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Upgrading from SDK 2023.x to 2024.x

This guide provides instructions on upgrading an existing SDK 2023.x based project to SDK 2024.x.

Base Component Include Path and Namespace

What Changed

  • The base components (Base, EventsBase, Managed, etc) have been moved from openjaus/core_v1_1 to openjaus/Components.
  • The base components have been moved from the openjaus::core_v1_1 namespace to the openjaus::components namespace.

How to Migrate

  • Change the #include directive from #include <openjaus/core_v1_1/{BaseComponent Header File} to openjaus/Components/{BaseComponent Header File}.
  • Change the namespace from openjaus::core_v1_1::{BaseComponent Class Name} to openjaus::components::{BaseComponent Class Name}.

Example

In 2023.x

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// .h file
#include <openjaus/core_v1_1/Base.h>

class MyComponent :
    public virtual openjaus::mobility_v1_0::services::GlobalPoseSensor,
    public openjaus::core_v1_1::Base

public:
    MyComponent(const std::string& name);
    ~MyComponent() override = default;

    // ...
}

In 2024.x

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// .h file
#include <openjaus/Components/Base.h>

class MyComponent :
    public virtual openjaus::mobility_v1_0::services::GlobalPoseSensor,
    public openjaus::components::Base

public:
    MyComponent(const std::string& name);
    ~MyComponent() override = default;

    // ...
}

Message and Field Structure

What Changed

  • The structure of messages, internal events, and fields were updated to exactly match the JSIDL.
  • This means that all messages now contain a top-level Record, Sequence, List, or Variant element and some elements that were previously directly accessible are now nested within a Record, Sequence, List, or Variant.

How to Migrate

  • Update any code that accesses the elements of a message to match the updated structure.

Example

In 2023.x

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mobility_v1_0::ReportGlobalPose reportGlobalPose;

reportGlobalPose.setPresenceVector(mobility_v1_0::ReportGlobalPose::PV_NO_FIELDS);

reportGlobalPose.enableLatitude();
reportGlobalPose.setLatitude_deg(currentPosition.latitude_deg);

reportGlobalPose.enableLongitude();
reportGlobalPose.setLongitude_deg(currentPosition.longitude_deg);

In 2024.x

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mobility_v1_0::ReportGlobalPose reportGlobalPose;

auto& reportGlobalPoseRec = reportGlobalPose.getReportGlobalPoseRec();

reportGlobalPoseRec.setPresenceVector(mobility_v1_0::ReportGlobalPose::GlobalPoseRec::PV_NO_FIELDS);

reportGlobalPoseRec.enableLatitude();
reportGlobalPoseRec.setLatitude_deg(currentPosition.latitude_deg);

reportGlobalPoseRec.enableLongitude();
reportGlobalPoseRec.setLongitude_deg(currentPosition.longitude_deg);

Nested Subfield Classes

What Changed

  • Message and field subfields are declared as nested classes.
  • This means that subfield class types can be accessed using the nested class notation (Class::Nested1::Nested2).
    • While more verbose, this change allows for better organization and encapsulation of the message and field subfields.
    • Subfield classes are still defined in separate files, but their location is less obvious due to reuse.

How to Migrate

  • Update any code that accesses the subfields of a field or message to use the nested classes.

Example

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manipulator_v2_0::ReportJointPosition reportJointPosition;

auto& jointPositionList = reportJointPosition.getJointPositionList();

manipulator_v2_0::JointPositionRecord jointPositionRec;

// Populate jointPositionRec

jointPositionList.add(jointPositionRec);

In 2024.x

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manipulator_v2_0::ReportJointPosition reportJointPosition;

auto& jointPositionList = reportJointPosition.getJointPositionList();

manipulator_v2_0::ReportJointPosition::JointPositionList::JointPositionRec jointPositionRec;

// Populate jointPositionRec

jointPositionList.add(jointPositionRec);

IOP Addressing Support

What Changed

  • The IOP specific base components (IopBase, IopEventsBase, IopManaged) have been removed.
  • IOP addressing support is added to a component through the use of an AddressProvider class using the setAddressProvider method.

How to Migrate

  • Replace the use of an IOP specific base component with a standard base component.
  • Add an IOP Address Provider instance to the Component class.
  • Set the Address Provider in the Component constructor.

Example

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// .h file
#include <openjaus/iop_v3/IopBase.h>

class MyComponent :
    public virtual openjaus::mobility_v1_0::services::GlobalPoseSensor,
    public openjaus::iop_v3::IopBase

public:
    MyComponent(const std::string& name);
    ~MyComponent() override = default;

    // ...
}

// .cpp file
// Nothing to be done

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// .h file
#include <openjaus/Components/Base.h>
#include <openjaus/iop_v3/AddressProvider.h>

class MyComponent :
    public virtual openjaus::mobility_v1_0::services::GlobalPoseSensor,
    public openjaus::components::Base

public:
    MyComponent(const std::string& name);
    ~MyComponent() override = default;

    // ...

private:
    openjaus::iop_v3::AddressProvider m_addressProvider;
}

// .cpp file
MyComponent::MyComponent(const std::string& name) :
    Base(name),
    m_addressProvider(this)
{
    setAddressProvider(&m_addressProvider);

    // ...
}