void gposStartupState(void)
{
JausService service;
// Populate Core Service
if(!jausServiceAddCoreServices(gpos->services))
{
cError("gpos: Addition of Core Services FAILED! Switching to FAILURE_STATE\n");
gpos->state = JAUS_FAILURE_STATE;
}
// USER: Add the rest of your component specific service(s) here
service = jausServiceCreate(gpos->address->component);
if(!service)
{
cError("gpos:%d: Creation of JausService FAILED! Switching to FAILURE_STATE\n", __LINE__);
gpos->state = JAUS_FAILURE_STATE;
}
jausServiceAddService(gpos->services, service);
jausServiceAddInputCommand(service, JAUS_QUERY_GLOBAL_POSE, 0xFF);
jausServiceAddOutputCommand(service, JAUS_REPORT_GLOBAL_POSE, 0xFF);
gposMessage = reportGlobalPoseMessageCreate();
gposMessage->source->id = gpos->address->id;
//add support for ReportGlovalPose Service Connections
scManagerAddSupportedMessage(gposNmi, JAUS_REPORT_GLOBAL_POSE);
}
JausBoolean jausServiceAddCoreServices(JausArray jausServices)
{
JausService service;
// create a new service for core message support
service = jausServiceCreate(CORE_MESSAGE_SUPPORT);
// add each supported core input message
jausServiceAddInputCommand(service, JAUS_SET_COMPONENT_AUTHORITY, NO_PRESENCE_VECTOR);
jausServiceAddInputCommand(service, JAUS_SHUTDOWN, NO_PRESENCE_VECTOR);
jausServiceAddInputCommand(service, JAUS_STANDBY, NO_PRESENCE_VECTOR);
jausServiceAddInputCommand(service, JAUS_RESUME, NO_PRESENCE_VECTOR);
jausServiceAddInputCommand(service, JAUS_RESET, NO_PRESENCE_VECTOR);
jausServiceAddInputCommand(service, JAUS_SET_EMERGENCY, NO_PRESENCE_VECTOR);
jausServiceAddInputCommand(service, JAUS_CLEAR_EMERGENCY, NO_PRESENCE_VECTOR);
jausServiceAddInputCommand(service, JAUS_CREATE_SERVICE_CONNECTION, NO_PRESENCE_VECTOR);
jausServiceAddInputCommand(service, JAUS_CONFIRM_SERVICE_CONNECTION, NO_PRESENCE_VECTOR);
jausServiceAddInputCommand(service, JAUS_ACTIVATE_SERVICE_CONNECTION, NO_PRESENCE_VECTOR);
jausServiceAddInputCommand(service, JAUS_SUSPEND_SERVICE_CONNECTION, NO_PRESENCE_VECTOR);
jausServiceAddInputCommand(service, JAUS_TERMINATE_SERVICE_CONNECTION, NO_PRESENCE_VECTOR);
jausServiceAddInputCommand(service, JAUS_REQUEST_COMPONENT_CONTROL, NO_PRESENCE_VECTOR);
jausServiceAddInputCommand(service, JAUS_RELEASE_COMPONENT_CONTROL, NO_PRESENCE_VECTOR);
jausServiceAddInputCommand(service, JAUS_CONFIRM_COMPONENT_CONTROL, NO_PRESENCE_VECTOR);
jausServiceAddInputCommand(service, JAUS_REJECT_COMPONENT_CONTROL, NO_PRESENCE_VECTOR);
// jausServiceAddInputCommand(service, JAUS_SET_TIME, 0xFF);
jausServiceAddInputCommand(service, JAUS_QUERY_COMPONENT_AUTHORITY, NO_PRESENCE_VECTOR);
jausServiceAddInputCommand(service, JAUS_QUERY_COMPONENT_STATUS, NO_PRESENCE_VECTOR);
// jausServiceAddInputCommand(service, JAUS_QUERY_TIME, 0xFF);
jausServiceAddInputCommand(service, JAUS_REPORT_COMPONENT_AUTHORITY, NO_PRESENCE_VECTOR);
jausServiceAddInputCommand(service, JAUS_REPORT_COMPONENT_STATUS, NO_PRESENCE_VECTOR);
