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206 lines
11 KiB
206 lines
11 KiB
15 years ago
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RELEASE NOTES: OpenJAUSv3.3 (07/10/08)
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==========================================
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OpenJAUSv3.3 beta is an open source implementation of the JAUS Reference
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Architecture Version 3.3. The latest code, documentation and support groups
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are available at the OpenJAUS web site: http://www.openjaus.com/.
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This release contains the following projects:
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libjaus: A C99 compliant library that contains JAUS constructs, data
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types and messages.
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libopenJaus: A C/C++ library containing a runtime JAUS node manager library,
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node manager communication interface, and component framework
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library.
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ojNodeManager: The OpenJAUS node manager executable with text interface
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ojVehicleSim: A collection of JAUS components that work together to simulate
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a JAUS ground vehicle subsystem. These components provide a set
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of services that are commonly used in real ground vehicle
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implementations.
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If you experience problems in compiling or developing with this code, please
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read the tutorials and online FAQ before contacting the OpenJAUS development
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group. Please attempt to locate where the problem exists and determine how the
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problem can be replicated before seeking additional support. Code patches can be
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uploaded at the OpenJAUS web site: http://www.openjaus.com.
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Target Operating Environment:
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-----------------------------
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This software is designed to be cross platform compatible. The code base has
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been tested on a variety of operating systems and development environments including:
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Linux (Ubuntu & Fedora Core) w/gnu toolchain, Mac OS X w/gnu toolchain, and Windows w/MS
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Visual Studio. All test machines have been little endian byte order based. The libjaus
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library is C99 compliant and should be compatible with any standard C compiler for any
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processing platform. The libopenJaus library has some operating system dependent
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abstractions, which may require different implementations for systems not using Linux
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or Windows. The library was implemented with POSIX standard programming interfaces where
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applicable, to provide a more standardized approach to multi-threading and mutex
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implementation.
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Installation (GNU Toolchain / Linux & Macintosh OS X):
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------------------------------------------------------
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Requirements:
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make
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gcc
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g++
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To build the library and executable code:
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Execute the command: "make" in the root OpenJAUSv3.3.0 directory. The make
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command will use the Makefile found in that directory to recursively make each
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of the subprojects. Individual Makefiles are located in each subproject
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directory to allow for building one project at a time if desired.
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Installation:
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It is up to the individual developer to decide how to link their code with
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the OpenJAUS libraries. Some developers may prefer to install the OpenJAUS
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header files and libraries to globally accessible directories. For example, on a
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Linux system: /usr/include/ and /usr/lib/. To minimize system invasiveness,
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OpenJAUS does not install itself into system directories, rather, all code and
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binaries remain in the folders included in the release download.
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To execute code developed with these libraries it is recommended that the
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developer configure the dynamic linker runtime bindings to reference the
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OpenJAUS library directories /libjaus/lib/ and /libopenJaus/lib/. This is done
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by editing the systems ld.so.conf (most likely located at /etc/ld.so.conf) to
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include these directories and then by running the command: "ldconfig". Another
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option to this method would be to simply include the files libjaus.so and
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libopenJaus.so in the executable's working directory.
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*Note: The default build of the libraries includes all symbols and debug
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information within the shared object (.so) files. This is to facilitate
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efficient development and use of a run-time debugger. To reduce the size of the
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installed libraries, the information can be removed by using the "strip"
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command.
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Installation (Microsoft Visual Studio / Windows):
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------------------------------------------------------
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Requirements:
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Microsoft Visual Studio
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Pthreads-win32 (included in distribution)
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pdcurses (included in distribution)
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To build the library and executable code:
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In the top level directory, open the Microsoft Visual Studio solution
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file "OpenJAUSv3.3.0.sln." This solution contains 4 individual projects:
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libjaus, libopenJaus, ojNodeManager and ojVehicleSim. These projects correspond
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to the descriptions above. Once open, the solution should be able to be
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built. Each project has the appropriate dependencies setup using relative paths,
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therefore it should compile for the developer in any configuration. Also, project
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references have been setup, so a referenced code base will be compiled prior to
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the compilation of any child project.
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Once built, the ojNodeManager should run in a console window if it is set
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as the default project. Ensure that the nodeManager.conf file is configured correctly.
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The ojVehicleSim should run as well if it is set to the default project, however it
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is important that the ojNodeManager be running first.
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The libraries libjaus and libopenJaus can be linked against other projects using
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the .lib files. To run projects built against them, ensure the appropriate .dll
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files are available either locally or globally on the system.
