OpenJAUS Software Development Kit  4.3.1
Public Member Functions | Static Public Member Functions | Private Attributes | List of all members
openjaus::ugv::services::StabilizerDriver Class Reference

Provides static methods for the StabilizerDriver service. More...

#include <StabilizerDriver.h>

Inherits openjaus::ugv::StabilizerDriverInterface, and openjaus::core::services::Management.

Inherited by openjaus::ugv::StabilizerDriver [virtual].

Public Member Functions

 StabilizerDriver ()
 
virtual ~StabilizerDriver ()
 
virtual bool setStabilizerEffort (SetStabilizerEffort *setStabilizerEffort)
 Set the actuator effort levels for the specified Stabilizers. More...
 
virtual bool setStabilizerPosition (SetStabilizerPosition *setStabilizerPosition)
 Set the position for the specified Stabilizers. More...
 
virtual ReportStabilizerCapabilities getReportStabilizerCapabilities (QueryStabilizerCapabilities *queryStabilizerCapabilities)
 Send a Report Stabilizer Capabilities message Send a Report Stabilizer Capabilities message. More...
 
virtual ReportStabilizerEffort getReportStabilizerEffort (QueryStabilizerEffort *queryStabilizerEffort)
 Send a Report Stabilizer Effort message Send a Report Stabilizer Effort message. More...
 
virtual ReportStabilizerPosition getReportStabilizerPosition (QueryStabilizerPosition *queryStabilizerPosition)
 Send a Report Stabilizer Position message Send a Report Stabilizer Position message. More...
 
virtual void stopMotion ()
 
virtual bool stabilizersExist (SetStabilizerEffort *setStabilizerEffort)
 True if the message contains only valid stabilizer IDs. More...
 
virtual bool stabilizersExist (SetStabilizerPosition *setStabilizerPosition)
 True if the message contains only valid stabilizer IDs. More...
 
virtual bool areReachable (SetStabilizerPosition *setStabilizerPosition)
 True if the positions specified in the message are within each stabilizers reachable workspace. More...
 
- Public Member Functions inherited from openjaus::ugv::StabilizerDriverInterface
virtual ~StabilizerDriverInterface ()
 
- Public Member Functions inherited from openjaus::core::ManagementInterface
virtual ~ManagementInterface ()
 
- Public Member Functions inherited from openjaus::core::AccessControlInterface
virtual ~AccessControlInterface ()
 
- Public Member Functions inherited from openjaus::core::EventsInterface
virtual ~EventsInterface ()
 
- Public Member Functions inherited from openjaus::core::TransportInterface
virtual ~TransportInterface ()
 
- Public Member Functions inherited from openjaus::core::services::Management
 Management ()
 
virtual ~Management ()
 
virtual bool storeID (SetEmergency *setEmergency)
 StoreID action with input SetEmergency. More...
 
virtual bool deleteID (ClearEmergency *clearEmergency)
 DeleteID action with input ClearEmergency. More...
 
virtual ReportStatus getReportStatus (QueryStatus *queryStatus)
 Send action for ReportStatus with input message QueryStatus. More...
 
virtual bool isIDStored (ClearEmergency *clearEmergency)
 isIDStored condition. More...
 
void initialized ()
 Fire the Management services' Initialized internal event Fire the Initialized internal event which will move the Management service from the Init state to the NotControlledStandby state. More...
 
void failed ()
 Fire the Management services' Failure internal event Fire the Failure internal event which will move the Management service to the Failure state. More...
 
core::StatusEnumeration::StatusEnum getCurrentStatus ()
 Get the current status of the Management service (INIT, STANDBY, READY, etc) More...
 
std::string getCurrentStatusToString ()
 Get the current status of the Management service (INIT, STANDBY, READY, etc) More...
 