// jausServiceAddInputCommand(service, JAUS_REPORT_TIME, 0xFF);
jausServiceAddInputCommand(service, JAUS_QUERY_IDENTIFICATION, NO_PRESENCE_VECTOR);
jausServiceAddInputCommand(service, JAUS_REPORT_CONFIGURATION, NO_PRESENCE_VECTOR);
jausServiceAddInputCommand(service, JAUS_REPORT_SERVICES, NO_PRESENCE_VECTOR);
// add each supported core output message
jausServiceAddOutputCommand(service, JAUS_CREATE_SERVICE_CONNECTION, NO_PRESENCE_VECTOR);
jausServiceAddOutputCommand(service, JAUS_CONFIRM_SERVICE_CONNECTION, NO_PRESENCE_VECTOR);
jausServiceAddOutputCommand(service, JAUS_TERMINATE_SERVICE_CONNECTION, NO_PRESENCE_VECTOR);
jausServiceAddOutputCommand(service, JAUS_CONFIRM_COMPONENT_CONTROL, NO_PRESENCE_VECTOR);
jausServiceAddOutputCommand(service, JAUS_REJECT_COMPONENT_CONTROL, NO_PRESENCE_VECTOR);
jausServiceAddOutputCommand(service, JAUS_REPORT_COMPONENT_AUTHORITY, NO_PRESENCE_VECTOR);
jausServiceAddOutputCommand(service, JAUS_REPORT_COMPONENT_STATUS, NO_PRESENCE_VECTOR);
jausServiceAddOutputCommand(service, JAUS_REPORT_IDENTIFICATION, NO_PRESENCE_VECTOR);
jausServiceAddOutputCommand(service, JAUS_QUERY_CONFIGURATION, NO_PRESENCE_VECTOR);
jausServiceAddOutputCommand(service, JAUS_QUERY_SERVICES, NO_PRESENCE_VECTOR);
// add the service to the component's services jausArray
if(jausServiceAddService(jausServices, service))
{
return JAUS_TRUE;
}
else
{
return JAUS_FALSE;
}
}
JausBoolean ojCmptAddService(OjCmpt ojCmpt, JausUnsignedShort serviceType)
{
JausService service = jausServiceCreate(serviceType);
if(service)
{
return jausServiceAddService(ojCmpt->jaus->services, service);
}
return JAUS_FALSE;
}
JausArray jausServicesClone(JausArray sourceServices)
{
JausArray destinationServices;
JausService sourceService, destinationService;
JausCommand sourceCommand;
int i = 0;
destinationServices = jausArrayCreate();
if(!destinationServices) return NULL;
for(i = 0; i < sourceServices->elementCount; i++)
{
sourceService = (JausService) sourceServices->elementData[i];
destinationService = jausServiceCreate(sourceService->type);
jausServiceAddService(destinationServices, destinationService);
// Duplicate Input Commands from sourceService to destinationService
sourceCommand = sourceService->inputCommandList;
while(sourceCommand)
{
if(!jausServiceAddInputCommand(destinationService, sourceCommand->commandCode, sourceCommand->presenceVector))
{
jausServicesDestroy(destinationServices);
return NULL;
}
sourceCommand = sourceCommand->next;
}
// Duplicate Output Commands from sourceService to destinationService
sourceCommand = sourceService->outputCommandList;
while(sourceCommand)
{
if(!jausServiceAddOutputCommand(destinationService, sourceCommand->commandCode, sourceCommand->presenceVector))
{
jausServicesDestroy(destinationServices);
return NULL;
}
sourceCommand = sourceCommand->next;
}
}
return destinationServices;
}
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();
}