1 ////////////////////////////////////////////////////////////////////////////////////

2 ///

3 /// \file tutorial_02_a.cpp

4 /// \brief This file is part of a set of tutorials for learning how to use

5 /// JAUS++. This program demonstrates how to find what components

6 /// the Discovery service has found, and how to send/receive

7 /// messages. This program is a follow on to tutorial_02.cpp

8 ///

9 /// Author(s): Daniel Barber

10 /// Created: 12 February 2011

12 /// Applied Cognition and Training in Immersive Virtual Environments

13 /// (ACTIVE) Laboratory

14 /// Institute for Simulation and Training (IST)

15 /// University of Central Florida (UCF)

17 /// Email: dbarber@ist.ucf.edu

18 /// Web: http://active.ist.ucf.edu

19 ///

20 /// Redistribution and use in source and binary forms, with or without

21 /// modification, are permitted provided that the following conditions are met:

22 /// * Redistributions of source code must retain the above copyright

23 /// notice, this list of conditions and the following disclaimer.

24 /// * Redistributions in binary form must reproduce the above copyright

25 /// notice, this list of conditions and the following disclaimer in the

26 /// documentation and/or other materials provided with the distribution.

27 /// * Neither the name of the ACTIVE LAB, IST, UCF, nor the

28 /// names of its contributors may be used to endorse or promote products

29 /// derived from this software without specific prior written permission.

30 ///

31 /// THIS SOFTWARE IS PROVIDED BY THE ACTIVE LAB''AS IS'' AND ANY

32 /// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED

33 /// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE

34 /// DISCLAIMED. IN NO EVENT SHALL UCF BE LIABLE FOR ANY

35 /// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES

36 /// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;

37 /// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND

38 /// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT

39 /// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS

40 /// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

41 ///

42 ////////////////////////////////////////////////////////////////////////////////////

43 #include <jaus/core/component.h>

44 #include <jaus/core/time/querytime.h>

45 #include <jaus/core/time/reporttime.h>

46 #include <cxutils/keyboard.h>

47 #include <iostream>

49 // NOTE - Run another JAUS program like tutorial_01

50 // so that this program can talk to it.

52 int main(int argc, char* argv[])

53 {

54 JAUS::Component component;

56 // Setup identification info. For questions about this,

57 // see the previous tutorial(s).

58 JAUS::Discovery* discoveryService = NULL;

59 discoveryService = component.DiscoveryService();

60 discoveryService->SetSubsystemIdentification(JAUS::Subsystem::Vehicle,

61 "Robot");

62 discoveryService->SetNodeIdentification("Primary Computer");

63 discoveryService->SetComponentIdentification("Baseline");

65 JAUS::Address componentID(1000, 1, 2);

66 // Initialize!

67 std::cout << "Initializing component...";

68 if(component.Initialize(componentID) == false)

69 {

70 std::cout << "Failed to initialize component [" << componentID.ToString() << "]\n";

71 return 0;

72 }

73 std::cout << "Success!\n";

75 // Now go into your main computer loop until the

76 // component has been told to shutdown.

77 JAUS::Time::Stamp displayStatusTimeMs = JAUS::Time::GetUtcTimeMs();

78 while(true)

79 {

80 JAUS::Management* managementService = NULL;

81 managementService = component.ManagementService();

82 if(managementService->GetStatus() == JAUS::Management::Status::Shutdown)

83 {

84 // Exit program.

85 break;

86 }

88 if(JAUS::Time::GetUtcTimeMs() - displayStatusTimeMs > 500)

89 {

90 // Use the discovery service to get a list of

91 // discovered subsystems. (see below for how to clear map).

92 JAUS::Subsystem::Map discoveredSubsystems;

93 discoveryService->GetSubsystems(discoveredSubsystems);

94 std::cout << "======================================================\n";

96 JAUS::Subsystem::Map::iterator subsystem;

97 // The map is indexed by the subsystem number.

98 for(subsystem = discoveredSubsystems.begin();

99 subsystem != discoveredSubsystems.end();

100 subsystem++)

101 {

102 std::cout << "Subsystem: "

103 << subsystem->first

104 << " Identification: "

105 << subsystem->second->mIdentification

106 << std::endl;

107

108 // Lets see if it has specific service we

109 // want to communicate with. For this tutorial

110 // let's check for the Time service, which

111 // supports the Query Time and

112 // Report Time messages.

113 // We can use the subsystem data structure to

114 // get a list of components on the subsystem that

115 // have the service, so we can send a message to it.

116 JAUS::Address::List componentsWithTime;

117 componentsWithTime = subsystem->second->GetComponentsWithService(JAUS::TimeService::Name);

118 JAUS::Address::List::iterator c;

119 for(c = componentsWithTime.begin();

120 c != componentsWithTime.end();

121 c++)

122 {

123 // First, make sure it is not the

124 // component we are using, because we

125 // want to talk to a different one.

126 if( (*c) != component.GetComponentID())

127 {

128 // Now that we have the ID of

129 // component with the Time

130 // service, lets send a query message

131 // and wait for the response.

132

133 // Setup the query message to send.

134 JAUS::QueryTime query;

135 query.SetDestinationID( (*c) );

136 query.SetSourceID(component.GetComponentID());

137 // Request time and date data, by modifying the

138 // presence vector field to request them.

139 query.SetPresenceVector(JAUS::QueryTime::PresenceVector::Time | JAUS::QueryTime::PresenceVector::Date);

140

141 // This is the response message we want.

142 JAUS::ReportTime response;

143

144 // Send and see if we got a

145 // response, but only wait up to 1 second

146 // for a response. Default value for waiting

147 // is 100 ms.

148 std::cout << "\tSending Query to " << c->ToString() << std::endl;

149 if(component.Send(&query, &response, 1000))

150 {

151 std::cout << "\tReceived Response Message!\n\t";

152 response.Print();

153 if(response.IsFieldPresent(JAUS::ReportTime::PresenceVector::Time))

154 {

155 std::cout << "\tTime: " << response.GetTimeStamp().ToString() << std::endl;

156 }

157 if(response.IsFieldPresent(JAUS::ReportTime::PresenceVector::Date))

158 {

159 std::cout << "\tDate: "

160 << response.GetDateStamp().mYear

161 << ", " << response.GetDateStamp().mMonth

162 << ", " << response.GetDateStamp().mDay << std::endl;

163 }

164 }

165 }

166 }

167 // The above steps can be used to find any component

168 // with a specific service you wish to communicate with.

169 }

170

171 // Make sure you delete the subsystem map when

172 // you are done with it, otherwise you will have a

173 // memory leak.

174 JAUS::Subsystem::DeleteSubsystemMap(discoveredSubsystems);

175

176 displayStatusTimeMs = JAUS::Time::GetUtcTimeMs();

177 }

178

179 if(CxUtils::GetChar() == 27)

180 {

181 break;

182 }

183

184 CxUtils::SleepMs(1);

185 }

186

187 // Shutdown your component completely. Any

188 // services added or belonging to the component

189 // will be deleted.

190 component.Shutdown();

191

192 return 0;

193 }

194

195

196

197 /* End of File */

198