コード例 #1
0
void LocalWaypointListDriver_ReceiveFSM::SendAction(std::string arg0, Receive::Body::ReceiveRec transportData)
{
	// Extract the sender information
	JausAddress sender(transportData.getSrcSubsystemID(),
					   transportData.getSrcNodeID(),
					   transportData.getSrcComponentID());

	if (arg0 == "ReportActiveElement")
	{
		ReportActiveElement active_element_msg;
		active_element_msg.getBody()->getActiveElementRec()->setElementUID(activeWaypoint);
		sendJausMessage( active_element_msg, sender );
	}
	else if (arg0 == "ConfirmElementRequest")
	{
		ConfirmElementRequest confirm_element_msg;
		// this should actually be populated with the request ID
		sendJausMessage( confirm_element_msg, sender );
	}
	else if (arg0 == "ReportLocalWaypoint")
	{
		// Get the current waypoint if active, otherwise first in list
		ReportLocalWaypoint waypoint;
		waypoint.decode(findElement((activeWaypoint == 0) ? 1 : activeWaypoint)->getElementData()->getData());
		ReportLocalWaypoint report_waypoint_msg;
		report_waypoint_msg.getBody()->getLocalWaypointRec()->setX(waypoint.getBody()->getLocalWaypointRec()->getX());
		report_waypoint_msg.getBody()->getLocalWaypointRec()->setY(waypoint.getBody()->getLocalWaypointRec()->getY());
		sendJausMessage( report_waypoint_msg, sender );
	}
}
void DiscoveryClient_DiscoveryClientFSM::sendQueryMessageAction(GuiControlEntered msg)
{
	/// Insert User Code HERE
    cout << "Sending query:" << msg.getGuiControlEnteredBody()->getGuiControlEnteredRecord()->getCommand() << endl;
    // see which query message I should send and send it
    // Cmd 1 - Query Identification
    // Cmd 2 - Query Services
    // Cmd 3 - Query Configuration
    // Cmd 4 - Query Subsystem List
    // Cmd 5 - Query Services List
    switch (msg.getGuiControlEnteredBody()->getGuiControlEnteredRecord()->getCommand()) {
        case QUERYIDENTIFICATION: {
            QueryIdentification qry;
            JausAddress recipient(msg.getGuiControlEnteredBody()->getGuiControlEnteredRecord()->getValue());
            cout << "Send QueryIdentification to: " << hex << (unsigned int)recipient.getSubsystemID() << ":"
                 << (unsigned int)recipient.getNodeID() << ":" << (unsigned int)recipient.getComponentID() << endl;
            sendJausMessage( qry, recipient);
        }
        break;
        case QUERYSERVICES: {
            cout << "Send QueryServices." << endl;
            QueryServices qry;
            // broadcast query to specified discovery service
            JausAddress recipient(msg.getGuiControlEnteredBody()->getGuiControlEnteredRecord()->getValue());
            sendJausMessage( qry, recipient);               
        }
        break;
        case QUERYCONFIGURATION:
            cout << "Send QueryConfiguration." << endl;
        break;
        case QUERYSUBSYSTEMLIST:
            cout << "Send QuerySubsystemList." << endl;
        break;
        case QUERYSERVICESLIST:
            cout << "Send QueryServicesList." << endl;
        break;
        default:
            cout << "Unknown GUI command." << endl;
        break;
        
    }
    
}
コード例 #3
0
void LocalPoseSensor_ReceiveFSM::SendAction(std::string arg0, Receive::Body::ReceiveRec transportData)
{
	// Extract the sender information
	JausAddress sender(transportData.getSrcSubsystemID(),
					   transportData.getSrcNodeID(),
					   transportData.getSrcComponentID());

	// Formulate the requested response
	if (arg0 == "ReportLocalPose")
	{
		ReportLocalPose pose_msg;
		pose_msg.getBody()->getLocalPoseRec()->setX( SharedData::get()->getX() );
		pose_msg.getBody()->getLocalPoseRec()->setY( SharedData::get()->getY() );
		pose_msg.getBody()->getLocalPoseRec()->setYaw( SharedData::get()->getYaw() );
		sendJausMessage(pose_msg, sender);
	}
}
void AdditionServerServiceDef_additionServerFSM::sendReportAdditionAction(QueryAddition msg, unsigned int sender)
{
   // Pull out the data.
	int A1 = msg.getAdditionInputBody()->getAdditionInput()->getA1();
	int A2 = msg.getAdditionInputBody()->getAdditionInput()->getA2();

	// Now, lets pull out the two numbers we received
	std::cout << " Need to add " << A1 << " + " << A2 << std::endl;

