OpenJAUS Software Development Kit  4.3.1
Public Member Functions | Static Public Member Functions | List of all members
openjaus::environment::RangeSensorInterface Class Referenceabstract

Provides an abstract interface for the RangeSensor service. More...

#include <RangeSensorInterface.h>

Inherits openjaus::core::AccessControlInterface.

Inherited by openjaus::environment::services::RangeSensor [virtual].

Public Member Functions

virtual ~RangeSensorInterface ()
 
virtual ReportRangeSensorData getReportRangeSensorData (QueryRangeSensorData *queryRangeSensorData)=0
 Send a ReportRangeSensorData message in native coordinate system Send a ReportRangeSensorData message in native coordinate system. More...
 
virtual ReportRangeSensorGeometricProperties getReportRangeSensorGeometricProperties (QuerySensorGeometricProperties *querySensorGeometricProperties)=0
 Send a ReportRangeSensorGeometricProperties message Send a ReportRangeSensorGeometricProperties message. More...
 
virtual bool updateRangeSensorConfiguration (SetRangeSensorConfiguration *setRangeSensorConfiguration)=0
 Update the sensor user controllable configuration parameters according to the ones specified. More...
 
virtual ConfirmRangeSensorConfiguration getConfirmRangeSensorConfiguration (SetRangeSensorConfiguration *setRangeSensorConfiguration)=0
 Send sendConfirmRangeSensorConfiguration message Send sendConfirmRangeSensorConfiguration message. More...
 
virtual ReportRangeSensorConfiguration getReportRangeSensorConfiguration (QueryRangeSensorConfiguration *queryRangeSensorConfiguration)=0
 Send a ReportRangeSensorConfiguration message Send a ReportRangeSensorConfiguration message. More...
 
virtual ReportRangeSensorCompressedData getReportRangeSensorCompressedData (QueryRangeSensorCompressedData *queryRangeSensorCompressedData)=0
 Send a ReportRangeSensorCompressedData message in native coordinate system Send a ReportRangeSensorCompressedData message in native coordinate system. More...
 
virtual ReportRangeSensorCapabilities getReportRangeSensorCapabilities (QueryRangeSensorCapabilities *queryRangeSensorCapabilities)=0
 Send a Report Range Sensor Capabilities message Send a Report Range Sensor Capabilities message. More...
 
virtual ReportRangeSensorData getReportRangeSensorDataInNativeSystem (QueryRangeSensorData *queryRangeSensorData)=0
 Send a ReportRangeSensorData message in the native coordinate system Send a ReportRangeSensorData message in the native coordinate system. More...
 
virtual ReportRangeSensorCompressedData getReportRangeSensorCompressedDataInNativeSystem (QueryRangeSensorCompressedData *queryRangeSensorCompressedData)=0
 Send a ReportRangeSensorCompressedData message using the requested coordinate system Send a ReportRangeSensorCompressedData message using the requested coordinate system. More...
 
virtual bool isCoordinateTransformSupported (QueryRangeSensorData *queryRangeSensorData)=0
 True if the service supports coordinate system transformations for data reports. More...
 
virtual bool isCoordinateTransformSupported (QueryRangeSensorCompressedData *queryRangeSensorCompressedData)=0
 True if the service supports coordinate system transformations for data reports. More...
 
- Public Member Functions inherited from openjaus::core::AccessControlInterface
virtual ~AccessControlInterface ()
 
virtual void init ()=0
 
virtual void rejectController ()=0
 
virtual ReportControl getReportControl (QueryControl *queryControl)=0
 Send a Report Control message with the specified control value Send a Report Control message with the specified control value. More...
 
virtual ReportAuthority getReportAuthority (QueryAuthority *queryAuthority)=0
 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. More...
 
virtual ReportTimeout getReportTimeout (QueryTimeout *queryTimeout)=0
 Send a Report Timeout message specifying the timeout period of this service Send a Report Timeout message specifying the timeout period of this service. More...
 
virtual bool setAuthority (RequestControl *requestControl)=0
 Set the current authority value of this service to the specified authority Set the current authority value of this service to the specified authority. More...
 
virtual bool setAuthority (SetAuthority *setAuthority)=0
 Set the current authority value of this service to the specified authority Set the current authority value of this service to the specified authority. More...
 