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*Note: Use of these libraries has only been tested in the Debug configuration
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to date. This is due to the added value of retaining debug information for developers
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of both the OpenJAUS code base and applications based upon that. The creation of release
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targets, if desired, is left up to the individual developer.
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Configuring and Running the Node Manager:
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-----------------------------------------
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The node manager executable is currently designed to require manual
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configuration. This means the user must edit the text file nodeManager.conf to
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enter the appropriate JAUS identification numbers and names, and enter the
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correct IP addresses for the intended hardware communication interfaces. The
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user is also required to configure the node manager to enable or disable node
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level and subsystem level communication. These configurations will vary
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depending on the intended design of the JAUS system on which the node manager is
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being used. Examples of different JAUS system setups are beyond the scope of
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this document. The user is encouraged to read the JAUS reference architecture
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and online OpenJAUS tutorials for a more detailed explanation.
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Format:
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The nodeManager.conf file is made up of section tags and key - value pairs.
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The tags are identified within straight braces, ex: "[SECTION]". The key value
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pairs are delimited by a colon and a space character, ex: "key: value".
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To configure the JAUS node manager properties, edit the "SubsystemId" and
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"NodeId" values found under the [JAUS] section tag. Each node manager on a
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subsystem's node network should be configured with a unique NodeId number.
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Likewise each subsystem on a network of JAUS subsystems should have a unique
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SubsystemId number. Failure to make these values unique results in erratic and
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undefined behavior when multiple node managers are running at the same time.
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Only one node manager process should be run at any given time on a single node.
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Set the "Subsystem_Identification" and "Node_Identification" values to any
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text string that you would like for your particular system setup. These values
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are not required to be unique, as they are only used for text description.
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To configure communication interface settings the user is only required to
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edit the [Node_Communications] and [Subsystem_Communications] sections. By
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default, component communications are always on and the configuration needs to
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be kept fixed to use the loopback IP address 127.0.0.1.
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Each communications section has one or more sets of transport interfaces
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settings, for example "JAUS_UDP" and "OpenJAUS_UDP". This allows for multiple
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transport interfaces to be used at a given communications level (component,
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node, or subsystem). At present only the JAUS_UDP interface type is used at the
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node and component level. However, this allows for other common transport types
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such as TCP or Serial to be included in the future.
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The user has the option to enable/disable a given transport interface, or
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enable/disable an entire level of communication either node or subsystem. The
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node manager will startup a transport interface if both it and its
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communications level is enabled. To enable a communications level, simply set
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the value of the "Enabled" key to "true". To disable a level, set the value to
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"false". These values are case sensitive, ex: "TRUE" or "True" would not work.
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When each JAUS_UDP interface starts, it attempts to open the network
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interface specified with the user configured IP address. If such an interface
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exists on the system, the node manager will open the JAUS port 3794 on that
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interface. If not, the node manager will fail at startup and an error message
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will appear. To configure each JAUS_UDP interface simply set the key
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"JAUS_UDP_IP" value to the IP address of the network interface that you would
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like it to use. The remaining key values should be left configured as in the
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release download. Changing these values will lead to undefined behavior. They
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are included only for completeness, and allow for future changes to be made if
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necessary.
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Further Information:
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--------------------
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Tutorials: http://www.openjaus.com/tutorials.html
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Forums: http://www.openjaus.com/trac/openjaus/discussion
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Support contracting:
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Known Issues:
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-------------
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* There is no standalone API documentation, which describes all data
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structures, functions, or default behavior. Please read the tutorials for
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detailed information on how to perform common tasks. The header files are
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organized by function breakdown and allow for easy access to data structure
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definitions and function prototypes. Often the functions you seek can be
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found quickly by browsing the include/ directories.
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* A "ToString" method for each JAUS message and data structure is lacking from
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this implementation and thus makes displaying critical information to the
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user more cumbersome.
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Copyright Notices
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-----------------
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Portions of the Windows distribution are based on pdcurses and Pthreads-win32.
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These binaries packages have their own copyright. They are redistributed with the
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OpenJAUS codebase as a convenience to developers. More information about these
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packages can be found on their respective websites below:
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Pthreads-win32: http://sourceware.org/pthreads-win32/
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pdcurses: http://pdcurses.sourceforge.net/
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The remainder of the code is copyright OpenJAUS.com and is distributed under the
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BSD license. See the LICENSE file for details.
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