Base Component implements the urn:jaus:jss:core:Discovery, urn:jaus:jss:core:Liveness, urn:openjaus:core:Configuration, urn:jaus:jss:core:AccessControl services. More...

#include <Base.h>

Inherits openjaus::core::Events, openjaus::core::DiscoveryInterface, openjaus::core::LivenessInterface, openjaus::core::ConfigurationInterface, and openjaus::core::AccessControlInterface.

Inherited by openjaus::core::Managed, openjaus::mobility::GlobalPoseSensor, and openjaus::mobility::LocalPoseSensor.

List of all members.

Public Member Functions
	Base ()
virtual	~Base ()
virtual bool	publishServices (RegisterServices *registerServices)
	PublishServices action with input RegisterServices.
virtual bool	storeIdentification (ReportIdentification *reportIdentification)
	Processes incoming report identification message and saves the name in the system tree Processes incoming report identification message and saves the name in the system tree.
virtual bool	storeServiceList (ReportServiceList *reportServiceList)
	Processes incoming report service list message and saves the contents in the system tree Processes incoming report service list message and saves the contents in the system tree.
virtual bool	storeConfiguration (ReportConfiguration *reportConfiguration)
	Processes incoming report configuration message and saves the contents in the system tree Processes incoming report configuration message and saves the contents in the system tree.
virtual bool	queryConfiguration (ReportIdentification *reportIdentification)
	Takes a report identification message and determines if a Query Configuration message should be generated as a response.
virtual core::ReportIdentification	getReportIdentification (QueryIdentification *queryIdentification)
	Send a Report Identification message to the component that sent the query.
virtual core::ReportConfiguration	getReportConfiguration (QueryConfiguration *queryConfiguration)
	Send a Report Configuration message to the component that sent the query.
virtual core::ReportSubsystemList	getReportSubsystemList (QuerySubsystemList *querySubsystemList)
	Send a Report Subsystems List message to the component that sent the query.
virtual core::ReportServices	getReportServices (QueryServices *queryServices)
	Send a Report Services message to the component that sent the query.
virtual core::ReportServiceList	getReportServiceList (QueryServiceList *queryServiceList)
	Send a Report Service List message to the component that sent the query Send a Report Service List message to the component that sent the query.
virtual core::RegisterServices	getRegisterServices (ReportIdentification *reportIdentification)
	Send a Register Services message to newly identified component.
virtual core::QueryServiceList	getQueryServiceList (ReportConfiguration *reportConfiguration)
	Send a Query Service List message to newly identified components.
virtual core::ReportHeartbeatPulse	getReportHeartbeatPulse (QueryHeartbeatPulse *queryHeartbeatPulse)
	Send a Report Heartbeat Pulse message to the component that sent the query Send a Report Heartbeat Pulse message to the component that sent the query.
virtual bool	sendJausAddress (QueryJausAddress *queryJausAddress)
	SendJausAddress action with input QueryJausAddress.
virtual bool	setThisJausAddress (ReportJausAddress *reportJausAddress)
	SetThisJausAddress action with input ReportJausAddress.
virtual void	sendRejectControlReleased ()
virtual void	init ()
virtual core::ReportControl	getReportControl (QueryControl *queryControl)
	Send a Report Control message with the specified control value Send a Report Control message with the specified control value.
virtual core::ReportAuthority	getReportAuthority (QueryAuthority *queryAuthority)
	Send a Report Authority message to querying client reporting the current authority value of this service Send a Report Authority message to querying client reporting the current authority value of this service.
virtual core::ReportTimeout	getReportTimeout (model::Trigger *trigger)
	Send action for ReportTimeout with input message SendReportTimeout.
virtual bool	setAuthority (RequestControl *requestControl)
	Set the current authority value of this service to the specified authority Set the current authority value of this service to the specified authority.
virtual bool	setAuthority (SetAuthority *setAuthority)
	Set the current authority value of this service to the specified authority Set the current authority value of this service to the specified authority.
virtual bool	resetTimer (RequestControl *requestControl)
	Reset the timer Reset the timer.
virtual bool	sendConfirmControlNotAvailable (RequestControl *requestControl)
	Send a confirm control message with the specified response code to requesting client Send a confirm control message with the specified response code to requesting client.
virtual bool	sendConfirmControlInsufficientAuthority (RequestControl *requestControl)