virtual bool resetTimer (RequestControl *requestControl)=0
 Reset the timer Reset the timer. More...
 
virtual bool sendConfirmControlNotAvailable (RequestControl *requestControl)=0
 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. More...
 
virtual bool sendConfirmControlInsufficientAuthority (RequestControl *requestControl)=0
 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. More...
 
virtual bool sendConfirmControlAccepted (RequestControl *requestControl)=0
 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. More...
 
virtual bool sendRejectControlToController (RequestControl *requestControl)=0
 SendRejectControlToController action with input RequestControl. More...
 
virtual bool sendRejectControlNotAvailable (ReleaseControl *releaseControl)=0
 SendRejectControlNotAvailable action with input ReleaseControl. More...
 
virtual bool sendRejectControlReleased (ReleaseControl *releaseControl)=0
 SendRejectControlReleased action with input ReleaseControl. More...
 
virtual bool sendRejectControlReleased (DismissController *dismissController)=0
 SendRejectControlReleased action with input DismissController. More...
 
virtual bool storeAddress (RequestControl *requestControl)=0
 StoreAddress action with input RequestControl. More...
 
virtual bool updateControlledList (ConfirmControl *confirmControl)=0
 Modifies list of controlled components based on confirm or reject messages Modifies list of controlled components based on confirm or reject messages. More...
 
virtual bool updateControlledList (RejectControl *rejectControl)=0
 Modifies list of controlled components based on confirm or reject messages Modifies list of controlled components based on confirm or reject messages. More...
 
virtual bool isDefaultAuthorityGreater (RequestControl *requestControl)=0
 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. More...
 
virtual bool isCurrentAuthorityLess (RequestControl *requestControl)=0
 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. More...
 
virtual bool isAuthorityValid (SetAuthority *setAuthority)=0
 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 componentís 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 componentís default authority. More...
 
virtual bool isControllingClient (model::Message *message)=0
 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. More...
 
- Public Member Functions inherited from openjaus::core::EventsInterface
virtual ~EventsInterface ()
 
virtual bool createEvent (CreateEvent *createEvent)=0
 CreateEvent action with input CreateEvent. More...
 
virtual bool processEvent (ProcessEventRequest *processEventRequest)=0
 ProcessEvent action with input ProcessEventRequest. More...
 
virtual bool resetEventTimer (CreateEvent *createEvent)=0
 ResetEventTimer action with input CreateEvent. More...
 
virtual bool resetEventTimer (UpdateEvent *updateEvent)=0
 ResetEventTimer action with input UpdateEvent. More...
 
virtual bool updateEvent (CreateEvent *createEvent)=0
 UpdateEvent action with input CreateEvent. More...
 
virtual bool updateEvent (UpdateEvent *updateEvent)=0
 UpdateEvent action with input UpdateEvent. More...
 
virtual bool cancelEvent (CancelEvent *cancelEvent)=0
 CancelEvent action with input CancelEvent. More...
 
virtual bool stopEventTimer (CancelEvent *cancelEvent)=0
 StopEventTimer action with input CancelEvent. More...
 
virtual RejectEventRequest getRejectEventRequest (CreateEvent *createEvent)=0
 Send action for RejectEventRequest with input message CreateEvent. More...
 
virtual RejectEventRequest getRejectEventRequest (UpdateEvent *updateEvent)=0
 Send action for RejectEventRequest with input message UpdateEvent. More...
 
virtual RejectEventRequest getRejectEventRequest (CancelEvent *cancelEvent)=0
 Send action for RejectEventRequest with input message CancelEvent. More...
 
virtual ConfirmEventRequest getConfirmEventRequest (CreateEvent *createEvent)=0
 Send action for ConfirmEventRequest with input message CreateEvent. More...
 
virtual ConfirmEventRequest getConfirmEventRequest (UpdateEvent *updateEvent)=0
 Send action for ConfirmEventRequest with input message UpdateEvent. More...
 
virtual ConfirmEventRequest getConfirmEventRequest (CancelEvent *cancelEvent)=0
 Send action for ConfirmEventRequest with input message CancelEvent. More...
 
