Table of Contents 1 ABOUT THIS GUIDE .................................................................................................................... 13 1.1 WHO SHOULD USE IT ............................................................................................................... 14 1.2 TYPOGRAPHICAL CONVENTIONS ............................................................................................... 14 2 INTRODUCTION ........................................................................................................................... 16 2.1 OVERVIEW ............................................................................................................................... 16 2.2 PURPOSE ................................................................................................................................ 17 2.3 SCOPE .................................................................................................................................... 17 2.4 REFERENCES .......................................................................................................................... 18 2.5 GLOSSARY AND TERMINOLOGY ................................................................................................. 18 3 JTS SYSTEM DESCRIPTION ...................................................................................................... 21 3.1 KEY FEATURES ........................................................................................................................ 21 3.2 ENVIRONMENT ......................................................................................................................... 21 3.3 WORKFLOW ............................................................................................................................. 23 4 INSTALLING AND GETTING STARTED ...................................................................................... 25 4.1 OBTAINING AND INSTALLING JTS .............................................................................................. 25 4.2 STARTING THE SYSTEM (SOURCE DISTRIBUTION ONLY) ............................................................. 29 4.3 ANT TARGETS (SOURCE DISTRIBUTION ONLY) .......................................................................... 30 4.4 GRAPHICAL USER INTERFACE OVERVIEW .................................................................................. 31 4.5 SERVICE CREATION OVERVIEW ................................................................................................ 33 5 PERSISTENCE ............................................................................................................................. 35 5.1 RECURSIVE DELETION .............................................................................................................. 35 5.2 OVERWRITE MESSAGE DEFINITIONS ......................................................................................... 38 5.3 EDITING LISTS ......................................................................................................................... 38 6 VALIDATION ................................................................................................................................. 40 7 A SHORT TOUR ........................................................................................................................... 41 JTS Users Guide, Ver 2.0 Copyright 2013 Page 2 of 265 7.1 CREATE A COMPONENT SPECIFICATION .................................................................................... 41 7.2 AUTO-GENERATE A COMPONENT IMPLEMENTATION ................................................................... 42 7.3 COMPILE AND EXECUTE A COMPONENT .................................................................................... 44 8 CREATING YOUR FIRST SERVICE: PING ................................................................................. 46 8.1 IDENTIFY THE INTERFACE ......................................................................................................... 46 8.2 DEFINING THE MESSAGE SET ................................................................................................... 48 8.3 DESCRIBE THE PROTOCOL ....................................................................................................... 51 8.4 BUILD THE SERVICE ................................................................................................................. 57 8.5 CREATE A COMPONENT ............................................................................................................ 62 8.6 GENERATE C++ SOURCE AND INTEGRATE USER CODE ............................................................. 65 8.7 GENERATE JAVA SOURCE CODE AND INTEGRATE USER CODE ................................................... 68 8.8 GENERATE C# SOURCE CODE AND INTEGRATE USER CODE ...................................................... 70 8.9 BUILD THE SYSTEM .................................................................................................................. 71 9 CREATING YOUR SECOND SERVICE: ADDING TWO NUMBERS .......................................... 73 9.1 IDENTIFY THE INTERFACE ......................................................................................................... 73 9.2 JSIDL IMPORT ......................................................................................................................... 75 9.3 CREATING THE SERVICE SETS .................................................................................................. 76 9.4 CREATE THE COMPONENTS ...................................................................................................... 78 9.5 MODIFY THE C++ SERVER COMPONENT ................................................................................... 79 9.6 MODIFY THE C++ CLIENT COMPONENT ..................................................................................... 82 9.7 MODIFY THE JAVA SERVER COMPONENT ................................................................................... 84 9.8 MODIFY THE JAVA CLIENT COMPONENT .................................................................................... 87 9.9 MODIFY THE C# SERVER COMPONENT ...................................................................................... 88 9.10 MODIFY THE C# CLIENT COMPONENT ....................................................................................... 91 9.11 COMPILING AND EXECUTING THE CLIENT AND SERVER ............................................................... 93 JTS User’s Guide, Ver 2.0 Copyright 2013 Page 3 of 265 10 DEFINING MESSAGE ELEMENTS .......................................................................................... 96 10.1 SIMPLE FIELDS ........................................................................................................................ 96 10.2 COMPLEX FIELDS ................................................................................................................... 104 10.3 COMPLEX FIELD EXAMPLES .................................................................................................... 109 11 DEFINING MESSAGES .......................................................................................................... 117 11.1 REPORT GLOBAL POSE MESSAGE EXAMPLE ........................................................................... 119 11.2 REPORT IMAGE MESSAGE EXAMPLE ....................................................................................... 122 11.3 REPORT DATA LINK STATUS MESSAGE EXAMPLE .................................................................... 125 12 DEFINING PROTOCOL BEHAVIOR ...................................................................................... 128 12.1 BEHAVIOR ELEMENTS ............................................................................................................ 129 12.2 BEHAVIOR ELEMENT DEFINITION EDITING ................................................................................ 134 12.3 AUTO-COMPLETION GUIDE ..................................................................................................... 137 12.4 DRAWING TIPS ....................................................................................................................... 140 12.5 STATE MACHINE INHERITANCE ................................................................................................ 144 12.6 REDOING THE LAYOUT OF IMPORTED PROTOCOL BEHAVIOR .................................................... 146 12.7 KEYBOARD SHORTCUTS ......................................................................................................... 151 13 OTHER EXAMPLES ............................................................................................................... 154 13.1 WAYPOINT DRIVER EXAMPLE ................................................................................................. 154 13.2 ENVIRONMENTAL SENSING EXAMPLE ...................................................................................... 155 14 SEARCH.................................................................................................................................. 157 14.1 THE FIND COMMAND .............................................................................................................. 157 14.2 QUICK SEARCH ...................................................................................................................... 159 14.3 SMART LISTS ........................................................................................................................