	Send a confirm control message with the specified response code to requesting client Send a confirm control message with the specified response code to requesting client.
virtual bool	sendConfirmControlAccepted (RequestControl *requestControl)
	Send a confirm control message with the specified response code to requesting client Send a confirm control message with the specified response code to requesting client.
virtual bool	sendRejectControlToController (RequestControl *requestControl)
	SendRejectControlToController action with input RequestControl.
virtual bool	sendRejectControlNotAvailable (ReleaseControl *releaseControl)
	SendRejectControlNotAvailable action with input ReleaseControl.
virtual bool	sendRejectControlReleased (ReleaseControl *releaseControl)
	SendRejectControlReleased action with input ReleaseControl.
virtual bool	storeAddress (RequestControl *requestControl)
	StoreAddress action with input RequestControl.
virtual bool	updateControlledList (ConfirmControl *confirmControl)
	Modifies list of controlled components based on confirm or reject messages Modifies list of controlled components based on confirm or reject messages.
virtual bool	updateControlledList (RejectControl *rejectControl)
	Modifies list of controlled components based on confirm or reject messages Modifies list of controlled components based on confirm or reject messages.
virtual bool	isDefaultAuthorityGreater (RequestControl *requestControl)
	True if the default authority code of this service is greater than the authority code of the client service that triggered the corresponding transition True if the default authority code of this service is greater than the authority code of the client service that triggered the corresponding transition.
virtual bool	isCurrentAuthorityLess (RequestControl *requestControl)
	True if the current authority value of this service is less than the authority code of the client service that triggered the corresponding transition True if the current authority value of this service is less than the authority code of the client service that triggered the corresponding transition.
virtual bool	isAuthorityValid (SetAuthority *setAuthority)
	True if the value of the authority code received from the client is less than or equal to the current authority value of this service, but greater than or equal to the receiving component’s default authority True if the value of the authority code received from the client is less than or equal to the current authority value of this service, but greater than or equal to the receiving component’s default authority.
virtual bool	isControllingClient (RequestControl *requestControl)
	True if the message that triggered the transition is received from the client that is in control of this service True if the message that triggered the transition is received from the client that is in control of this service.
virtual bool	isControllingClient (SetAuthority *setAuthority)
	True if the message that triggered the transition is received from the client that is in control of this service True if the message that triggered the transition is received from the client that is in control of this service.
virtual bool	isControllingClient (ReleaseControl *releaseControl)
	True if the message that triggered the transition is received from the client that is in control of this service True if the message that triggered the transition is received from the client that is in control of this service.
void	setComponentId (system::Timer *timer)
void	setNodeId (system::Timer *timer)
void	setSubsystemId (system::Timer *timer)
void	sendQueryIdentifications (system::Timer *timer)
void	run ()
void	stop ()
void	requestControl (transport::Address destination, void(*responseCallback)(const model::ControlResponse &response)=NULL)
void	releaseControl (transport::Address destination, void(*responseCallback)(const model::ControlResponse &response)=NULL)
Protected Member Functions
void *	configurationThreadMethod ()
core::RSLSubsystemRecord	reportServiceListGetSubsystem (core::QSLSubsystemRecord &querySubsRec)
core::ServicesNodeRecord	reportServiceListGetNode (uint16 subsId, core::QSLNodeRecord &queryNodeRec)
core::ServicesComponentRecord	reportServiceListGetComponent (uint16 subsId, uint8 nodeId, core::QSLComponentRecord &queryCmptRec)
Protected Attributes
DiscoveryLoopback	discoveryLoopback
HeartbeatLoop	heartbeatLoop
DefaultConfigurationLoop	defaultConfigurationLoop
NotControlledLoopback	notControlledLoopback
AcceptControlTransition	acceptControlTransition
ControlledLoopback	controlledLoopback
ReleaseControlTransition	releaseControlTransition
DefaultStateLoop	defaultStateLoop
model::State	notControlled
model::State	controlled
model::StateMachine	accessStateMachine
transport::Address	controllerAddress
uint8_t	controllerAuthority
uint8_t	defaultAuthority
std::vector< transport::Address >	controlledComponents
std::map< int, void(*)(const model::ControlResponse &response) >	controlResponseCallbacks
system::Timer *	timer

