void destroy(naming::gid_type const& gid, naming::address const& addr)
{
// make sure this component is located here
if (get_locality() != addr.locality_)
{
// This component might have been migrated, find out where it is
// and instruct that locality to delete it.
destroy_component(gid, addr);
return;
}
// make sure it's the correct component type
components::component_type type =
components::get_component_type<typename Component::wrapped_type>();
if (!types_are_compatible(type, addr.type_))
{
// FIXME: should the component be re-bound ?
std::ostringstream strm;
strm << "global id " << gid << " is not bound to a component "
"instance of type: " << get_component_type_name(type)
<< " (it is bound to a " << get_component_type_name(addr.type_)
<< ")";
HPX_THROW_EXCEPTION(hpx::unknown_component_address,
"destroy<Component>", strm.str());
return;
}
--instance_count(type);
// delete the local instances
Component *c = reinterpret_cast<Component*>(addr.address_);
c->finalize();
c->~Component();
component_heap<Component>().free(c, 1);
}
/*
* This example shows how to use the C "client" API.
* It essentially wraps a subset of the JSON API,
* relevant for a SHERPA mission.
*
* For communication zyre is used.
* Please make ensure a correct zyre configuration file
* is passed.
*/
int main(int argc, char *argv[]) {
char agent_name[] = "fw0"; // or wasp1, operator0, ... donkey0, sherpa_box0. Please use the same as SWM_AGENT_NAME environment variable.
/* Load configuration file for communication setup */
char config_folder[255] = { SWM_ZYRE_CONFIG_DIR };
char config_name[] = "swm_zyre_config.json";
char config_file[512] = {0};
snprintf(config_file, sizeof(config_file), "%s/%s", config_folder, config_name);
if (argc == 2) { // override default config
snprintf(config_file, sizeof(config_file), "%s", argv[1]);
}
json_t * config = load_config_file(config_file);//"swm_zyre_config.json");
if (config == NULL) {
return -1;
}
/* Spawn new communication component */
component_t *self = new_component(config);
if (self == NULL) {
return -1;
}
printf("[%s] component initialized!\n", self->name);
char *msg;
/* Input variables */
double x = 979875;
double y = 48704;
double z = 405;
double utcTimeInMiliSec = 0.0;
int i;
struct timeval tp;
printf("###################### CONNECTIVITY #########################\n");
char *root_id = 0;
/* Get the root node ID of the local SHWRPA World Model.
* This can be used the check connectivity to the SMW.
* Typically false means the local SWM cannot be reached. Is it actually started?
*/
assert(get_root_node_id(self, &root_id));
free(root_id);
printf("###################### AGENT #########################\n");
/* column-major layout:
* 0 4 8 12
* 1 5 9 13
* 2 6 10 14
* 3 7 11 15
*
* <=>
*
* r11 r12 r13 x
* r21 r22 r23 y
* r31 r32 r33 z
* 3 7 11 15
*/
double matrix[16] = { 1, 0, 0, 0,
0, 1, 0, 0,
0, 0, 1, 0,
0, 0, 0, 1}; // y,x,z,1 remember this is column-major!
matrix[12] = x;
matrix[13] = y;
matrix[14] = z;
assert(add_agent(self, matrix, utcTimeInMiliSec, agent_name));
assert(add_agent(self, matrix, utcTimeInMiliSec, agent_name)); // twice is not a problem, sine it checks for existance
/*
* Add new observations for potential victims
*/
for (i = 0; i < 2; ++i) {
printf("###################### VICTIM #########################\n");
gettimeofday(&tp, NULL);
utcTimeInMiliSec = tp.tv_sec * 1000 + tp.tv_usec / 1000; //get current timestamp in milliseconds
double matrix[16] = { 1, 0, 0, 0,
0, 1, 0, 0,
0, 0, 1, 0,
0, 0, 0, 1}; // y,x,z,1 remember this is column-major!
matrix[12] = x;
matrix[13] = y;
matrix[14] = z;
assert(add_victim(self, matrix, utcTimeInMiliSec, agent_name));
}
/*
* Add new image observations
*/
for (i = 0; i < 2; ++i) {
printf("###################### IMAGE #########################\n");
gettimeofday(&tp, NULL);
utcTimeInMiliSec = tp.tv_sec * 1000 + tp.tv_usec / 1000; //get current timestamp in milliseconds
double matrix[16] = { 1, 0, 0, 0,
0, 1, 0, 0,
0, 0, 1, 0,
0, 0, 0, 1}; // y,x,z,1 remember this is column-major!
matrix[12] = x;
matrix[13] = y;
matrix[14] = z;
assert(add_image(self, matrix, utcTimeInMiliSec, agent_name, "/tmp/image001.jpg"));
}
/*
* Add new ARTVA observations (Only relevant for the WASPS)
*/
for (i = 0; i < 2; ++i) {
printf("###################### ARTVA #########################\n");
gettimeofday(&tp, NULL);
utcTimeInMiliSec = tp.tv_sec * 1000 + tp.tv_usec / 1000; //get current timestamp in milliseconds
double matrix[16] = { 1, 0, 0, 0,
0, 1, 0, 0,
0, 0, 1, 0,
0, 0, 0, 1}; // y,x,z,1 remember this is column-major!
matrix[12] = x;
matrix[13] = y;
matrix[14] = z;
assert(add_artva(self, matrix, 77, 12, 0, 0, utcTimeInMiliSec, agent_name));
}
/*
* Add new battery values. In fact it is stored in a single battery node and
* get updated after first creation.
*/
for (i = 0; i < 2; ++i) {
printf("###################### BATTERY #########################\n");
double voltage = 20 + i;
assert(add_battery(self, voltage, "HIGH", utcTimeInMiliSec, agent_name));
}
/*
* Update pose of this agent
*/
for (i = 0; i < 30; ++i) {
printf("###################### POSE #########################\n");
gettimeofday(&tp, NULL);
utcTimeInMiliSec = tp.tv_sec * 1000 + tp.tv_usec / 1000; //get current timestamp in milliseconds
double matrix[16] = { 1, 0, 0, 0,
0, 1, 0, 0,
0, 0, 1, 0,
0, 0, 0, 1}; // y,x,z,1 remember this is column-major!
matrix[12] = x;
matrix[13] = y;
matrix[14] = z+i;
update_pose(self, matrix, utcTimeInMiliSec+i, agent_name);
usleep(100/*[ms]*/ * 1000);
}
/*
* Get current position
*/
printf("###################### GET POSITION #########################\n");
x = 0;
y = 0;
z = 0;
gettimeofday(&tp, NULL);
utcTimeInMiliSec = tp.tv_sec * 1000 + tp.tv_usec / 1000; //get current timestamp in milliseconds
get_position(self, &x, &y, &z, utcTimeInMiliSec, agent_name);
printf ("Latest position of agent = (%f,%f,%f)\n", x,y,z);
/*
* Get ID of mediator
*/
printf("###################### GET MEDIATOR ID #########################\n");
char* mediator_id = NULL;
assert(get_mediator_id(self, &mediator_id));
printf ("ID of mediator = %s\n", mediator_id);
free(mediator_id);
printf("###################### DONE #########################\n");
/* Clean up */
destroy_component(&self);
printf ("SHUTDOWN\n");
return 0;
}
