/* * Discover the Judges' COP. Will not return until discovery or failure. */ JAUS::Subsystem* DiscoverJudgeSubsystem(JAUS::Component* c) { JAUS::Subsystem* judgeSubsystem = NULL; #ifdef REAL_JUDGES // now that we are initialized, create a direct connection to the Judges' COP // (Multicast may not be supported) JAUS::JTCPClient* transportService = NULL; transportService = (JAUS::JTCPClient*) component->TransportService(); transportService->AddConnection(JudgeIPString, JAUS::Address(JudgeSubsystemID, JudgeNodeID, JudgeComponentID)); #endif // get a pointer to our Management Service JAUS::Management* managementService = c->ManagementService(); JAUS::Time::Stamp timeMs = JAUS::Time::GetUtcTimeMs(); // try to find the judges' COP while (managementService->GetStatus() != JAUS::Management::Status::Shutdown) { CxUtils::SleepMs(10); // save some CPU time if (JAUS::Time::GetUtcTimeMs() - timeMs < 1000) continue; // now look at discovered subsystems (for the judges' COP) JAUS::Discovery* discoveryService = c->DiscoveryService(); JAUS::Subsystem::Map discoveredSubsystems; discoveryService->GetSubsystems(discoveredSubsystems); JAUS::Subsystem::Map::iterator subsystem; // NOTE: the map is indexed by the subsystem number for (subsystem = discoveredSubsystems.begin(); subsystem != discoveredSubsystems.end(); subsystem++) { if (subsystem->first == JudgeSubsystemID) { judgeSubsystem = subsystem->second; break; } } JAUS::Subsystem::DeleteSubsystemMap(discoveredSubsystems); timeMs = JAUS::Time::GetUtcTimeMs(); if (judgeSubsystem != NULL) break; } return judgeSubsystem; }
int main(int argc, char* argv[]) { JAUS::Component component; // Setup identification info. For questions about this, // see the previous tutorial(s). JAUS::Discovery* discoveryService = NULL; discoveryService = component.DiscoveryService(); discoveryService->SetSubsystemIdentification(JAUS::Subsystem::Vehicle, "Robot"); discoveryService->SetNodeIdentification("Primary Computer"); discoveryService->SetComponentIdentification("Baseline"); JAUS::Address componentID(1000, 1, 2); // Initialize! std::cout << "Initializing component..."; if(component.Initialize(componentID) == false) { std::cout << "Failed to initialize component [" << componentID.ToString() << "]\n"; return 0; } std::cout << "Success!\n"; // Now go into your main computer loop until the // component has been told to shutdown. JAUS::Time::Stamp displayStatusTimeMs = JAUS::Time::GetUtcTimeMs(); while(true) { JAUS::Management* managementService = NULL; managementService = component.ManagementService(); if(managementService->GetStatus() == JAUS::Management::Status::Shutdown) { // Exit program. break; } if(JAUS::Time::GetUtcTimeMs() - displayStatusTimeMs > 500) { // Use the discovery service to get a list of // discovered subsystems. (see below for how to clear map). JAUS::Subsystem::Map discoveredSubsystems; discoveryService->GetSubsystems(discoveredSubsystems); std::cout << "======================================================\n"; JAUS::Subsystem::Map::iterator subsystem; // The map is indexed by the subsystem number. for(subsystem = discoveredSubsystems.begin(); subsystem != discoveredSubsystems.end(); subsystem++) { std::cout << "Subsystem: " << subsystem->first << " Identification: " << subsystem->second->mIdentification << std::endl; // Lets see if it has specific service we // want to communicate with. For this tutorial // let's check for the Liveness service, which // supports the Query Heartbeat Pulse and // Report Heartbeat Pulse messages. // We can use the subsystem data structure to // get a list of components on the subsystem that // have the service, so we can send a message to it. JAUS::Address::List componentsWithLiveness; componentsWithLiveness = subsystem->second->GetComponentsWithService(JAUS::Liveness::Name); JAUS::Address::List::iterator c; for(c = componentsWithLiveness.begin(); c != componentsWithLiveness.end(); c++) { // First, make sure it is not the // component we are using, because we // want to talk to a different one. if( (*c) != component.GetComponentID()) { // Now that we have the ID of // component with the Liveness // service, lets send a query message // and wait for the response. // Setup the query message to send. JAUS::QueryHeartbeatPulse query; query.SetDestinationID( (*c) ); query.SetSourceID(component.GetComponentID()); // This is the response message we want. JAUS::ReportHeartbeatPulse response; // Send and see if we got a // response, but only wait up to 1 second // for a response. Default value for waiting // is 100 ms. std::cout << "\tSending Query to " << c->ToString() << std::endl; if(component.Send(&query, &response, 1000)) { std::cout << "\tReceived Response Message!