// Function: cmptStartup
// Access: Public
// Description: This function allows the abstracted component functionality contained in this file to be started from an external source.
// It must be called first before the component state machine and node manager interaction will begin
// Each call to "cmptStartup" should be followed by one call to the "cmptShutdown" function
int cmptStartup(void)
{
FILE * propertyFile;
pthread_attr_t attr; // Thread attributed for the component threads spawned in this function
if(cmpt->state == JAUS_SHUTDOWN_STATE) // Execute the startup routines only if the component is not running
{
propertyFile = fopen("./config/cmpt.conf", "r");
if(propertyFile)
{
cmptProperties = propertiesCreate();
cmptProperties = propertiesLoad(cmptProperties, propertyFile);
fclose(propertyFile);
}
else
{
cError("cmpt: Cannot find or open properties file\n");
return CMPT_LOAD_CONFIGURATION_ERROR;
}
// Check in to the Node Manager and obtain Instance, Node and Subsystem IDs
cmptNode = jausNodeCreate();
cmptSubsystem = jausSubsystemCreate();
cmptNode->subsystem = cmptSubsystem;
cmpt->node = cmptNode;
cmpt->services = jausServicesCreate();
cmpt->state = JAUS_INITIALIZE_STATE; // Set the state of the JAUS state machine to INITIALIZE
cmptNmi = nodeManagerOpen(cmpt);
if(cmptNmi == NULL)
{
cError("cmpt: Could not open connection to node manager\n");
return CMPT_NODE_MANAGER_OPEN_ERROR;
}
pthread_attr_init(&attr);
pthread_attr_setdetachstate(&attr, PTHREAD_CREATE_DETACHED);
cmptRun = TRUE;
if(pthread_create(&cmptThreadId, &attr, cmptThread, NULL) != 0)
{
cError("cmpt: Could not create cmptThread\n");
cmptShutdown();
pthread_attr_destroy(&attr);
return CMPT_THREAD_CREATE_ERROR;
}
pthread_attr_destroy(&attr);
}
else
{
cError("cmpt: Attempted startup while not shutdown\n");
return CMPT_STARTUP_BEFORE_SHUTDOWN_ERROR;
}
return 0;
}
OjCmpt ojCmptCreate(char *name, JausByte id, double stateFrequencyHz)
{
OjCmpt ojCmpt;
int i;
ojCmpt = (OjCmpt)malloc(sizeof(struct OjCmptStruct));
ojCmpt->jaus = jausComponentCreate();
ojCmpt->jaus->identification = (char *)calloc(strlen(name) + 1, 1);
strcpy(ojCmpt->jaus->identification, name);
ojCmpt->jaus->address->component = id;
ojCmptSetState(ojCmpt, JAUS_UNDEFINED_STATE);
ojCmptSetFrequencyHz(ojCmpt, stateFrequencyHz);
for(i=0; i<OJ_CMPT_MAX_STATE_COUNT; i++)
{
ojCmpt->stateCallback[i] = NULL;
}
ojCmpt->mainCallback = NULL;
ojCmpt->processMessageCallback = NULL;
ojCmpt->messageCallback = NULL;
ojCmpt->messageCallbackCount = 0;
ojCmpt->run = FALSE;
if (!jausServiceAddCoreServices(ojCmpt->jaus->services)) // Add core services
{
free(ojCmpt->jaus->identification);
ojCmpt->jaus->identification = NULL;
jausComponentDestroy(ojCmpt->jaus);
free(ojCmpt);
return NULL;
}
for(i=0; i<OJ_CMPT_MAX_INCOMING_SC_COUNT; i++)
{
ojCmpt->inConnection[i] = NULL;
}
ojCmpt->nmi = nodeManagerOpen(ojCmpt->jaus);
if(ojCmpt->nmi == NULL)
{
free(ojCmpt->jaus->identification);
ojCmpt->jaus->identification = NULL;
jausComponentDestroy(ojCmpt->jaus);
free(ojCmpt);
return NULL;
}
return ojCmpt;
}
// Function: wdStartup
// Access: Public
// Description: This function allows the abstracted component functionality contained in this file to be started from an external source.
// It must be called first before the component state machine and node manager interaction will begin
// Each call to "wdStartup" should be followed by one call to the "wdShutdown" function
int wdStartup(void)
{
FILE * propertyFile;
pthread_attr_t attr; // Thread attributed for the component threads spawned in this function
char fileName[128] = {0};
if(!wd)
{
wd = jausComponentCreate();
wd->address->component = JAUS_GLOBAL_WAYPOINT_DRIVER;
wd->identification = "Waypoint Driver";
wd->state = JAUS_SHUTDOWN_STATE;
}
if(wd->state == JAUS_SHUTDOWN_STATE) // Execute the startup routines only if the component is not running
{
sprintf(fileName, "%swd.conf", CONFIG_DIRECTORY);
propertyFile = fopen(fileName, "r");
if(propertyFile)
{
wdProperties = propertiesCreate();
wdProperties = propertiesLoad(wdProperties, propertyFile);
fclose(propertyFile);
}
else
{
//cError("wd: Cannot find or open properties file\n");
return WD_LOAD_CONFIGURATION_ERROR;
}
// Check in to the Node Manager and obtain Instance, Node and Subsystem IDs
wdNode = jausNodeCreate();
wdSubsystem = jausSubsystemCreate();
wdNode->subsystem = wdSubsystem;
wd->node = wdNode;
wd->services = jausServicesCreate();
wd->state = JAUS_INITIALIZE_STATE; // Set the state of the JAUS state machine to INITIALIZE
wdNmi = nodeManagerOpen(wd);
if(wdNmi == NULL)
{
//cError("wd: Could not open connection to node manager\n");
return WD_NODE_MANAGER_OPEN_ERROR;
}
pthread_attr_init(&attr);
pthread_attr_setdetachstate(&attr, PTHREAD_CREATE_DETACHED);
wdRun = TRUE;
if(pthread_create(&wdThreadId, &attr, wdThread, NULL) != 0)
{
//cError("wd: Could not create wdThread\n");
wdShutdown();
pthread_attr_destroy(&attr);
return WD_THREAD_CREATE_ERROR;
}
pthread_attr_destroy(&attr);
}
else
{
//cError("wd: Attempted startup while not shutdown\n");
return WD_STARTUP_BEFORE_SHUTDOWN_ERROR;
}
return 0;
}
