////////////////////////////////////////////////////////////////////////////////////
///
/// \brief Simple simulation of a component that subscribes to any Local
/// Pose Sensor data on network using JTCP.
///
/// \param[in] subsystemID Subsystem ID number.
/// \param[in] nodeID Node ID number.
///
////////////////////////////////////////////////////////////////////////////////////
int RunClient(JAUS::UShort subsystemID, JAUS::Byte nodeID)
{
JAUS::Component component;
JAUS::Address id(subsystemID, nodeID, 1);
if(id.IsValid() == false)
{
std::cout << "Invalid JAUS ID: " << id.ToString() << std::endl;
}
// Setup identification data.
component.DiscoveryService()->SetSubsystemIdentification(JAUS::Subsystem::Vehicle,
"Subscriber JTCP Tutorial");
// Change the transport service to use JTCP
component.AddService(new JAUS::JTCPClient());
//((JAUS::JTCPClient*)component.TransportService())->AddConnection("10.171.190.61", JAUS::Address(subsystemID, 1, 1));
//((JAUS::JTCPClient*)component.TransportService())->AddConnection("127.0.0.1", JAUS::Address(subsystemID, 1, 1));
// Add support for reading Local Pose messages without having to
// add a custom service.
component.TransportService()->AddMessageTemplate(new JAUS::ReportLocalPose());
component.TransportService()->AddMessageTemplate(new JAUS::QueryLocalPose());
// Add a callback to get messages when they arrive.
LocalPoseCallback localPoseCallback;
component.TransportService()->RegisterCallback(JAUS::REPORT_LOCAL_POSE, &localPoseCallback);
// Initialize component and communication.
if(component.Initialize(id) == false)
{
std::cout << "Failed to initialize JAUS component with ID: " << id.ToString() << std::endl;
return 0;
}
JAUS::Time printTime(true);
while(CxUtils::GetChar() != 27 && component.ManagementService()->GetStatus() != JAUS::Management::Status::Shutdown)
{
// Look for any subsystems.
JAUS::Subsystem::Map subsystems;
JAUS::Subsystem::Map::iterator subsystem;
component.DiscoveryService()->GetSubsystems(subsystems);
for(subsystem = subsystems.begin();
subsystem != subsystems.end();
subsystem++)
{
// Look for local pose sensors to subscribe to.
JAUS::Address::List sensors = subsystem->second->GetComponentsWithService(JAUS::LocalPoseSensor::Name);
if(sensors.size() > 0)
{
JAUS::Address::List::iterator id;
for(id = sensors.begin();
id != sensors.end();
id++)
{
if(*id != component.GetComponentID() &&
component.EventsService()->HaveSubscription(JAUS::REPORT_LOCAL_POSE, *id) == false)
{
std::cout << "Found new Local Pose Sensors on " << id->ToString() << std::endl;
JAUS::QueryLocalPose queryLocalPose;
// Request all fields.
queryLocalPose.SetPresenceVector(queryLocalPose.GetPresenceVectorMask());
component.EventsService()->RequestPeriodicEvent(*id, &queryLocalPose, 5);
}
}
}
}
JAUS::Subsystem::DeleteSubsystemMap(subsystems);
// Only print to screen every now and then.
if(JAUS::Time(true) - printTime > .5)
{
//std::cout << "=======================================================\n";
//component.EventsService()->PrintStatus();
//printTime.SetCurrentTime();
}
// Don't overload the CPU
CxUtils::SleepMs(1);
}
// Do shutdown
component.Shutdown();
return 0;
}
////////////////////////////////////////////////////////////////////////////////////
///
/// \brief Simple simulation of a component with a Local Pose Sensor using
/// JTCP.
///
/// \param[in] subsystemID Subsystem ID number.
/// \param[in] nodeID Node ID number.
///
////////////////////////////////////////////////////////////////////////////////////
int RunServer(JAUS::UShort subsystemID, JAUS::Byte nodeID)
{
JAUS::Component component;
JAUS::Address id(subsystemID, nodeID, 1);
if(id.IsValid() == false)
{
std::cout << "Invalid JAUS ID: " << id.ToString() << std::endl;
}
// Setup identification data.
component.DiscoveryService()->SetSubsystemIdentification(JAUS::Subsystem::Vehicle,
"Local Pose JTCP Tutorial");
// Change the transport service to use JTCP
component.AddService(new JAUS::JTCPClient());
// Add any other services. In this case local pose.
JAUS::LocalPoseSensor* localPoseSensor = new JAUS::LocalPoseSensor();
component.AddService(localPoseSensor);
// Initialize component and communication.
if(component.Initialize(id) == false)
{
std::cout << "Failed to initialize JAUS component with ID: " << id.ToString() << std::endl;
return 0;
}
// Configure local pose information.