virtual ReportEvents getReportEvents (QueryEvents *queryEvents)=0
 Send action for ReportEvents with input message QueryEvents. More...
 
virtual ReportEventTimeout getReportEventTimeout (QueryEventTimeout *queryEventTimeout)=0
 Send action for ReportEventTimeout with input message QueryEventTimeout. More...
 
virtual bool confirmEvent (ConfirmEventRequest *confirmEventRequest)=0
 ConfirmEvent action with input ConfirmEventRequest. More...
 
virtual bool rejectEvent (RejectEventRequest *rejectEventRequest)=0
 RejectEvent action with input RejectEventRequest. More...
 
virtual bool handleIncomingEvent (Event *event)=0
 HandleIncomingEvent action with input Event. More...
 
virtual bool handleReportEvents (ReportEvents *reportEvents)=0
 HandleReportEvents action with input ReportEvents. More...
 
virtual bool isSupported (CreateEvent *createEvent)=0
 isSupported condition. More...
 
virtual bool isSupported (UpdateEvent *updateEvent)=0
 isSupported condition. More...
 
virtual bool eventExists (CreateEvent *createEvent)=0
 eventExists condition. More...
 
virtual bool eventExists (UpdateEvent *updateEvent)=0
 eventExists condition. More...
 
virtual bool eventExists (CancelEvent *cancelEvent)=0
 eventExists condition. More...
 
- Public Member Functions inherited from openjaus::core::TransportInterface
virtual ~TransportInterface ()
 
virtual bool enqueue (model::Trigger *trigger)=0
 Convert the destination address into an unsigned integer such that the ComponentID maps to the least significant byte, NodeID to the next least significant byte and SubsystemID maps onto the remaining two bytes of the integer. More...
 
virtual bool broadcastLocalEnqueue (model::Trigger *trigger)=0
 Package the message as specified by the transport layer specification and send it to all endpoints in the local subsystem. More...
 
virtual bool broadcastGlobalEnqueue (model::Trigger *trigger)=0
 Package the message as specified by the transport layer specification and send it to all endpoints on all subsystems. More...
 
virtual bool sendMessage (model::Trigger *trigger)=0
 SendMessage action with input SendMessage. More...
 
virtual bool broadcastToNode (model::Trigger *trigger)=0
 Broadcasts message to all components within the local node Broadcasts message to all components within the local node. More...
 
virtual bool broadcastToSubsystem (model::Trigger *trigger)=0
 Broadcasts a given message to all nodes in the local subsystem (equivalent to broadcast local enqueue) Broadcasts a given message to all nodes in the local subsystem (equivalent to broadcast local enqueue) More...
 
virtual bool broadcastToSystem (model::Trigger *trigger)=0
 Broadcasts the message to all subsystems on the JAUS network (equivalent to broadcast global enqueue) Broadcasts the message to all subsystems on the JAUS network (equivalent to broadcast global enqueue) More...
 
virtual bool checkTransportPolicy (model::Trigger *trigger)=0
 CheckTransportPolicy action with input CheckTransportPolicy. More...
 
virtual ReportTransportPolicy getReportTransportPolicy (QueryTransportPolicy *queryTransportPolicy)=0
 Send action for ReportTransportPolicy with input message QueryTransportPolicy. More...
 
virtual bool storeTransportPolicy (ReportTransportPolicy *reportTransportPolicy)=0
 StoreTransportPolicy action with input ReportTransportPolicy. More...
 

Static Public Member Functions

static OPENJAUS_DEPRECATED model::Service RangeSensorService ()
 Builds a default instance of the RangeSensor Service and populates the URI and Version numbers. More...
 
static OPENJAUS_DEPRECATED std::string RangeSensorUri ()
 Static accessor for Service URI. More...
 
- Static Public Member Functions inherited from openjaus::core::AccessControlInterface
static OPENJAUS_DEPRECATED model::Service AccessControlService ()
 Builds a default instance of the AccessControl Service and populates the URI and Version numbers. More...
 
static OPENJAUS_DEPRECATED std::string AccessControlUri ()
 Static accessor for Service URI. More...
 
