sns-views.coolbot-integration 3.57 KB
/*
 * File: sns-views.coolbot-integration
 * Description: CoolBOT Secure Navigation System.
 * Date: 03 January 2012
 * Generated by coolbot-bundle version 1.0.0
 */

integration sns_views
{

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

    machine addresses
    {
        /*
         * Machine addresses definition.
         */
//      local dis172acplg: "dis172ac.dis.ulpgc.es";
        local dis172ac: "127.0.0.1";
//      remote_dis172acplg: "dis172ac.dis.ulpgc.es";//"127.0.0.1";
        remote_dis172acplg: "127.0.0.1";
    };

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

        ROBOT_VIEW_PORT: 1955;
        CAMERA_VIEW_PORT: 1965;
        NAVIGATION_MAP_VIEW_PORT: 1975;
        ND_VIEW_PORT: 1985;
        NAVIGATION_PLANNER_VIEW_PORT: 1995;
        VALLEY_CHECK_VIEW_PORT: 2005;
    };

    local instances
    {
        /*
         * Local instances definition.
         */
        view robotView: PlayerRobotView listening on ROBOT_VIEW_PORT with description "Robot";
        view cameraView: SphereView listening on CAMERA_VIEW_PORT with description "PTZ Camera";
        view navigationMapView: GridView listening on NAVIGATION_MAP_VIEW_PORT with description "Navigation Map";
        view ndView: NDView listening on ND_VIEW_PORT with description "ND Navigation";
        view valleyCheckView: RasterView listening on VALLEY_CHECK_VIEW_PORT with description "ND Valley Checks";
        view navigationPlannerView: PlannerView listening on NAVIGATION_PLANNER_VIEW_PORT with description "Navigation Planner";
    };

    remote instances on remote_dis172acplg
    {
        /*
         * 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:ODOMETRY to robotView:ODOMETRY;
        connect robot:SONARGEOMETRY to robotView:SONAR_GEOMETRY;
        connect robot:SONARSCAN to robotView:SONAR_SCAN;
        connect robot:LASERGEOMETRY to robotView:LASER_GEOMETRY;
        connect robot:LASERSCAN to robotView:LASER_SCAN;
        connect robot:POWER to robotView:POWER;

        connect robotView:COMMANDS to robot:COMMANDS;

        connect robot:ROBOTCONFIG to navigationMapView:ROBOT_CONFIG;

        connect navigationMap:MAP to navigationMapView:GRID_MAP;

        connect navigationPlanner:PLANNERPATH to navigationMapView:PLANNER_PATH;
        connect navigationPlanner:MATCHINGREGIONS to navigationMapView:MATCHING_REGIONS;

        connect navigationMapView:PLANNER_COMMANDS to navigationPlanner:COMMANDS;
        connect navigationMapView:ND_COMMANDS to nd:COMMANDS;

        connect robot:CAMERAIMAGE to cameraView:CAMERA_IMAGE;
        connect robot:PTZJOINTS to cameraView:PTZ_JOINTS;

        connect cameraView:COMMANDS to robot:COMMANDS;

        connect robot:ROBOTCONFIG to ndView:ROBOT_CONFIG;

        connect nd:NDDATA to ndView:ND_DATA;

        connect navigationMap:GRIDCONFIG to navigationPlannerView:GRID_CONFIG;

        connect navigationPlanner:PLANNERMAP to navigationPlannerView:PLANNER_MAP;

        connect nd:NDDATA to valleyCheckView:ND_DATA;
    };

};