Detailed Description

The Base component provides an implementation of the following service(s). This component can be extended for customized functionality or used via instantiation.

Discovery Service

The process of discovery is conducted at both the node level and the subsystem level. service supports the discovery of both legacy components defined in the JAUS Reference Architecture versions 3.2+, and new components. The Component IDs of legacy components were fixed at specification time (Primitive Driver = 33 for example) and could contain only one service beyond the core service support. New components may use any component ID that is outside the range of IDs that have been allocated to legacy component definitions. New components can also contain two or more services beyond the core service support.

URI: urn:jaus:jss:core:Discovery

Version: 1.0

Inherits From:: urn:jaus:jss:core:Events

Liveness Service

This service provides a means to maintain connection liveness between communicating components.

URI: urn:jaus:jss:core:Liveness

Version: 1.0

Inherits From:: urn:jaus:jss:core:Events

Configuration Service

The Configuration Service provides runtime configuration of JAUS addresses using a discovery process which uses non-JAUS messages sent over JUDP.

URI: urn:openjaus:core:Configuration

Version: 1.0

Inherits From:: urn:jaus:jss:core:Events

AccessControl Service

The Access Control service offers a basic interface for acquiring preemptable exclusive control to one or more related services that utilize this function. Once the exclusive control is established, the related services shall only execute commands originating from the controlling component. The authority code parameter of this service is used for preemption and is to be set equal to that of its controlling client. This service always grants control to the highest authority client that is requesting exclusive control. Commands from all other clients are ignored unless from a client with higher authority. service maintains two values, a default value and a current value of a field called authority code. The default value is the value that the service is pre-configured with. Access is provided to clients based on the value of their authority code in comparison to the current value of this service. transitions between the Available and NotAvailable nested states are behaviors that are deferred to service definitions that derive from this service.

URI: urn:jaus:jss:core:AccessControl

Version: 1.1

Inherits From:: urn:jaus:jss:core:Events

Constructor & Destructor Documentation

openjaus::core::Base::Base ( )

openjaus::core::Base::~Base ( ) [virtual]

Member Function Documentation

void* openjaus::core::Base::configurationThreadMethod ( ) [protected]

core::QueryServiceList openjaus::core::Base::getQueryServiceList ( ReportConfiguration * reportConfiguration ) [virtual]

Send a Query Service List message to newly identified components.

Parameters:

[in] reportConfiguration - Input Trigger.

Returns:: QueryServiceList Output Message.

core::RegisterServices openjaus::core::Base::getRegisterServices ( ReportIdentification * reportIdentification ) [virtual]

Send a Register Services message to newly identified component.

Parameters:

[in] reportIdentification - Input Trigger.

Returns:: RegisterServices Output Message.

core::ReportAuthority openjaus::core::Base::getReportAuthority ( QueryAuthority * queryAuthority ) [virtual]

Parameters:

[in] queryAuthority - Input Trigger.

Returns:: ReportAuthority Output Message.

Implements openjaus::core::AccessControlInterface.

core::ReportConfiguration openjaus::core::Base::getReportConfiguration ( QueryConfiguration * queryConfiguration ) [virtual]

Send a Report Configuration message to the component that sent the query.

Parameters:

[in] queryConfiguration - Input Trigger.