- Static Public Member Functions inherited from openjaus::core::EventsInterface
static OPENJAUS_DEPRECATED model::Service EventsService ()
 Builds a default instance of the Events Service and populates the URI and Version numbers. More...
 
static OPENJAUS_DEPRECATED std::string EventsUri ()
 Static accessor for Service URI. More...
 
- Static Public Member Functions inherited from openjaus::core::TransportInterface
static OPENJAUS_DEPRECATED model::Service TransportService ()
 Builds a default instance of the Transport Service and populates the URI and Version numbers. More...
 
static OPENJAUS_DEPRECATED std::string TransportUri ()
 Static accessor for Service URI. More...
 

Detailed Description

The function of the Range Sensor Service is to provide information from proximity sensors. This service will output the location of various Data Points with a certain measure of accuracy. A given Range Sensor service may be comprised of one to many actual physical sensors or technologies. Each sub-sensor can be assigned (by the developer) a unique Sensor ID. When appropriate, the reserved Sensor ID of 0 may be used to refer to all sensors attached to a given Range Sensor Service. The Data Points are measured in the sensorís native coordinate system and are expressed in terms of range, bearing and inclination. Range is the distance, in meters, along the line from the origin of the sensorís native coordinate system (sensorís origin) to the specified point. Bearing is the angle, in radians, that the line from the sensorís origin to the specified point makes about the sensorís z-axis in the right handed sense (Figure 2). Inclination is the the angle, in radians, that the line from the sensor origin to the specified point makes about the sensorís y-axis in the right handed sense (Figure 2). Each data point has an optional ID parameter. This parameter is provided for those sensor technologies which may assign and/or track entities based on unique ID values; however, such tracking capabilities are not required for a compliant Range Sensor Service. The behavior of the data point ID is not specified, i.e. IDs may repeat in a given report and IDs may persist from one report to another. No semantic value should be placed on the ID values in a generalized way. Data Point ID behavior should be derived from the underlying sensor or algorithm technology and is mearly provided to be used in those situations where mutiple parties can agree upon the behavior and semantics of the ID values. Data from the range sensor can be reported in both a compressed and uncompressed format, different query and report messages are provided for each exchange and the kind of data compression supported by the service is reported in the Report Range Sensor Capabilities message. Requests for unsupported data compression algorithms will result in the generation of a Report Sensor Error message indicating an unsupported compression request. The range sensor can express the bearing, inclination and range terms with respect to either its native coordinate system or the vehicle coordinate system if coordinate transforms are supported. The Query Sensor Geometric Properties message can be used to determine the geometric relationship between the sensor and the vehicle coordinate system. Three possible coordinate responses are possible: (a) the service does not know the sensorís position, (b) the sensor coordinate system is fixed with respect to the vehicle and (c) the sensor is attached to some manipulator. These cases are supported by the Report Sensor Geometric Properties message and are described therein.



URI: urn:jaus:jss:environmentSensing:RangeSensor

Version: 1.0

Inherits From:

Constructor & Destructor Documentation

§ ~RangeSensorInterface()

virtual openjaus::environment::RangeSensorInterface::~RangeSensorInterface ( )
inlinevirtual

Member Function Documentation

§ getConfirmRangeSensorConfiguration()

virtual ConfirmRangeSensorConfiguration openjaus::environment::RangeSensorInterface::getConfirmRangeSensorConfiguration ( SetRangeSensorConfiguration setRangeSensorConfiguration)
pure virtual
Parameters
[in]setRangeSensorConfiguration- Input Trigger.
Returns
ConfirmRangeSensorConfiguration Output Message.

Implemented in openjaus::environment::services::RangeSensor.

§ getReportRangeSensorCapabilities()

virtual ReportRangeSensorCapabilities openjaus::environment::RangeSensorInterface::getReportRangeSensorCapabilities ( QueryRangeSensorCapabilities queryRangeSensorCapabilities)
pure virtual
Parameters
[in]queryRangeSensorCapabilities- Input Trigger.
Returns
ReportRangeSensorCapabilities Output Message.

Implemented in openjaus::environment::services::RangeSensor.

§ getReportRangeSensorCompressedData()

virtual ReportRangeSensorCompressedData openjaus::environment::RangeSensorInterface::getReportRangeSensorCompressedData ( QueryRangeSensorCompressedData queryRangeSensorCompressedData)
pure virtual
Parameters
[in]queryRangeSensorCompressedData- Input Trigger.
Returns
ReportRangeSensorCompressedData Output Message.

