME_EMPTY_MQ_S, OC_SLEEP_TIME_EMPTY_MQ_NS};
  const struct timespec mqNonEmptyPollPeriod = {OC_SLEEP_TIME_NONEMPTY_MQ_S, OC_SLEEP_TIME_NONEMPTY_MQ_NS};
+ const struct timeval stateReportPeriod = {OC_STATE_REPORT_PERIOD_S, OC_STATE_REPORT_PERIOD_US};
+ struct timeval currentTime, nextStateReportTime;
  int iForceObjectToLocalhost = 0;
 
  FILE *fd;
@@ -362,6 +369,10 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel)
  if (iCommInit())
  util_error("Unable to connect to message queue bus");
 
+ // Initialize timer for sending state
+ TimeSetToCurrentSystemTime(&currentTime);
+ nextStateReportTime = currentTime;
+
  while(!iExit)
  {
  if(OBCState == OBC_STATE_ERROR)
@@ -1183,15 +1194,23 @@ void objectcontrol_task(TimeType *GPSTime, GSDType *GSD, LOG_LEVEL logLevel)
  ++uiTimeCycle;
  if(uiTimeCycle >= HEARTBEAT_TIME_MS/TASK_PERIOD_MS)
  {
+ uiTimeCycle = 0;
+ }
+
+ // Periodically send state to signal aliveness (TODO: replace with supervisor process health check)
+ TimeSetToCurrentSystemTime(&currentTime);
+ if (timercmp(&currentTime, &nextStateReportTime, >))
+ {
+ timeradd(&nextStateReportTime, &stateReportPeriod, &nextStateReportTime);
+
  bzero(Buffer2, SMALL_BUFFER_SIZE_1);
  Buffer2[0] = OBCState;
- if(iCommSend(COMM_OBC_STATE,Buffer2,SMALL_BUFFER_SIZE_1) < 0)
+ if (iCommSend(COMM_OBC_STATE, Buffer2, SMALL_BUFFER_SIZE_1) < 0)
  {
  LogMessage(LOG_LEVEL_ERROR,"Fatal communication fault when sending OBC_STATE command - entering error state");
  vSetState(&OBCState,OBC_STATE_ERROR);
  ObjectControlServerStatus = COMMAND_HEAB_OPT_SERVER_STATUS_ABORT;
  }
- uiTimeCycle = 0;
  }
 
  (void)nanosleep(&sleep_time,&ref_time);