Implementation CAN Communication Engine By Rhee, Hansang Kwon, Bongsu 10/14/2002

Communication Engine : Over View TCPServer TCP Listener Msg RCV MsgQueue Register CommEngine Send Msg API

Communication Engine TCP Sever : Demon always running Socket Interface TCP port (4444) Listening Process A node try connect -> accept->receive msg ->Queuing Message Message Queue handling Socket Interface Receive message Send message

Class TCP Server Thread Have to wait until accept a connection… Message Queue Using HashTable (id = key, msg = value) Synchronization ( Mutex or Monitor)

Class CommEgine public bool SubscribeMsg(byte[] id) - insert id in the register public bool UnsubscribeMsg(byte[] id) - delete id in the register public byte[] GetMsg(byte[] id) - register check -> get Msg from Msg Queue -> return Msg public bool SendMsg(byte[] id, byte[] msg, string ip) - create a socket -> connect -> send Msg