Returns:: ReportConfiguration Output Message.

core::ReportControl openjaus::core::Base::getReportControl ( QueryControl * queryControl ) [virtual]

Parameters:

[in] queryControl - Input Trigger.

Returns:: ReportControl Output Message.

Implements openjaus::core::AccessControlInterface.

core::ReportHeartbeatPulse openjaus::core::Base::getReportHeartbeatPulse ( QueryHeartbeatPulse * queryHeartbeatPulse ) [virtual]

Parameters:

[in] queryHeartbeatPulse - Input Trigger.

Returns:: ReportHeartbeatPulse Output Message.

core::ReportIdentification openjaus::core::Base::getReportIdentification ( QueryIdentification * queryIdentification ) [virtual]

Send a Report Identification message to the component that sent the query.

Parameters:

[in] queryIdentification - Input Trigger.

Returns:: ReportIdentification Output Message.

core::ReportServiceList openjaus::core::Base::getReportServiceList ( QueryServiceList * queryServiceList ) [virtual]

Parameters:

[in] queryServiceList - Input Trigger.

Returns:: ReportServiceList Output Message.

core::ReportServices openjaus::core::Base::getReportServices ( QueryServices * queryServices ) [virtual]

Send a Report Services message to the component that sent the query.

Parameters:

[in] queryServices - Input Trigger.

Returns:: ReportServices Output Message.

core::ReportSubsystemList openjaus::core::Base::getReportSubsystemList ( QuerySubsystemList * querySubsystemList ) [virtual]

Send a Report Subsystems List message to the component that sent the query.

Parameters:

[in] querySubsystemList - Input Trigger.

Returns:: ReportSubsystemList Output Message.

core::ReportTimeout openjaus::core::Base::getReportTimeout ( model::Trigger * trigger ) [virtual]

Send a Report Timeout message specifying the timeout period of this service Send a Report Timeout message specifying the timeout period of this service

Parameters:

[in] sendReportTimeout - Input Trigger.

Returns:: ReportTimeout Output Message.

Parameters:

[in] sendReportTimeout - <describe this>="">

Returns:: core::ReportTimeout - <describe this>="">

Implements openjaus::core::AccessControlInterface.

void openjaus::core::Base::init ( ) [virtual]

Implements openjaus::core::AccessControlInterface.

bool openjaus::core::Base::isAuthorityValid ( SetAuthority * setAuthority ) [virtual]

Parameters:

[in] setAuthority - Input Trigger.

Returns:: Whether the condition is true.

Implements openjaus::core::AccessControlInterface.

bool openjaus::core::Base::isControllingClient ( RequestControl * requestControl ) [virtual]

Parameters:

[in] requestControl - Input Trigger.

Returns:: Whether the condition is true.

Implements openjaus::core::AccessControlInterface.

bool openjaus::core::Base::isControllingClient ( SetAuthority * setAuthority ) [virtual]

Parameters:

[in] setAuthority - Input Trigger.

Returns:: Whether the condition is true.

Implements openjaus::core::AccessControlInterface.

bool openjaus::core::Base::isControllingClient ( ReleaseControl * releaseControl ) [virtual]

Parameters:

[in] releaseControl - Input Trigger.

Returns:: Whether the condition is true.

Implements openjaus::core::AccessControlInterface.

bool openjaus::core::Base::isCurrentAuthorityLess ( RequestControl * requestControl ) [virtual]

Parameters:

[in] requestControl - Input Trigger.

Returns:: Whether the condition is true.

Implements openjaus::core::AccessControlInterface.

bool openjaus::core::Base::isDefaultAuthorityGreater ( RequestControl * requestControl ) [virtual]

Parameters:

[in] requestControl - Input Trigger.

Returns:: Whether the condition is true.

Implements openjaus::core::AccessControlInterface.

bool openjaus::core::Base::publishServices ( RegisterServices * registerServices ) [virtual]

PublishServices action with input RegisterServices.

Parameters:

[in] registerServices - Input Trigger.