- Public Member Functions inherited from openjaus::core::services::AccessControl
 AccessControl ()
 
virtual ~AccessControl ()
 
virtual void init ()
 
virtual void rejectController ()
 
virtual ReportControl getReportControl (QueryControl *queryControl)
 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)
 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)
 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)
 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)
 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)
 Reset the timer Reset the timer. More...
 
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. More...
 
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. More...
 
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. More...
 
virtual bool sendRejectControlToController (RequestControl *requestControl)
 SendRejectControlToController action with input RequestControl. More...
 
virtual bool sendRejectControlNotAvailable (ReleaseControl *releaseControl)
 SendRejectControlNotAvailable action with input ReleaseControl. More...
 
virtual bool sendRejectControlReleased (ReleaseControl *releaseControl)
 SendRejectControlReleased action with input ReleaseControl. More...
 
virtual bool sendRejectControlReleased (DismissController *dismissController)
 SendRejectControlReleased action with input DismissController. More...
 
virtual bool storeAddress (RequestControl *requestControl)
 StoreAddress action with input RequestControl. More...
 
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. More...
 
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. More...
 
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. More...
 
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. More...
 
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. More...
 
virtual bool isControllingClient (model::Message *message)
 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...
 
void requestControl (transport::Address destination, void(*responseCallback)(const model::ControlResponse &response)=NULL)
 
void requestControl (transport::Address destination, void(*functionPointer)(void *object, const model::ControlResponse &response), void *object)
 
void releaseControl (transport::Address destination, void(*responseCallback)(const model::ControlResponse &response)=NULL)
 
void releaseControl (transport::Address destination, void(*functionPointer)(void *object, const model::ControlResponse &response), void *object)
 
void dismissController ()
 
- Public Member Functions inherited from openjaus::core::services::Events
 Events ()
 
virtual ~Events ()
 
virtual bool createEvent (CreateEvent *createEvent)
 CreateEvent action with input CreateEvent. More...
 
virtual bool processEvent (ProcessEventRequest *processEventRequest)
 ProcessEvent action with input ProcessEventRequest. More...
 
virtual bool resetEventTimer (CreateEvent *createEvent)
 ResetEventTimer action with input CreateEvent. More...
 
virtual bool resetEventTimer (UpdateEvent *updateEvent)
 ResetEventTimer action with input UpdateEvent. More...
 
virtual bool updateEvent (CreateEvent *createEvent)
 UpdateEvent action with input CreateEvent. More...
 
virtual bool updateEvent (UpdateEvent *updateEvent)
 UpdateEvent action with input UpdateEvent. More...
 
virtual bool cancelEvent (CancelEvent *cancelEvent)
 CancelEvent action with input CancelEvent. More...
 
virtual bool stopEventTimer (CancelEvent *cancelEvent)
 StopEventTimer action with input CancelEvent. More...
 
virtual RejectEventRequest getRejectEventRequest (CreateEvent *createEvent)
 Send action for RejectEventRequest with input message CreateEvent. More...
 
virtual RejectEventRequest getRejectEventRequest (UpdateEvent *updateEvent)
 Send action for RejectEventRequest with input message UpdateEvent. More...
 
virtual RejectEventRequest getRejectEventRequest (CancelEvent *cancelEvent)
 Send action for RejectEventRequest with input message CancelEvent. More...
 
virtual ConfirmEventRequest getConfirmEventRequest (CreateEvent *createEvent)
 Send action for ConfirmEventRequest with input message CreateEvent. More...
 
virtual ConfirmEventRequest getConfirmEventRequest (UpdateEvent *updateEvent)
 Send action for ConfirmEventRequest with input message UpdateEvent. More...
 
virtual ConfirmEventRequest getConfirmEventRequest (CancelEvent *cancelEvent)
 Send action for ConfirmEventRequest with input message CancelEvent. More...
 
virtual ReportEvents getReportEvents (QueryEvents *queryEvents)
 Send action for ReportEvents with input message QueryEvents. More...
 
virtual ReportEventTimeout getReportEventTimeout (QueryEventTimeout *queryEventTimeout)
 Send action for ReportEventTimeout with input message QueryEventTimeout. More...
 
