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

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

#include <LocalWaypointDriverInterface.h>

Inherits openjaus::core::ManagementInterface.

Inherited by openjaus::mobility::services::LocalWaypointDriver [virtual].

Public Member Functions

virtual ~LocalWaypointDriverInterface ()
 
virtual void resetLwdTravelSpeed ()=0
 
virtual bool setLocalWaypoint (SetLocalWaypoint *setLocalWaypoint)=0
 SetLocalWaypoint action with input SetLocalWaypoint. More...
 
virtual bool setLwdTravelSpeed (SetTravelSpeed *setTravelSpeed)=0
 SetLwdTravelSpeed action with input SetTravelSpeed. More...
 
virtual ReportLocalWaypoint getReportLocalWaypoint (QueryLocalWaypoint *queryLocalWaypoint)=0
 Send action for ReportLocalWaypoint with input message QueryLocalWaypoint. More...
 
virtual ReportTravelSpeed getReportTravelSpeed (QueryTravelSpeed *queryTravelSpeed)=0
 Send action for ReportTravelSpeed with input message QueryTravelSpeed. More...
 
virtual bool waypointExists (SetTravelSpeed *setTravelSpeed)=0
 waypointExists condition. More...
 
- Public Member Functions inherited from openjaus::core::ManagementInterface
virtual ~ManagementInterface ()
 
virtual bool storeID (SetEmergency *setEmergency)=0
 StoreID action with input SetEmergency. More...
 
virtual bool deleteID (ClearEmergency *clearEmergency)=0
 DeleteID action with input ClearEmergency. More...
 
virtual ReportStatus getReportStatus (QueryStatus *queryStatus)=0
 Send action for ReportStatus with input message QueryStatus. More...
 
virtual bool isIDStored (ClearEmergency *clearEmergency)=0
 isIDStored condition. 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 LocalWaypointDriverService ()
 Builds a default instance of the LocalWaypointDriver Service and populates the URI and Version numbers. More...
 
static OPENJAUS_DEPRECATED std::string LocalWaypointDriverUri ()
 Static accessor for Service URI. More...
 
- Static Public Member Functions inherited from openjaus::core::ManagementInterface
static OPENJAUS_DEPRECATED model::Service ManagementService ()
 Builds a default instance of the Management Service and populates the URI and Version numbers. More...
 
static OPENJAUS_DEPRECATED std::string ManagementUri ()
 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 Local Waypoint Driver is to move the platform given a single target waypoint, desired travel speed, current platform pose and current velocity state. A single waypoint is provided via the Set Local Waypoint message. The waypoint remains unchanged until a new Set Local Waypoint message is received. A waypoint consists of the desired position and orientation of the platform. The second input consists of the desired travel speed. The desired travel speed remains unchanged unless a new Set Travel Speed Message is received. The travel speed may then be changed at any time during waypoint navigation. The travel speed is reset to zero for all transitions from the Ready State.



URI: urn:jaus:jss:mobility:LocalWaypointDriver

Version: 1.0

Inherits From:

Constructor & Destructor Documentation

§ ~LocalWaypointDriverInterface()

virtual openjaus::mobility::LocalWaypointDriverInterface::~LocalWaypointDriverInterface ( )
inlinevirtual

Member Function Documentation

§ getReportLocalWaypoint()

virtual ReportLocalWaypoint openjaus::mobility::LocalWaypointDriverInterface::getReportLocalWaypoint ( QueryLocalWaypoint queryLocalWaypoint)
pure virtual

Send action for ReportLocalWaypoint with input message QueryLocalWaypoint.

Parameters
[in]queryLocalWaypoint- Input Trigger.
Returns
ReportLocalWaypoint Output Message.

Implemented in openjaus::mobility::services::LocalWaypointDriver.

§ getReportTravelSpeed()

virtual ReportTravelSpeed openjaus::mobility::LocalWaypointDriverInterface::getReportTravelSpeed ( QueryTravelSpeed queryTravelSpeed)
pure virtual

Send action for ReportTravelSpeed with input message QueryTravelSpeed.

Parameters
[in]queryTravelSpeed- Input Trigger.
Returns
ReportTravelSpeed Output Message.

Implemented in openjaus::mobility::services::LocalWaypointDriver.

§ LocalWaypointDriverService()

static OPENJAUS_DEPRECATED model::Service openjaus::mobility::LocalWaypointDriverInterface::LocalWaypointDriverService ( )
inlinestatic
Returns
model::Service - The populated service.

§ LocalWaypointDriverUri()

static OPENJAUS_DEPRECATED std::string openjaus::mobility::LocalWaypointDriverInterface::LocalWaypointDriverUri ( )
inlinestatic
Returns
std::string - Service URI

§ resetLwdTravelSpeed()

virtual void openjaus::mobility::LocalWaypointDriverInterface::resetLwdTravelSpeed ( )
pure virtual

§ setLocalWaypoint()

virtual bool openjaus::mobility::LocalWaypointDriverInterface::setLocalWaypoint ( SetLocalWaypoint setLocalWaypoint)
pure virtual

SetLocalWaypoint action with input SetLocalWaypoint.

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

Implemented in openjaus::mobility::services::LocalWaypointDriver.

§ setLwdTravelSpeed()

virtual bool openjaus::mobility::LocalWaypointDriverInterface::setLwdTravelSpeed ( SetTravelSpeed setTravelSpeed)
pure virtual

SetLwdTravelSpeed action with input SetTravelSpeed.

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

Implemented in openjaus::mobility::services::LocalWaypointDriver.

§ waypointExists()

virtual bool openjaus::mobility::LocalWaypointDriverInterface::waypointExists ( SetTravelSpeed setTravelSpeed)
pure virtual

waypointExists condition.

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

Implemented in openjaus::mobility::services::LocalWaypointDriver.


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