/* * 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; // Add services to a component is done using the AddService // method. Services can only be added before a // component is initialized using the Initialize method. // Any attempt to add after will fail. Finally, you // cannot add multiple of the same service. // Create a Global Pose Sensor service. JAUS::GlobalPoseSensor* globalPoseSensor = new JAUS::GlobalPoseSensor(); // Set the update rate of the sensor (Hz). This // is used to determine what type of periodic // events the sensor can support. globalPoseSensor->SetSensorUpdateRate(25); // Set some global pose values. JAUS::GlobalPose globalPose; globalPose.SetLatitude(34.12345); globalPose.SetLongitude(-116.12345); globalPose.SetAltitude(100); globalPose.SetTimeStamp(JAUS::Time(true)); // Set the values. globalPoseSensor->SetGlobalPose(globalPose); // Add the sensor service to the component. Remember // this must be done before initialization. Also, // the component will delete the service for us // automatically, so we don't have to! component.AddService(globalPoseSensor); // 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, 6); // 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) { // To "simulate" a real sensor, lets modify // the latitude like the robot is moving north. globalPose.SetLatitude(globalPose.GetLatitude() + 0.00001); globalPose.SetTimeStamp(JAUS::Time(true)); // Update the sensor with the new data. This will // automatically trigger events if someone (i.e. another // component) is subscribing to the data from our sensor. // this is because the Global Pose Sensor class inherits // from the Events service and has implemented all the // methods needed to support subscriptions. globalPoseSensor->SetGlobalPose(globalPose); JAUS::Management* managementService = NULL; managementService = component.ManagementService(); if(managementService->GetStatus() == JAUS::Management::Status::Shutdown) { // Exit program. break; } if(JAUS::Time::GetUtcTimeMs() - displayStatusTimeMs > 500) { // Print out status of the service. component.GetService(JAUS::GlobalPoseSensor::Name)->PrintStatus(); std::cout << std::endl; displayStatusTimeMs = JAUS::Time::GetUtcTimeMs(); } if(CxUtils::GetChar() == 27) { break; } CxUtils::SleepMs(100); } // Shutdown your component completely. Any // services added or belonging to the component // will be deleted. component.Shutdown(); return 0; }
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; }
int main(int argc, char* argv[]) { if (argc < 3) { std::cout << "Error: Arguments must include IP and Address" << std::endl; return 1; } char* ip_address = argv[1]; char* comp_address = argv[2]; cout << "ip_address: " << ip_address << " comp_address: " << comp_address << std::endl; JAUS::Component component; JAUS::Discovery* discoveryService = nullptr; JAUS::Transport* transportService = nullptr; discoveryService = (JAUS::Discovery*)component.GetService(JAUS::Discovery::Name); discoveryService->SetSubsystemIdentification(JAUS::Subsystem::Vehicle,"Snowbots"); discoveryService->SetNodeIdentification("Main"); discoveryService->SetComponentIdentification("Baseline"); int comp_id = 5000; JAUS::Address componentID(comp_id,1,1); discoveryService->EnableDebugMessages(true); while(component.Initialize(componentID)==false){ std::cout << "Failed to initialize [" << componentID.ToString() << "]" << std::endl; comp_id++; componentID(comp_id,1,1); } std::cout << "Success!" << std::endl; transportService = (JAUS::Transport*) component.GetService(JAUS::Transport::Name); transportService->LoadSettings("services.xml"); const JAUS::Address comp_address_id = component.GetComponentID(); if(!transportService->IsInitialized()) { transportService->Initialize(comp_address_id); } // Create connection to OCP for the JAUS Interoperability Challenge using JUDP. /*transportService->AddNetworkConnection(JAUS::Address(8000, 1, 1), std::string(ip_address), 3794);*/ JAUS::Management* managementService = nullptr; managementService = (JAUS::Management*)component.GetService(JAUS::Management::Name); JAUS::Time::Stamp displayStatusTimeMs = JAUS::Time::GetUtcTimeMs(); while(true) { if(managementService->GetStatus() == JAUS::Management::Status::Shutdown) { break; } if(JAUS::Time::GetUtcTimeMs() - displayStatusTimeMs > 500) { std::cout << "==================" << std::endl; managementService->PrintStatus(); discoveryService->PrintStatus(); //std::cout << std::endl; transportService->PrintStatus(); std::cout << std::endl; displayStatusTimeMs = JAUS::Time::GetUtcTimeMs(); } CxUtils::SleepMs(1); } component.Shutdown(); return 0; }