virtual bool confirmEvent (ConfirmEventRequest *confirmEventRequest)
 ConfirmEvent action with input ConfirmEventRequest. More...
 
virtual bool rejectEvent (RejectEventRequest *rejectEventRequest)
 RejectEvent action with input RejectEventRequest. More...
 
virtual bool handleIncomingEvent (Event *event)
 HandleIncomingEvent action with input Event. More...
 
virtual bool handleReportEvents (ReportEvents *reportEvents)
 HandleReportEvents action with input ReportEvents. More...
 
virtual bool isSupported (CreateEvent *createEvent)
 isSupported condition. More...
 
virtual bool isSupported (UpdateEvent *updateEvent)
 isSupported condition. More...
 
virtual bool eventExists (CreateEvent *createEvent)
 eventExists condition. More...
 
virtual bool eventExists (UpdateEvent *updateEvent)
 eventExists condition. More...
 
virtual bool eventExists (CancelEvent *cancelEvent)
 eventExists condition. More...
 
bool createOutgoingPeriodicEvent (uint8_t eventId, double rateHz, model::Message *query)
 
bool createOutgoingOnChangeEvent (uint8_t eventId, model::Message *query)
 
OPENJAUS_DEPRECATED bool publish (model::Message *message)
 
OPENJAUS_DEPRECATED bool unpublish (model::Message *message)
 
OPENJAUS_DEPRECATED bool publish (uint16 messageId)
 
bool publish (uint16 messageId, double maximumRate_Hz, model::ConnectionType type)
 
bool unpublish (uint16 messageId)
 
bool notifyChanged (uint16 messageId)
 
uint32_t subscribePeriodic (transport::Address &address, model::Message *query, double rate_Hz)
 
uint32_t subscribePeriodic (transport::Address &address, model::Message *query, double rate_Hz, void(*subscribeCallback)(const model::EventRequestResponseArgs &args))
 
uint32_t subscribePeriodic (transport::Address &address, model::Message *query, double rate_Hz, void(*subscribeCallback)(void *object, const model::EventRequestResponseArgs &args), void *object)
 
uint32_t subscribeOnChange (transport::Address &address, model::Message *query)
 
uint32_t subscribeOnChange (transport::Address &address, model::Message *query, void(*subscribeCallback)(const model::EventRequestResponseArgs &args))
 
uint32_t subscribeOnChange (transport::Address &address, model::Message *query, void(*subscribeCallback)(void *object, const model::EventRequestResponseArgs &args), void *object)
 
bool unsubscribe (uint32_t subscriptionId)
 
bool unsubscribe (uint32_t subscriptionId, void(*callback)(const model::EventRequestResponseArgs &args))
 
bool unsubscribe (uint32_t subscriptionId, void(*callback)(void *object, const model::EventRequestResponseArgs &args), void *object)
 
bool isActive (uint32 subscriptionId)
 
uint8 getEventId (uint32 subscriptionId)
 
double getConfirmedRate_Hz (uint32 subscriptionId)
 
bool updatePeriodic (uint32 subscriptionId, double rate_Hz)
 
- Public Member Functions inherited from openjaus::core::services::Transport
 Transport ()
 
virtual ~Transport ()
 
virtual bool enqueue (model::Trigger *trigger)
 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)
 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)
 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)
 SendMessage action with input SendMessage. More...
 
virtual bool broadcastToNode (model::Trigger *trigger)
 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)
 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)
 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)
 CheckTransportPolicy action with input CheckTransportPolicy. More...
 
virtual ReportTransportPolicy getReportTransportPolicy (QueryTransportPolicy *queryTransportPolicy)
 Send action for ReportTransportPolicy with input message QueryTransportPolicy. More...
 
virtual bool storeTransportPolicy (ReportTransportPolicy *reportTransportPolicy)
 StoreTransportPolicy action with input ReportTransportPolicy. More...
 