Returns:: Whether the message was properly processed by this action.

bool openjaus::core::Base::queryConfiguration ( ReportIdentification * reportIdentification ) [virtual]

Sends the response if needed. Takes a report identification message and determines if a Query Configuration message should be generated as a response. Sends the response if needed.

Parameters:

[in] reportIdentification - Input Trigger.

Returns:: Whether the message was properly processed by this action.

void openjaus::core::Base::releaseControl	(	transport::Address	destination,
		void(*)(const model::ControlResponse &response)	responseCallback = `NULL`
	)

core::ServicesComponentRecord openjaus::core::Base::reportServiceListGetComponent	(	uint16	subsId,
		uint8	nodeId,
		core::QSLComponentRecord &	queryCmptRec
	)			`[protected]`

core::ServicesNodeRecord openjaus::core::Base::reportServiceListGetNode	(	uint16	subsId,
		core::QSLNodeRecord &	queryNodeRec
	)			`[protected]`

core::RSLSubsystemRecord openjaus::core::Base::reportServiceListGetSubsystem ( core::QSLSubsystemRecord & querySubsRec ) [protected]

void openjaus::core::Base::requestControl	(	transport::Address	destination,
		void(*)(const model::ControlResponse &response)	responseCallback = `NULL`
	)

bool openjaus::core::Base::resetTimer ( RequestControl * requestControl ) [virtual]

Parameters:

[in] requestControl - Input Trigger.

Returns:: Whether the message was properly processed by this action.

Implements openjaus::core::AccessControlInterface.

void openjaus::core::Base::run ( )

bool openjaus::core::Base::sendConfirmControlAccepted ( RequestControl * requestControl ) [virtual]

Parameters:

[in] requestControl - Input Trigger.

Returns:: Whether the message was properly processed by this action.

Implements openjaus::core::AccessControlInterface.

bool openjaus::core::Base::sendConfirmControlInsufficientAuthority ( RequestControl * requestControl ) [virtual]

Parameters:

[in] requestControl - Input Trigger.

Returns:: Whether the message was properly processed by this action.

Implements openjaus::core::AccessControlInterface.

bool openjaus::core::Base::sendConfirmControlNotAvailable ( RequestControl * requestControl ) [virtual]

Parameters:

[in] requestControl - Input Trigger.

Returns:: Whether the message was properly processed by this action.

Implements openjaus::core::AccessControlInterface.

bool openjaus::core::Base::sendJausAddress ( QueryJausAddress * queryJausAddress ) [virtual]

SendJausAddress action with input QueryJausAddress.

Parameters:

[in] queryJausAddress - Input Trigger.

Returns:: Whether the message was properly processed by this action.

void openjaus::core::Base::sendQueryIdentifications ( system::Timer * timer )

bool openjaus::core::Base::sendRejectControlNotAvailable ( ReleaseControl * releaseControl ) [virtual]

SendRejectControlNotAvailable action with input ReleaseControl.

Parameters:

[in] releaseControl - Input Trigger.

Returns:: Whether the message was properly processed by this action.

Implements openjaus::core::AccessControlInterface.

void openjaus::core::Base::sendRejectControlReleased ( ) [virtual]

Implements openjaus::core::AccessControlInterface.

bool openjaus::core::Base::sendRejectControlReleased ( ReleaseControl * releaseControl ) [virtual]

SendRejectControlReleased action with input ReleaseControl.

Parameters:

[in] releaseControl - Input Trigger.

Returns:: Whether the message was properly processed by this action.

Implements openjaus::core::AccessControlInterface.

bool openjaus::core::Base::sendRejectControlToController ( RequestControl * requestControl ) [virtual]

SendRejectControlToController action with input RequestControl.

Parameters:

[in] requestControl - Input Trigger.

Returns:: Whether the message was properly processed by this action.

Implements openjaus::core::AccessControlInterface.

bool openjaus::core::Base::setAuthority ( RequestControl * requestControl ) [virtual]

Parameters:

[in] requestControl - Input Trigger.