	// Now let's formulate a response
	int answer;
	answer = A1 + A2;
	ReportAddition theAnswer;
	theAnswer.getAdditionOutputBody()->getAdditionOutput()->setAdditionResult(answer);
	
	// Encode the response and send it back to the requestor.
	sendJausMessage( theAnswer, JausAddress(sender) );

	std::cout << "answer sent to client\n";
}
コード例 #5
0
bool JausOpcUdpInterface::processMessage(JausMessage message)
{
	switch(this->type)
	{
		case SUBSYSTEM_INTERFACE:
			// if subs==BROADCAST send multicast
			if(message->destination->subsystem == JAUS_BROADCAST_SUBSYSTEM_ID)
			{
				if(this->multicast)
				{
					// Send multicast packet
					sendJausMessage(this->multicastData, message);
					jausMessageDestroy(message);
					return true;
				}
				else
				{
					// Unicast to all known subsystems
					HASH_MAP<int, OpcUdpTransportData>::iterator iter;
					for(iter = addressMap.begin(); iter != addressMap.end(); iter++)
					{
						sendJausMessage(iter->second, message);
					}
					jausMessageDestroy(message);
					return true;
				}
			}
			else
			{
				// Unicast
				if(addressMap.find(message->destination->subsystem) != addressMap.end())
				{
					sendJausMessage(addressMap.find(message->destination->subsystem)->second, message);
					jausMessageDestroy(message);
					return true;
				}
				else
				{
					// Don't know how to send this message
					jausMessageDestroy(message);
					return false;
				}
			}
			break;

		case NODE_INTERFACE:
			if(	message->destination->subsystem == mySubsystemId ||
				message->destination->subsystem == JAUS_BROADCAST_SUBSYSTEM_ID )
			{
				// if node==BROADCAST send multicast
				if(message->destination->node == JAUS_BROADCAST_NODE_ID)
				{
					if(this->multicast)
					{
						// Send multicast packet
						sendJausMessage(this->multicastData, message);
						jausMessageDestroy(message);
						return true;
					}
					else
					{
						// Unicast to all known nodes
						HASH_MAP<int, OpcUdpTransportData>::iterator iter;
						for(iter = addressMap.begin(); iter != addressMap.end(); iter++)
						{
							sendJausMessage(iter->second, message);
						}
						jausMessageDestroy(message);
						return true;
					}
				}
				else
				{
					// Unicast
					if(addressMap.find(message->destination->node) != addressMap.end())
					{
						sendJausMessage(addressMap.find(message->destination->node)->second, message);
						jausMessageDestroy(message);
						return true;
					}
					else
					{
						// Don't know how to send this message
						jausMessageDestroy(message);
						return false;
					}
				}
			}
			else
			{
				// Message for other subsystem
				if(subsystemGatewayDiscovered)
				{
					sendJausMessage(subsystemGatewayData, message);
					jausMessageDestroy(message);
					return true;
				}
				else
				{
					// Don't know how to send this message
					jausMessageDestroy(message);
					return false;
				}
			}
			break;

		case COMPONENT_INTERFACE:
			// if cmpt == BROADCAST || inst == BROADCAST send unicast to all components
			if( message->destination->component == JAUS_BROADCAST_COMPONENT_ID ||
				message->destination->instance == JAUS_BROADCAST_INSTANCE_ID )
			{
				if(this->multicast)
				{
					// Send multicast packet
					sendJausMessage(this->multicastData, message);
					jausMessageDestroy(message);
					return true;
				}
				else
				{
					// Unicast to all known subsystems
					HASH_MAP<int, OpcUdpTransportData>::iterator iter;
					for(iter = addressMap.begin(); iter != addressMap.end(); iter++)
					{
						sendJausMessage(iter->second, message);
					}
					jausMessageDestroy(message);
					return true;
				}
			}
			else
			{
				// Unicast
				if(addressMap.find(jausAddressHash(message->destination)) != addressMap.end())
				{
					sendJausMessage(addressMap.find(jausAddressHash(message->destination))->second, message);
					jausMessageDestroy(message);
					return true;
				}
				else
				{
					// Don't know how to send this message
					jausMessageDestroy(message);
					return false;
				}
			}
			break;

		default:
			// Unknown type
			// No routing behavior
			jausMessageDestroy(message);
			return false;
	}
}
コード例 #6
0
void PingClient_PingClientFSM::QueryHeartBeatPulseAction()
{
	// Send the QueryHeartbeat message to the local component
	QueryHeartbeatPulse query;
	sendJausMessage( query, *jausRouter->getJausAddress());
}