JAUS::LocalPose localPose;
localPose.SetX(0);
localPose.SetY(0);
localPose.SetZ(0);
localPose.SetYaw(0);
localPose.SetTimeStamp(JAUS::Time(true));
JAUS::Time printTime(true);
while(CxUtils::GetChar() != 27 && component.ManagementService()->GetStatus() != JAUS::Management::Status::Shutdown)
{
// Fake a position change.
localPose.SetY(localPose.GetY() + .01);
localPose.SetTimeStamp(JAUS::Time(true));
// Save the data. Anyone who is subscribing will be
// notified of the change automatically.
localPoseSensor->SetLocalPose(localPose);
// Only print to screen every now and then.
if(JAUS::Time(true) - printTime > .5)
{
std::cout << "=======================================================\n";
localPoseSensor->PrintStatus();
component.EventsService()->PrintStatus();
printTime.SetCurrentTime();
}
// Don't overload the CPU
CxUtils::SleepMs(1);
}
// Do shutdown
component.Shutdown();
return 0;
}
int main(int argc, char* argv[])
{
JAUS::Component component;
// Testing prioritized message data
component.TransportService()->AddPriorityMessage(JAUS::REPORT_GLOBAL_POSE);
// Add the services our component needs. This has to
// be done before component initialization.
// Second, you cannot add the same service twice.
JAUS::GlobalPoseSensor* globalPoseSensor = new JAUS::GlobalPoseSensor();
JAUS::LocalPoseSensor* localPoseSensor = new JAUS::LocalPoseSensor();
JAUS::VelocityStateSensor* velocityStateSensor = new JAUS::VelocityStateSensor();
JAUS::AccelerationStateSensor* accelerationStateSensor = new JAUS::AccelerationStateSensor();
FakeMicrocontroller* mcu = new FakeMicrocontroller();
// Add to our component.
component.AddService(globalPoseSensor);
component.AddService(localPoseSensor);
component.AddService(velocityStateSensor);
component.AddService(accelerationStateSensor);
component.AddService(mcu);
// Tell our sensor services what component we want them
// to sync there data with (i.e. who to subscribe to.
JAUS::Address syncID(gSubsystemID, gSyncNodeID, gSyncComponentID);
globalPoseSensor->SynchronizeToComponent(syncID);
localPoseSensor->SynchronizeToComponent(syncID);
velocityStateSensor->SynchronizeToComponent(syncID);
accelerationStateSensor->SynchronizeToComponent(syncID);
mcu->SynchronizeToComponent(syncID);
// Example of how to use events callback
EventCallback callback;
component.EventsService()->RegisterCallback(&callback);
// Try load settings files.
// These files determine your UDP network
// settings, what Services to turn on/off
// or any Service specific settings. See the
// example file for settings file format.
if(component.LoadSettings("settings/services.xml") == false)
{
// Working directory probably not set (or not running from output directory), so
// use default values.
component.DiscoveryService()->SetSubsystemIdentification(JAUS::Subsystem::Vehicle,
"Simulation");
// Set optional identification info for this component.
component.DiscoveryService()->SetComponentIdentification("Synchronize");
}
// Initialize component with component given ID.
if(component.Initialize(JAUS::Address(gSubsystemID, gNodeID, gComponentID)) == false)
{
std::cout << "Failed to Initialize Component.\n";
return 0;
}
bool foundSyncID = false;
CxUtils::Time::Stamp printTimeMs = 0;
while(CxUtils::GetChar() != 27)
{
// This is a short example code to dynamically lookup a
// component ID for the service you want to synchronize on your
// subsystem (like in your AI program if the services may run on different computers).
#if 0
// Enable synchronization for each sensor.
if(globalPoseSensor->IsSynchronizing() == false)
{
// Find sensor to sync to.
JAUS::Address::List idList = component.DiscoveryService()->GetSubsystem(gSubsystemID)->GetComponentsWithService(JAUS::GlobalPoseSensor::Name);
if(idList.size() > 0)
{
globalPoseSensor->SynchronizeToComponent(idList.front());
}
}
#endif
if(CxUtils::Time::GetUtcTimeMs() - printTimeMs > 500)
{
// Print status of services.
std::cout << "\n======================================================\n";
globalPoseSensor->PrintStatus(); std::cout << std::endl;
localPoseSensor->PrintStatus(); std::cout << std::endl;
velocityStateSensor->PrintStatus(); std::cout << std::endl;
accelerationStateSensor->PrintStatus(); std::cout << std::endl;
mcu->PrintStatus(); std::cout << std::endl;
printTimeMs = CxUtils::Time::GetUtcTimeMs();
}
CxUtils::SleepMs(1);
}
// Don't delete services, they are
// deleted by the Component class.
// Shutdown any components associated with our subsystem.
component.Shutdown();
return 0;
}
