////////////////////////////////////////////////////////////////////////////////////
///
/// \brief Generates fake waypoints to simulate control unit for testing.
///
////////////////////////////////////////////////////////////////////////////////////
void RobotSim::UseFakeWaypoints()
{
JAUS::Address controllerID(42, 1, 1);
mLocalWaypointDriverComponent.AccessControlService()->SetControllerID(controllerID);
mLocalWaypointDriverComponent.ManagementService()->SetStatus(JAUS::Management::Status::Ready);
JAUS::SetElement command(mLocalWaypointDriverComponent.GetComponentID(), controllerID);
command.SetRequestID(1);
JAUS::Point3D::List localWaypoints;
// Add more waypoints for testing as needed.
localWaypoints.push_back(JAUS::Point3D(10, 0, 0));
localWaypoints.push_back(JAUS::Point3D(10, 10, 0));
localWaypoints.push_back(JAUS::Point3D(0, 10, 0));
localWaypoints.push_back(JAUS::Point3D(0, 0, 0));
for(unsigned int i = 0; i < (unsigned int)localWaypoints.size(); i++)
{
JAUS::Element e;
// Set the element ID.
e.mID = i + 1;
// If this is the last element (and we are not looping) set the
// next ID to 0, otherwise the value of the next element ID.
if(i < (unsigned int)localWaypoints.size() - 1)
{
e.mNextID = e.mID + 1;
}
// Set previous element.
e.mPrevID = i;
// Populate the element message which is the command to be executed.
JAUS::SetLocalWaypoint* message = new JAUS::SetLocalWaypoint();
message->SetX(localWaypoints[i].mX);
message->SetY(localWaypoints[i].mY);
// Save the pointer
e.mpElement = message;
// Push completed element onto the list.
command.GetElementList()->push_back(e);
}
// Set the command.
mLocalWaypointDriverComponent.TransportService()->Receive(&command);
// Now tell it to start executing.
JAUS::ExecuteList executeCommand(mLocalWaypointDriverComponent.GetComponentID(), controllerID);
executeCommand.SetElementUID(1); // Start at beginning.
executeCommand.SetSpeed(2.0); // Maximum speed.
mLocalWaypointDriverComponent.TransportService()->Receive(&executeCommand);
}
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;
}
////////////////////////////////////////////////////////////////////////////////////
///
/// \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;
}
int main(int argc, char **argv)
{
SICK::Sick laser;
MessageCallback cb;
JAUS::Component component;
// Add the services we want our component to have
// beyond the core set.
JAUS::RangeSensor* rangeSensor = new JAUS::RangeSensor();
// Setup the configuration of a range sensing device.
JAUS::RangeSensorConfig rangeSensorConfig;
rangeSensorConfig.mID = 0;
rangeSensorConfig.mName = "LIDAR";
rangeSensorConfig.mMinRange = 0.0;
rangeSensorConfig.mMaxRange = 9.0; // 9 meter range.
rangeSensorConfig.mUnitType = JAUS::RangeSensorConfig::MM; // Range values are in mm.
rangeSensorConfig.mScanAngle = CxUtils::CxToRadians(180); // [-90, 90] degrees.
rangeSensorConfig.mAngleIncrement = CxUtils::CxToRadians(0.5); // 0.5 degree increment.
rangeSensor->AddRangeDevice(rangeSensorConfig);
// Add to component.
component.AddService(rangeSensor);
cb.mpRangeSensor = rangeSensor;
// Register a callback to process the received
// messages.
laser.RegisterCallback(&cb);
cout << "Connecting to SICK...";
laser.InitializeWithDefaults("/dev/ttyUSB0", 38400);
cout << "Success!\n";
// In this example, we are simulating a component on part of a simulated
// robot.
component.DiscoveryService()->SetSubsystemIdentification(JAUS::Subsystem::Vehicle,
"Simulation");
// Initialize component component with component given ID.
if(component.InitializeWithUniqueID(2000) == false)
{
std::cout << "Failed to Initialize JAUS Component.\n";
return 0;
}
std::cout << "JAUS Component [" << component.GetComponentID().ToString() << "] Initialized!\n";
while ( true )
{
if (CxUtils::GetChar() == 27)
{
break;
}
CxUtils::SleepMs(1);
}
// Make sure to shutdown the laser.
laser.Shutdown();
component.Shutdown();
return 0;
}
