void GlobalPoseSensorPanel::OnConnect( wxCommandEvent& event )
{
int index = this->mComponentChoice->GetSelection();
this->mScanNumberLabel->SetLabel(wxT("Local Pose Data"));
if(index >= 0)
{
wxString label = this->mComponentChoice->GetString(index);
JAUS::Address id(JAUS::Address::FromString(std::string(label.ToAscii().data())));
if(this->mComponentChoice->IsEnabled())
{
mDataMutex.Lock();
mConnectFlag = true;
JAUS::QueryLocalPose lp;
lp.SetPresenceVector(lp.GetPresenceVectorMask());
if(this->mpComponent->EventsService()->RequestPeriodicEvent(id, &lp, 20, 5))
{
mGPSToMonitorAddress = id;
this->mComponentChoice->Disable();
this->mRefreshButton->Disable();
this->mConnectButton->SetLabel(wxT("Disconnect"));
JAUS::QueryGlobalPose gp;
gp.SetPresenceVector(gp.GetPresenceVectorMask());
this->mpComponent->EventsService()->RequestPeriodicEvent(id, &gp, 20, 5);
}
else
{
this->mpComponent->EventsService()->CancelSubscription(id,JAUS::QUERY_LOCAL_POSE);
this->mpComponent->EventsService()->CancelSubscription(id,JAUS::QUERY_GLOBAL_POSE);
wxMessageBox(wxT("Unable To Get Subscription To Local Pose"), wxT("Subscription Failed"));
}
mDataMutex.Unlock();
}
else
{
mDataMutex.Lock();
this->mpComponent->EventsService()->CancelSubscription(id,JAUS::QUERY_LOCAL_POSE);
this->mpComponent->EventsService()->CancelSubscription(id,JAUS::QUERY_GLOBAL_POSE);
this->mComponentChoice->Enable();
this->mRefreshButton->Enable();
this->mConnectButton->SetLabel(wxT("Connect"));
mConnectFlag = false;
mDataMutex.Unlock();
}
}
}
////////////////////////////////////////////////////////////////////////////////////
///
/// \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;
}
