Introduction

The OpenJAUS 4.0 SDK has four main parts that each have their own C++ namespace. The namespaces include: an operating system abstraction library (openjaus::system), JAUS Transport implementations (openjaus::transport), OpenJAUS and JAUS-based data structures (openjaus::model), and an abstraction of the JAUS Core Service Set Services & Messages (openjaus::core). This tutorial covers how to download, compile and run the basic OpenJAUS SDK code.

Getting a license

OpenJAUS 4.0 requires a commercial or free license. The type of license you need depends on your project and organization. See the OpenJAUS 4.0 product page for more details.

Downloading / Checking out the code

Your OpenJAUS license file will contain the location, username and password for downloading the SDK. OpenJAUS releases changes to the SDK by updating our online code repositories, which are at the location specified in your license. In most cases, it is best to download and install the SDK directly from our repository because it will facilitate receiving updates when they are available. However, OpenJAUS can be packaged into a standalone installation file upon request. 

OpenJAUS uses the Mercurial version management system, and stores the SDK code in Mercurial repositories on our servers. You will need to download and install Mercurial for your particular platform in order to download OpenJAUS. Please see the Mercurial website for details on how to download and install Mercurial.

Linux Instructions:

1. Download a copy of the OpenJAUS SDK from the Mercurial repository location given to you in your license:
   1. Command line example: "hg clone https:// This e-mail address is being protected from spambots. You need JavaScript enabled to view it /user_repository OpenJAUS"
   2. Enter the password given to you
   3. This will create a Mercurial clone (downloaded copy) of the remote repository and put the files in a folder called "OpenJAUS"
   4. You can read more details about how to use mercurial by reading its manual page. From the command line type: "man hg"
2. Compile the code
   1. From the command line, go into the directory that you cloned the OpenJAUS code into
   2. Run the make command: "make"
   3. This will place the compiled libraries into a sub-folder called "lib" and some utility executables into a sub-folder called "bin"
   4. You can install the OpenJAUS SDK libraries and include files based on your preference for installing 3rd-party software in linux. For example, some users prefer to copy the files into "/usr/local" others prefer to use different directories.

Windows Instructions (Using Microsoft Visual Studio):

(note: This is an example of how you can generate the solution & project files for Visual Studio 2008. For other versions of Visual Studio the premake command will be slightly different. Type "premake4.exe --help" to see which other versions are supported). For more information see the Premake website.

1. Download a copy of the OpenJAUS SDK from the Mercurial repository location given to you in your license. There are several options for using Mercurial in Windows. We recommend using TortoiseHg (a Windows Mercurial interface). Please see the Mercurial website for details on how to clone repositories with Mercurial in Windows.
2. Compile the code
   1. From the command line, enter the directory containing the cloned OpenJAUS SDK files
   2. Execute the Premake command to generate the solution file for your version of Microsoft Visual Studio. For example: "premake4.exe vs2008"
   3. Verify that you have generated the solution and project files for OpenJAUS
   4. Create a sub-folder called "bin"
   5. Open the generated solution file in Visual Studio
   6. Build the solution
   7. After the build is complete you should have several executables and two DLLs in your "bin" folder

Running the Sample Programs

We have added two programs which can serve as examples on how to create your own JAUS components. They are GposDemo, and GposClientDemo, both of which can be found in the folder "test/openjaus/mobility". The GposDemo program gives an example of how you might go about creating your own JAUS Global Pose Sensor component. The GposClientDemo gives you an example of how to send and receive messages to any Gpos Component. If you run both at the same time, they should automatically discover each other, and you can type options in the GposClientDemo to show OpenJAUS at work. Try running them and you should see what I mean. Please let us know if you experience any problems.