model::StategetCurrentState ()
 
void addAckNakCallback (void(*callback)(const transport::AckNakEventArgs &args))
 Adds a static callback that will execute when an ACK/NAK events occurs on the JUDP Interface. More...
 
void addAckNakCallback (void(*callback)(void *object, const transport::AckNakEventArgs &args), void *object)
 Adds a class callback that will execute when an ACK/NAK events occurs on the JUDP Interface. More...
 
template<class MessageType , class CallbackClass >
void addMessageCallback (bool(CallbackClass::*callback)(MessageType &messageRef), CallbackClass *object)
 
template<class CallbackClass >
void addMessageCallback (bool(CallbackClass::*callback)(model::Trigger *trigger), CallbackClass *object)
 
template<class MessageType >
void addMessageCallback (bool(*callback)(MessageType &messageRef))
 

Static Public Member Functions

static const char * uri ()
 The URI for the Service. More...
 
static model::Servicecreate ()
 Builds a default instance of the StabilizerDriver Service and populates the URI and Version numbers. More...
 
- Static Public Member Functions inherited from openjaus::ugv::StabilizerDriverInterface
static OPENJAUS_DEPRECATED model::Service StabilizerDriverService ()
 Builds a default instance of the StabilizerDriver Service and populates the URI and Version numbers. More...
 
static OPENJAUS_DEPRECATED std::string StabilizerDriverUri ()
 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...
 
- Static Public Member Functions inherited from openjaus::core::services::Management
static const char * uri ()
 The URI for the Service. More...
 
static model::Servicecreate ()
 Builds a default instance of the Management Service and populates the URI and Version numbers. More...
 
- Static Public Member Functions inherited from openjaus::core::services::AccessControl
static const char * uri ()
 The URI for the Service. More...
 
static model::Servicecreate ()
 Builds a default instance of the AccessControl Service and populates the URI and Version numbers. More...
 
- Static Public Member Functions inherited from openjaus::core::services::Events
static const char * uri ()
 The URI for the Service. More...
 
static model::Servicecreate ()
 Builds a default instance of the Events Service and populates the URI and Version numbers. More...
 
- Static Public Member Functions inherited from openjaus::core::services::Transport
static const char * uri ()
 The URI for the Service. More...
 
static model::Servicecreate ()
 Builds a default instance of the Transport Service and populates the URI and Version numbers. More...
 

Private Attributes

StabilizerDriverDefaultLoop stabilizerDriverDefaultLoop
 
StabilizerDriverReadyLoop stabilizerDriverReadyLoop
 

Additional Inherited Members

- Protected Member Functions inherited from openjaus::core::services::AccessControl
void configure (AccessControlSettingsInterface *settings)
 
void setClientAuthority (uint8_t *authorityCode)
 
- Protected Member Functions inherited from openjaus::core::services::Events
void configure (EventsSettingsInterface *settings)
 
void startService ()
 
void stopService ()
 
- Protected Member Functions inherited from openjaus::core::services::Transport
void configure (services::TransportSettingsInterface *settings)
 
void setComponentAddress (transport::Address *address)
 
void setReceiveQueue (system::PriorityQueue *queue)
 
void setSubsInterface (transport::Interface *interface)
 
void setNodeInterface (transport::Interface *interface)
 
void setComponentInterface (transport::Interface *interface)
 
void setJtcpInterface (transport::AS5669::JtcpInterface *interface)
 
void fireEvent (model::InternalEvent *event)
 
void sendToSelf (transport::Wrapper *wrapper)
 
transport::Address *& getComponentAddress ()
 
- Protected Attributes inherited from openjaus::core::services::Management
model::StateMachine standbyReady
 
model::State standby
 
model::State ready
 
model::State init
 
model::State shutdown
 
model::State emergency
 
model::State failure
 
- Protected Attributes inherited from openjaus::core::services::AccessControl
model::StateMachine accessStateMachine
 
model::State notControlled
 
model::State controlled
 
- Protected Attributes inherited from openjaus::core::services::Transport
model::StateMachine receive
 
model::State receivingState
 

Detailed Description

Constructor & Destructor Documentation

§ StabilizerDriver()

openjaus::ugv::services::StabilizerDriver::StabilizerDriver ( )

