sns-components.coolbot-integration 1.99 KB
/*
 * File: sns-components.coolbot-integration
 * Description: CoolBOT Secure Navigation System.
 * Date: 03 January 2012
 * Generated by coolbot-bundle version 1.0.0
 */

integration sns_components
{

    header
    {
        author "Antonio Carlos Domí­nguez Brito <adominguez@iusiani.ulpgc.es>";
        description "CoolBOT Secure Navigation System - integrates only components";
        institution "IUSIANI - Universidad de Las Palmas de Gran Canaria";
        version "0.1"
    };

    machine addresses
    {
        /*
         * Machine addresses definition.
         */
//      local dis172ac: "dis172ac.dis.ulpgc.es";
        local dis172ac: "127.0.0.1";
    };

    listening ports
    {
        ROBOT_PORT: 1950;
        NAVIGATION_MAP_PORT: 1970;
        ND_PORT: 1980;
        NAVIGATION_PLANNER_PORT: 1990;
    };

    local instances
    {
        /*
         * Local instances definition.
         */
        component robot: PlayerRobot listening on ROBOT_PORT;
        component navigationMap: GridMap listening on NAVIGATION_MAP_PORT;
        component nd: ND listening on ND_PORT;
        component navigationPlanner: Planner listening on NAVIGATION_PLANNER_PORT;
    };

    port connections
    {
        connect robot:ROBOTCONFIG to nd:ROBOTCONFIG;

        connect robot:ROBOTCONFIG to navigationMap:ROBOTCONFIG;
        connect robot:ODOMETRY to navigationMap:ODOMETRY;
        connect robot:LASERGEOMETRY to navigationMap:LASERGEOMETRY;
        connect robot:LASERSCAN to navigationMap:LASERSCAN;

        connect robot:ROBOTCONFIG to navigationPlanner:ROBOTCONFIG;
        connect robot:ODOMETRY to navigationPlanner:ODOMETRY;

        connect navigationMap:GRIDCONFIG to nd:GRIDCONFIG;
        connect navigationMap:MAP to nd:MAP;
        connect navigationMap:GRIDCONFIG to navigationPlanner:GRIDCONFIG;
        connect navigationMap:MAP to navigationPlanner:GRIDMAP;

        connect nd:ROBOTCOMMANDS to robot:COMMANDS;

        connect navigationPlanner:NAVIGATIONCOMMANDS to nd:COMMANDS;
    };

};