地面站终端 App

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/*****************************************************************************
* Copyright (c) 2008, University of Florida
* All rights reserved.
*
* This file is part of OpenJAUS. OpenJAUS is distributed under the BSD
* license. See the LICENSE file for details.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of the University of Florida nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
* A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
* OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
* DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
****************************************************************************/
// File Name: jausComponent.h
//
// Written By: Danny Kent (jaus AT dannykent DOT com)
//
// Version: 3.3.0a
//
// Date: 08/07/08
//
// Description: This file defines all the attributes of a JausComponent and defines all
// pre-defined Jaus Component Ids according to RA 3.2
#ifndef JAUS_COMPONENT_H
#define JAUS_COMPONENT_H
#include <time.h>
#include "jaus.h"
#define JAUS_DEFAULT_AUTHORITY 0
// Jaus-Defined Component Ids:
#define JAUS_NODE_MANAGER 1
#define JAUS_SUBSYSTEM_COMMANDER 32
#define JAUS_PRIMITIVE_DRIVER 33
#define JAUS_GLOBAL_VECTOR_DRIVER 34
#define JAUS_COMMUNICATOR 35
#define JAUS_MISSION_SPOOLER 36
#define JAUS_VISUAL_SENSOR 37
#define JAUS_GLOBAL_POSE_SENSOR 38
#define JAUS_MISSION_PLANNER 39
#define JAUS_SYSTEM_COMMANDER 40
#define JAUS_LOCAL_POSE_SENSOR 41
#define JAUS_VELOCITY_STATE_SENSOR 42
#define JAUS_REFLEXIVE_DRIVER 43
#define JAUS_LOCAL_VECTOR_DRIVER 44
#define JAUS_GLOBAL_WAYPOINT_DRIVER 45
#define JAUS_LOCAL_WAYPOINT_DRIVER 46
#define JAUS_GLOBAL_PATH_SEGMENT_DRIVER 47
#define JAUS_LOCAL_PATH_SEGMENT_DRIVER 48
#define JAUS_PRIMITIVE_MANIPULATOR 49
#define JAUS_RANGE_SENSOR 50
#define JAUS_MANIPULATOR_JOINT_POSITION_SENSOR 51
#define JAUS_MANIPULATOR_JOINT_VELOCITY_SENSOR 52
#define JAUS_MANIPULATOR_JOINT_FORCE_TORQUE_SENSOR 53
#define JAUS_MANIPULATOR_JOINT_POSITIONS_DRIVER 54
#define JAUS_MANIPULATOR_END_EFFECTOR_DRIVER 55
#define JAUS_MANIPULATOR_JOINT_VELOCITIES_DRIVER 56
#define JAUS_MANIPULATOR_END_EFFECTOR_VELOCITY_STATE_DRIVER 57
#define JAUS_MANIPULATOR_JOINT_MOVE_DRIVER 58
#define JAUS_MANIPULATOR_END_EFFECTOR_DISCRETE_POSE_DRIVER 59
#define JAUS_WORLD_MODEL_VECTOR_KNOWLEDGE_STORE 61
#define COMPONENT_TIMEOUT_SEC 3.0
typedef struct
{
char *identification;
JausAddress address;
JausState state;
JausByte authority;
JausNode node;
JausArray services;
struct
{
JausAddress address;
JausState state;
JausByte authority;
JausBoolean active;
}controller;
time_t timeStampSec;
}JausComponentStruct;
typedef JausComponentStruct *JausComponent;
JAUS_EXPORT JausComponent jausComponentCreate(void);
JAUS_EXPORT void jausComponentDestroy(JausComponent cmpt);
JAUS_EXPORT JausComponent jausComponentClone(JausComponent cmpt);
JAUS_EXPORT char *jausComponentGetTypeString(JausComponent cmpt);
JAUS_EXPORT void jausComponentUpdateTimestamp(JausComponent cmpt);
JAUS_EXPORT JausBoolean jausComponentIsTimedOut(JausComponent cmpt);
JAUS_EXPORT JausBoolean jausComponentHasIdentification(JausComponent cmpt);
JAUS_EXPORT JausBoolean jausComponentHasServices(JausComponent cmpt);
JAUS_EXPORT int jausComponentToString(JausComponent cmpt, char *buf);
#endif // JAUS_COMPONENT_H