int main(int argc, char* argv[]) { ros::init(argc, argv, "jaus"); ros::NodeHandle self; JAUS::Component component; JAUS::Discovery* discoveryService = nullptr; JAUS::Transport* transportService = nullptr; localPoseSensor = new JAUS::LocalPoseSensor(); velocityStateSensor = new JAUS::VelocityStateSensor(); LocalWaypointDriver* localWaypointDriver = new LocalWaypointDriver(self.advertise<sb_msgs::MoveCommand>(MOVE_COMMAND_TOPIC,100),localPoseSensor,nullptr); LocalWaypointListDriver* localWaypointListDriver = new LocalWaypointListDriver(localWaypointDriver); localWaypointDriver->setListDriver(localWaypointListDriver); { JAUS::ReportLocalPose localPose; localPose.SetX(1.0); localPose.SetY(1.0); localPose.SetYaw(0.1); localPoseSensor->SetLocalPose(localPose); } { JAUS::ReportVelocityState state; state.SetVelocityX(2); state.SetYawRate(0.1); velocityStateSensor->SetVelocityState(state); } self.subscribe("robot_state",100,onRobotStateChange); self.subscribe("GPS_COORD",100,onNewWaypoint); component.AddService(localPoseSensor); component.AddService(localWaypointDriver); component.AddService(velocityStateSensor); discoveryService = (JAUS::Discovery*)component.GetService(JAUS::Discovery::Name); discoveryService->SetSubsystemIdentification(JAUS::Subsystem::Vehicle,"Snowbots"); discoveryService->SetNodeIdentification("Main"); discoveryService->SetComponentIdentification("Baseline"); int comp_id = 5000; JAUS::Address componentID(comp_id,1,1); discoveryService->EnableDebugMessages(true); while(component.Initialize(componentID)==false) { std::cout << "Failed to initialize [" << componentID.ToString() << "]" << std::endl; comp_id++; componentID(comp_id,1,1); } std::cout << "Success!" << std::endl; transportService = (JAUS::Transport*) component.GetService(JAUS::Transport::Name); transportService->LoadSettings("services.xml"); const JAUS::Address comp_address_id = component.GetComponentID(); if(!transportService->IsInitialized()) { transportService->Initialize(comp_address_id); } JAUS::Management* managementService = nullptr; managementService = (JAUS::Management*)component.GetService(JAUS::Management::Name); JAUS::Time::Stamp displayStatusTimeMs = JAUS::Time::GetUtcTimeMs(); ros::Rate loop_rate(10); while(ros::ok()) { if(managementService->GetStatus() == JAUS::Management::Status::Shutdown) { break; } if(JAUS::Time::GetUtcTimeMs() - displayStatusTimeMs > 500) { std::cout << "==================" << std::endl; managementService->PrintStatus(); discoveryService->PrintStatus(); transportService->PrintStatus(); std::cout << std::endl; displayStatusTimeMs = JAUS::Time::GetUtcTimeMs(); } ros::spinOnce(); loop_rate.sleep(); } component.Shutdown(); return 0; }
int main(int argc, char* argv[]) { // Create a component. By default a component // has all the services of the Core Service set: // - Transport (JUDP) // - Control // - Discovery // - Events // - Liveness // - Time // - Management JAUS::Component component; // The Transport service is used to send // and receive messages to other JAUS components. All // other services use the Transport service. The // default transport type for JAUS++ is UDP communication // using the JUDP class. // The Discovery service is used to find // other JAUS components and services on the // network using the Transport service. In JAUS++ // Discovery will automatically find these components, // make connections to them, and keep track of what // services they have. // The first thing we must do for a component is // configure its identification. This is done by // using the Discovery Service. Get a pointer // to the service: JAUS::Discovery* discoveryService = NULL; discoveryService = (JAUS::Discovery*)component.GetService(JAUS::Discovery::Name); // Alternative method: // discoveryService = component.DiscoveryService(); // Set the type of subsystem the component is for. Subsystem // types available are currently Vehicle, or OCU. The string // name "Robot" represents the type or category of platform. // You must set the subsystem identification before you will be // able to initialize your component. discoveryService->SetSubsystemIdentification(JAUS::Subsystem::Vehicle, "Robot"); // You can also set identification information for the component // and node that it is on. discoveryService->SetNodeIdentification("Primary Computer"); discoveryService->SetComponentIdentification("Baseline"); // Now that we have setup our identification information we // can initialize our component. First, create the // component ID. JAUS::Address componentID(1000, 1, 1); // 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) { // Let's check the "state" of our component. This // is done using the Management service. // A component can be in the following states: // - Initialized // - Ready // - Standby // - Shutdown // - Failure // - Emergency JAUS::Management* managementService = NULL; managementService = (JAUS::Management*)component.GetService(JAUS::Management::Name); // Alternative method: //managementService = component.ManagementService(); if(managementService->GetStatus() == JAUS::Management::Status::Shutdown) { // Exit program. break; } if(JAUS::Time::GetUtcTimeMs() - displayStatusTimeMs > 500) { std::cout << "======================================================\n"; // Print status of the service. managementService->PrintStatus(); std::cout << std::endl; 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; }