§ ~StabilizerDriver()

openjaus::ugv::services::StabilizerDriver::~StabilizerDriver ( )
virtual

Member Function Documentation

§ areReachable()

bool openjaus::ugv::services::StabilizerDriver::areReachable ( SetStabilizerPosition setStabilizerPosition)
virtual

True if the positions specified in the message are within each stabilizers reachable workspace.

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

Implements openjaus::ugv::StabilizerDriverInterface.

§ create()

model::Service * openjaus::ugv::services::StabilizerDriver::create ( )
static
Returns
model::Service - The populated service.

§ getReportStabilizerCapabilities()

ugv::ReportStabilizerCapabilities openjaus::ugv::services::StabilizerDriver::getReportStabilizerCapabilities ( QueryStabilizerCapabilities queryStabilizerCapabilities)
virtual
Parameters
[in]queryStabilizerCapabilities- Input Trigger.
Returns
ReportStabilizerCapabilities Output Message.

Implements openjaus::ugv::StabilizerDriverInterface.

§ getReportStabilizerEffort()

ugv::ReportStabilizerEffort openjaus::ugv::services::StabilizerDriver::getReportStabilizerEffort ( QueryStabilizerEffort queryStabilizerEffort)
virtual
Parameters
[in]queryStabilizerEffort- Input Trigger.
Returns
ReportStabilizerEffort Output Message.

Implements openjaus::ugv::StabilizerDriverInterface.

§ getReportStabilizerPosition()

ugv::ReportStabilizerPosition openjaus::ugv::services::StabilizerDriver::getReportStabilizerPosition ( QueryStabilizerPosition queryStabilizerPosition)
virtual
Parameters
[in]queryStabilizerPosition- Input Trigger.
Returns
ReportStabilizerPosition Output Message.

Implements openjaus::ugv::StabilizerDriverInterface.

§ setStabilizerEffort()

bool openjaus::ugv::services::StabilizerDriver::setStabilizerEffort ( SetStabilizerEffort setStabilizerEffort)
virtual

Set the actuator effort levels for the specified Stabilizers.

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

Implements openjaus::ugv::StabilizerDriverInterface.

§ setStabilizerPosition()

bool openjaus::ugv::services::StabilizerDriver::setStabilizerPosition ( SetStabilizerPosition setStabilizerPosition)
virtual

Set the position for the specified Stabilizers.

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

Implements openjaus::ugv::StabilizerDriverInterface.

§ stabilizersExist() [1/2]

bool openjaus::ugv::services::StabilizerDriver::stabilizersExist ( SetStabilizerEffort setStabilizerEffort)
virtual

True if the message contains only valid stabilizer IDs.

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

Implements openjaus::ugv::StabilizerDriverInterface.

§ stabilizersExist() [2/2]

bool openjaus::ugv::services::StabilizerDriver::stabilizersExist ( SetStabilizerPosition setStabilizerPosition)
virtual

True if the message contains only valid stabilizer IDs.

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

Implements openjaus::ugv::StabilizerDriverInterface.

§ stopMotion()

void openjaus::ugv::services::StabilizerDriver::stopMotion ( )
virtual

§ uri()

const char * openjaus::ugv::services::StabilizerDriver::uri ( )
static
Returns
const char* - The URI.

Member Data Documentation

§ stabilizerDriverDefaultLoop

StabilizerDriverDefaultLoop openjaus::ugv::services::StabilizerDriver::stabilizerDriverDefaultLoop
private

§ stabilizerDriverReadyLoop

StabilizerDriverReadyLoop openjaus::ugv::services::StabilizerDriver::stabilizerDriverReadyLoop
private

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