int ojCmptEstablishSc(OjCmpt ojCmpt, JausUnsignedShort cCode, JausUnsignedInteger pv, JausAddress address, double rateHz, double timeoutSec, int qSize)
{
int i = 0;
for(i=0; i<OJ_CMPT_MAX_INCOMING_SC_COUNT; i++)
{
if(ojCmpt->inConnection[i] == NULL)
{
break;
}
}
if(i < OJ_CMPT_MAX_INCOMING_SC_COUNT)
{
ojCmpt->inConnection[i] = serviceConnectionCreate();
ojCmpt->inConnection[i]->requestedUpdateRateHz = rateHz;
// TODO: Locate Command Code service in system based on address
jausAddressCopy(ojCmpt->inConnection[i]->address, address);
ojCmpt->inConnection[i]->presenceVector = pv;
ojCmpt->inConnection[i]->commandCode = cCode;
ojCmpt->inConnection[i]->isActive = JAUS_FALSE;
ojCmpt->inConnection[i]->queueSize = qSize;
ojCmpt->inConnection[i]->timeoutSec = timeoutSec;
ojCmpt->inConnection[i]->nextRequestTimeSec = 0;
return i;
}
return -1;
}
void wdStartupState(void)
{
JausService service;
// Populate Core Service
if(!jausServiceAddCoreServices(wd->services))
{
//cError("wd: Addition of Core Services FAILED! Switching to FAILURE_STATE\n");
wd->state = JAUS_FAILURE_STATE;
}
// USER: Add the rest of your component specific service(s) here
// create a new service for waypoint driver message support
service = jausServiceCreate(JAUS_GLOBAL_WAYPOINT_DRIVER);
// add each supported waypoint driver input message
jausServiceAddInputCommand(service, JAUS_SET_TRAVEL_SPEED, NO_PRESENCE_VECTOR);
jausServiceAddInputCommand(service, JAUS_SET_GLOBAL_WAYPOINT, NO_PRESENCE_VECTOR);//actually, there is a PV and it's equal to zero
jausServiceAddInputCommand(service, JAUS_QUERY_WAYPOINT_COUNT, NO_PRESENCE_VECTOR);
jausServiceAddInputCommand(service, JAUS_QUERY_GLOBAL_WAYPOINT, NO_PRESENCE_VECTOR);
// add each supported waypoint driver output message
jausServiceAddOutputCommand(service, JAUS_REPORT_WAYPOINT_COUNT, NO_PRESENCE_VECTOR);
jausServiceAddOutputCommand(service, JAUS_REPORT_GLOBAL_WAYPOINT, NO_PRESENCE_VECTOR);
// add the service to the component's services vector
if(!jausServiceAddService(wd->services, service))
{
//cError("wd: Could not add services");
}
wd->authority = 127;
pd = jausComponentCreate();
pd->address->component = JAUS_PRIMITIVE_DRIVER;
// Setup GPOS Service Connection handle
gposSc = serviceConnectionCreate();
gposSc->requestedUpdateRateHz = GPOS_SC_UPDATE_RATE_HZ;
gposSc->address->component = JAUS_GLOBAL_POSE_SENSOR;
gposSc->presenceVector = GPOS_SC_PRESENCE_VECTOR;
gposSc->commandCode = JAUS_REPORT_GLOBAL_POSE;
gposSc->isActive = JAUS_FALSE;
gposSc->queueSize = GPOS_SC_QUEUE_SIZE;
gposSc->timeoutSec = GPOS_SC_TIMEOUT_SECONDS;
// Setup VSS Service Connection handle
vssSc = serviceConnectionCreate();
vssSc->requestedUpdateRateHz = VSS_SC_UPDATE_RATE_HZ;
vssSc->address->component = JAUS_VELOCITY_STATE_SENSOR;
vssSc->presenceVector = VSS_SC_PRESENCE_VECTOR;
vssSc->commandCode = JAUS_REPORT_VELOCITY_STATE;
vssSc->isActive = JAUS_FALSE;
vssSc->queueSize = VSS_SC_QUEUE_SIZE;
vssSc->timeoutSec = VSS_SC_TIMEOUT_SECONDS;
// Setup PD Service Connection handle
pdWrenchSc = serviceConnectionCreate();
pdWrenchSc->requestedUpdateRateHz = PD_WRENCH_SC_UPDATE_RATE_HZ;
pdWrenchSc->address->component = JAUS_PRIMITIVE_DRIVER;
pdWrenchSc->presenceVector = PD_WRENCH_SC_PRESENCE_VECTOR;
pdWrenchSc->commandCode = JAUS_REPORT_WRENCH_EFFORT;
pdWrenchSc->isActive = JAUS_FALSE;
pdWrenchSc->queueSize = PD_WRENCH_SC_QUEUE_SIZE;
pdWrenchSc->timeoutSec = PD_WRENCH_SC_TIMEOUT_SECONDS;
pdStatusSc = serviceConnectionCreate();
pdStatusSc->requestedUpdateRateHz = PD_STATUS_SC_UPDATE_RATE_HZ;
pdStatusSc->address->component = JAUS_PRIMITIVE_DRIVER;
pdStatusSc->presenceVector = PD_STATUS_SC_PRESENCE_VECTOR;
pdStatusSc->commandCode = JAUS_REPORT_COMPONENT_STATUS;
pdStatusSc->isActive = JAUS_FALSE;
pdStatusSc->queueSize = PD_STATUS_SC_QUEUE_SIZE;
pdStatusSc->timeoutSec = PD_STATUS_SC_TIMEOUT_SECONDS;
// Setup message to be sent to the PD
wdWrench = setWrenchEffortMessageCreate();
jausAddressCopy(wdWrench->source, wd->address);
jausShortPresenceVectorSetBit(&wdWrench->presenceVector, JAUS_WRENCH_PV_PROPULSIVE_LINEAR_X_BIT);
jausShortPresenceVectorSetBit(&wdWrench->presenceVector, JAUS_WRENCH_PV_PROPULSIVE_ROTATIONAL_Z_BIT);
jausShortPresenceVectorSetBit(&wdWrench->presenceVector, JAUS_WRENCH_PV_RESISTIVE_LINEAR_X_BIT);
scManagerAddSupportedMessage(wdNmi, JAUS_REPORT_COMPONENT_STATUS);
wdWaypoints = jausArrayCreate();
vehicleState = vehicleStateCreate();
}