\n\t"; response.Print(); } } } // The above steps can be used to find any component // with a specific service you wish to communicate with. } // Make sure you delete the subsystem map when // you are done with it, otherwise you will have a // memory leak. JAUS::Subsystem::DeleteSubsystemMap(discoveredSubsystems); displayStatusTimeMs = JAUS::Time::GetUtcTimeMs(); } if(CxUtils::GetChar() == 27) { break; } CxUtils::SleepMs(1); } // Shutdown your component completely. Any // services added or belonging to the component // will be deleted. component.Shutdown(); return 0; }
//////////////////////////////////////////////////////////////////////////////////// /// /// \brief Simple simulation of a component that subscribes to any Local /// Pose Sensor data on network using JTCP. /// /// \param[in] subsystemID Subsystem ID number. /// \param[in] nodeID Node ID number. /// //////////////////////////////////////////////////////////////////////////////////// int RunClient(JAUS::UShort subsystemID, JAUS::Byte nodeID) { JAUS::Component component; JAUS::Address id(subsystemID, nodeID, 1); if(id.IsValid() == false) { std::cout << "Invalid JAUS ID: " << id.ToString() << std::endl; } // Setup identification data. component.DiscoveryService()->SetSubsystemIdentification(JAUS::Subsystem::Vehicle, "Subscriber JTCP Tutorial"); // Change the transport service to use JTCP component.AddService(new JAUS::JTCPClient()); //((JAUS::JTCPClient*)component.TransportService())->AddConnection("10.171.190.61", JAUS::Address(subsystemID, 1, 1)); //((JAUS::JTCPClient*)component.TransportService())->AddConnection("127.0.0.1", JAUS::Address(subsystemID, 1, 1)); // Add support for reading Local Pose messages without having to // add a custom service. component.TransportService()->AddMessageTemplate(new JAUS::ReportLocalPose()); component.TransportService()->AddMessageTemplate(new JAUS::QueryLocalPose()); // Add a callback to get messages when they arrive. LocalPoseCallback localPoseCallback; component.TransportService()->RegisterCallback(JAUS::REPORT_LOCAL_POSE, &localPoseCallback); // Initialize component and communication. if(component.Initialize(id) == false) { std::cout << "Failed to initialize JAUS component with ID: " << id.ToString() << std::endl; return 0; } JAUS::Time printTime(true); while(CxUtils::GetChar() != 27 && component.ManagementService()->GetStatus() != JAUS::Management::Status::Shutdown) { // Look for any subsystems. JAUS::Subsystem::Map subsystems; JAUS::Subsystem::Map::iterator subsystem; component.DiscoveryService()->GetSubsystems(subsystems); for(subsystem = subsystems.begin(); subsystem != subsystems.end(); subsystem++) { // Look for local pose sensors to subscribe to. JAUS::Address::List sensors = subsystem->second->GetComponentsWithService(JAUS::LocalPoseSensor::Name); if(sensors.size() > 0) { JAUS::Address::List::iterator id; for(id = sensors.begin(); id != sensors.end(); id++) { if(*id != component.GetComponentID() && component.EventsService()->HaveSubscription(JAUS::REPORT_LOCAL_POSE, *id) == false) { std::cout << "Found new Local Pose Sensors on " << id->ToString() << std::endl; JAUS::QueryLocalPose queryLocalPose; // Request all fields. queryLocalPose.SetPresenceVector(queryLocalPose.GetPresenceVectorMask()); component.EventsService()->RequestPeriodicEvent(*id, &queryLocalPose, 5); } } } } JAUS::Subsystem::DeleteSubsystemMap(subsystems); // Only print to screen every now and then. if(JAUS::Time(true) - printTime > .5) { //std::cout << "=======================================================\n"; //component.EventsService()->PrintStatus(); //printTime.SetCurrentTime(); } // Don't overload the CPU CxUtils::SleepMs(1); } // Do shutdown component.Shutdown(); return 0; }