Implemented in openjaus::environment::services::RangeSensor.

§ getReportRangeSensorCompressedDataInNativeSystem()

virtual ReportRangeSensorCompressedData openjaus::environment::RangeSensorInterface::getReportRangeSensorCompressedDataInNativeSystem ( QueryRangeSensorCompressedData queryRangeSensorCompressedData)
pure virtual
Parameters
[in]queryRangeSensorCompressedData- Input Trigger.
Returns
ReportRangeSensorCompressedData Output Message.

Implemented in openjaus::environment::services::RangeSensor.

§ getReportRangeSensorConfiguration()

virtual ReportRangeSensorConfiguration openjaus::environment::RangeSensorInterface::getReportRangeSensorConfiguration ( QueryRangeSensorConfiguration queryRangeSensorConfiguration)
pure virtual
Parameters
[in]queryRangeSensorConfiguration- Input Trigger.
Returns
ReportRangeSensorConfiguration Output Message.

Implemented in openjaus::environment::services::RangeSensor.

§ getReportRangeSensorData()

virtual ReportRangeSensorData openjaus::environment::RangeSensorInterface::getReportRangeSensorData ( QueryRangeSensorData queryRangeSensorData)
pure virtual
Parameters
[in]queryRangeSensorData- Input Trigger.
Returns
ReportRangeSensorData Output Message.

Implemented in openjaus::environment::services::RangeSensor.

§ getReportRangeSensorDataInNativeSystem()

virtual ReportRangeSensorData openjaus::environment::RangeSensorInterface::getReportRangeSensorDataInNativeSystem ( QueryRangeSensorData queryRangeSensorData)
pure virtual
Parameters
[in]queryRangeSensorData- Input Trigger.
Returns
ReportRangeSensorData Output Message.

Implemented in openjaus::environment::services::RangeSensor.

§ getReportRangeSensorGeometricProperties()

virtual ReportRangeSensorGeometricProperties openjaus::environment::RangeSensorInterface::getReportRangeSensorGeometricProperties ( QuerySensorGeometricProperties querySensorGeometricProperties)
pure virtual
Parameters
[in]querySensorGeometricProperties- Input Trigger.
Returns
ReportRangeSensorGeometricProperties Output Message.

Implemented in openjaus::environment::services::RangeSensor.

§ isCoordinateTransformSupported() [1/2]

virtual bool openjaus::environment::RangeSensorInterface::isCoordinateTransformSupported ( QueryRangeSensorData queryRangeSensorData)
pure virtual

True if the service supports coordinate system transformations for data reports.

Parameters
[in]queryRangeSensorData- Input Trigger.
Returns
Whether the condition is true.

Implemented in openjaus::environment::services::RangeSensor.

§ isCoordinateTransformSupported() [2/2]

virtual bool openjaus::environment::RangeSensorInterface::isCoordinateTransformSupported ( QueryRangeSensorCompressedData queryRangeSensorCompressedData)
pure virtual

True if the service supports coordinate system transformations for data reports.

Parameters
[in]queryRangeSensorCompressedData- Input Trigger.
Returns
Whether the condition is true.

Implemented in openjaus::environment::services::RangeSensor.

§ RangeSensorService()

static OPENJAUS_DEPRECATED model::Service openjaus::environment::RangeSensorInterface::RangeSensorService ( )
inlinestatic
Returns
model::Service - The populated service.

§ RangeSensorUri()

static OPENJAUS_DEPRECATED std::string openjaus::environment::RangeSensorInterface::RangeSensorUri ( )
inlinestatic
Returns
std::string - Service URI

§ updateRangeSensorConfiguration()

virtual bool openjaus::environment::RangeSensorInterface::updateRangeSensorConfiguration ( SetRangeSensorConfiguration setRangeSensorConfiguration)
pure virtual

Update the sensor user controllable configuration parameters according to the ones specified.

Parameters
[in]setRangeSensorConfiguration- Input Trigger.
Returns
Whether the message was properly processed by this action.

Implemented in openjaus::environment::services::RangeSensor.


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