Returns:: Whether the message was properly processed by this action.

Implements openjaus::core::AccessControlInterface.

bool openjaus::core::Base::setAuthority ( SetAuthority * setAuthority ) [virtual]

Parameters:

[in] setAuthority - Input Trigger.

Returns:: Whether the message was properly processed by this action.

Implements openjaus::core::AccessControlInterface.

void openjaus::core::Base::setComponentId ( system::Timer * timer )

void openjaus::core::Base::setNodeId ( system::Timer * timer )

void openjaus::core::Base::setSubsystemId ( system::Timer * timer )

bool openjaus::core::Base::setThisJausAddress ( ReportJausAddress * reportJausAddress ) [virtual]

SetThisJausAddress action with input ReportJausAddress.

Parameters:

[in] reportJausAddress - Input Trigger.

Returns:: Whether the message was properly processed by this action.

void openjaus::core::Base::stop ( )

bool openjaus::core::Base::storeAddress ( RequestControl * requestControl ) [virtual]

StoreAddress action with input RequestControl.

Parameters:

[in] requestControl - Input Trigger.

Returns:: Whether the message was properly processed by this action.

Implements openjaus::core::AccessControlInterface.

bool openjaus::core::Base::storeConfiguration ( ReportConfiguration * reportConfiguration ) [virtual]

Parameters:

[in] reportConfiguration - Input Trigger.

Returns:: Whether the message was properly processed by this action.

bool openjaus::core::Base::storeIdentification ( ReportIdentification * reportIdentification ) [virtual]

Parameters:

[in] reportIdentification - Input Trigger.

Returns:: Whether the message was properly processed by this action.

bool openjaus::core::Base::storeServiceList ( ReportServiceList * reportServiceList ) [virtual]

Parameters:

[in] reportServiceList - Input Trigger.

Returns:: Whether the message was properly processed by this action.

bool openjaus::core::Base::updateControlledList ( RejectControl * rejectControl ) [virtual]

Parameters:

[in] rejectControl - Input Trigger.

Returns:: Whether the message was properly processed by this action.

Implements openjaus::core::AccessControlInterface.

bool openjaus::core::Base::updateControlledList ( ConfirmControl * confirmControl ) [virtual]

Parameters:

[in] confirmControl - Input Trigger.

Returns:: Whether the message was properly processed by this action.

Implements openjaus::core::AccessControlInterface.

Member Data Documentation

AcceptControlTransition openjaus::core::Base::acceptControlTransition [protected]

model::StateMachine openjaus::core::Base::accessStateMachine [protected]

model::State openjaus::core::Base::controlled [protected]

std::vector<transport::Address> openjaus::core::Base::controlledComponents [protected]

ControlledLoopback openjaus::core::Base::controlledLoopback [protected]

transport::Address openjaus::core::Base::controllerAddress [protected]

uint8_t openjaus::core::Base::controllerAuthority [protected]

std::map<int, void (*)(const model::ControlResponse& response) > openjaus::core::Base::controlResponseCallbacks [protected]

uint8_t openjaus::core::Base::defaultAuthority [protected]

DefaultConfigurationLoop openjaus::core::Base::defaultConfigurationLoop [protected]

DefaultStateLoop openjaus::core::Base::defaultStateLoop [protected]

DiscoveryLoopback openjaus::core::Base::discoveryLoopback [protected]

HeartbeatLoop openjaus::core::Base::heartbeatLoop [protected]

model::State openjaus::core::Base::notControlled [protected]

NotControlledLoopback openjaus::core::Base::notControlledLoopback [protected]

ReleaseControlTransition openjaus::core::Base::releaseControlTransition [protected]

system::Timer* openjaus::core::Base::timer [protected]

The documentation for this class was generated from the following files:

include/openjaus/core/Base.h
src/openjaus/core/Base.cpp

openjaus::core::Base Class Reference

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation