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

#include <Discovery.h>

Inherits openjaus::core::DiscoveryInterface, and openjaus::core::services::Events.

Inherited by openjaus::core::EventsBase [virtual].

Public Member Functions
	Discovery ()

virtual	~Discovery ()

virtual bool	publishServices (RegisterServices *registerServices)
	PublishServices action with input RegisterServices. More...

virtual ReportIdentification	getReportIdentification (QueryIdentification *queryIdentification)
	Send a Report Identification message to the component that sent the query. More...

virtual ReportConfiguration	getReportConfiguration (QueryConfiguration *queryConfiguration)
	Send a Report Configuration message to the component that sent the query. More...

virtual ReportSubsystemList	getReportSubsystemList (QuerySubsystemList *querySubsystemList)
	Send a Report Subsystems List message to the component that sent the query. More...

virtual ReportServices	getReportServices (QueryServices *queryServices)
	Send a Report Services message to the component that sent the query. More...

virtual 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. More...

void	startService ()

void	stopService ()

Public Member Functions inherited from openjaus::core::DiscoveryInterface
virtual	~DiscoveryInterface ()

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::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::State *	getCurrentState ()

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::Service *	create ()
	Builds a default instance of the Discovery Service and populates the URI and Version numbers. More...

Static Public Member Functions inherited from openjaus::core::DiscoveryInterface
static OPENJAUS_DEPRECATED model::Service	DiscoveryService ()
	Builds a default instance of the Discovery Service and populates the URI and Version numbers. More...

static OPENJAUS_DEPRECATED std::string	DiscoveryUri ()
	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::Events
static const char *	uri ()
	The URI for the Service. More...

static model::Service *	create ()
	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::Service *	create ()
	Builds a default instance of the Transport Service and populates the URI and Version numbers. More...

Protected Member Functions
void	setSystemTree (model::SystemTree *systemTree)

void	setServices (std::vector< model::Service > serviceList)

void	configure (DiscoverySettingsInterface *settings)

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 ()

Private Member Functions
core::RSLSubsystemRecord	reportServiceListGetSubsystem (core::QSLSubsystemRecord &querySubsRec)

core::ServicesNodeRecord	reportServiceListGetNode (uint16 subsId, core::QSLNodeRecord &queryNodeRec)

core::ServicesComponentRecord	reportServiceListGetComponent (uint16 subsId, uint8 nodeId, core::QSLComponentRecord &queryCmptRec)

void	handleLocalComponentAdd (const transport::Address &address)

void	sendQueryIdentification (core::SystemLevelEnumeration::SystemLevelEnum queryLevel, const transport::Address &destination)

std::vector< std::pair< uint8_t, std::vector< uint8_t > > >	buildRequestedIds (core::QSNodeList &nodeList)

void	populateReportedNodeList (std::vector< std::pair< uint8_t, std::vector< uint8_t > > > &requestedIds, model::SubsystemInfo &subsystem, core::ServicesNodeList &nodeList)

void	addComponentsOnNode (uint8_t nodeId, std::vector< uint8_t > &cmptIds, model::SubsystemInfo &subsystem, core::ServicesNodeList &nodeList)

void	addComponentsOnAllNodes (std::vector< uint8_t > &cmptIds, model::SubsystemInfo &subsystem, core::ServicesNodeList &nodeList)

void	addComponentsOnNode (std::vector< uint8_t > &cmptIds, const model::NodeInfo *const node, core::ServicesNodeList &nodeList)

void	addComponentsOnNode (std::vector< uint8_t > &cmptIds, const model::NodeInfo *const node, core::ServicesNodeRecord &nodeRecord)

void	addAllNodes (std::vector< uint8_t > &cmptIds, core::ServicesNodeList &nodeList, const std::map< unsigned char, model::NodeInfo *> &nodeMap)

void	addNode (uint8_t nodeId, std::vector< uint8_t > &cmptIds, core::ServicesNodeList &nodeList, const std::map< unsigned char, model::NodeInfo *> &nodeMap)

void	addComponent (uint8_t cmptId, const model::NodeInfo *const node, core::ServicesNodeRecord &nodeRecord)

void	addAllComponents (const model::NodeInfo *const node, core::ServicesNodeRecord &nodeRecord)

void	addComponent (const model::ComponentInfo *const cmpt, ServicesComponentList &cmptList)

void	addAllServices (const model::ComponentInfo *const cmpt, ServicesComponentRecord &cmptRecord)

void	addService (const model::Service *const service, core::ServicesServiceList &serviceList)

Private Attributes
DiscoveryLoopback	discoveryLoopback

model::SystemTree *	systemTree

DiscoverySettingsInterface *	settings

std::vector< model::Service * > *	myServiceList

Additional Inherited Members
Protected Attributes inherited from openjaus::core::services::Transport
model::StateMachine	receive

model::State	receivingState

Detailed Description

Constructor & Destructor Documentation

§ Discovery()

openjaus::core::services::Discovery::Discovery ( )

§ ~Discovery()

openjaus::core::services::Discovery::~Discovery ( )

virtual

Member Function Documentation

§ addAllComponents()

void openjaus::core::services::Discovery::addAllComponents	(	const model::NodeInfo *const	node,
		core::ServicesNodeRecord &	nodeRecord
	)

private

§ addAllNodes()

void openjaus::core::services::Discovery::addAllNodes	(	std::vector< uint8_t > &	cmptIds,
		core::ServicesNodeList &	nodeList,
		const std::map< unsigned char, model::NodeInfo *> &	nodeMap
	)

private

§ addAllServices()

void openjaus::core::services::Discovery::addAllServices	(	const model::ComponentInfo *const	cmpt,
		ServicesComponentRecord &	cmptRecord
	)

private

§ addComponent() [1/2]

void openjaus::core::services::Discovery::addComponent	(	uint8_t	cmptId,
		const model::NodeInfo *const	node,
		core::ServicesNodeRecord &	nodeRecord
	)

private

§ addComponent() [2/2]

void openjaus::core::services::Discovery::addComponent	(	const model::ComponentInfo *const	cmpt,
		ServicesComponentList &	cmptList
	)

private

§ addComponentsOnAllNodes()

void openjaus::core::services::Discovery::addComponentsOnAllNodes	(	std::vector< uint8_t > &	cmptIds,
		model::SubsystemInfo &	subsystem,
		core::ServicesNodeList &	nodeList
	)

private

§ addComponentsOnNode() [1/3]

void openjaus::core::services::Discovery::addComponentsOnNode	(	uint8_t	nodeId,
		std::vector< uint8_t > &	cmptIds,
		model::SubsystemInfo &	subsystem,
		core::ServicesNodeList &	nodeList
	)

private

§ addComponentsOnNode() [2/3]

void openjaus::core::services::Discovery::addComponentsOnNode	(	std::vector< uint8_t > &	cmptIds,
		const model::NodeInfo *const	node,
		core::ServicesNodeList &	nodeList
	)

private

§ addComponentsOnNode() [3/3]

void openjaus::core::services::Discovery::addComponentsOnNode	(	std::vector< uint8_t > &	cmptIds,
		const model::NodeInfo *const	node,
		core::ServicesNodeRecord &	nodeRecord
	)

private

§ addNode()

void openjaus::core::services::Discovery::addNode	(	uint8_t	nodeId,
		std::vector< uint8_t > &	cmptIds,
		core::ServicesNodeList &	nodeList,
		const std::map< unsigned char, model::NodeInfo *> &	nodeMap
	)

private

§ addService()

void openjaus::core::services::Discovery::addService	(	const model::Service *const	service,
		core::ServicesServiceList &	serviceList
	)

private

§ buildRequestedIds()

std::vector<std::pair<uint8_t, std::vector<uint8_t> > > openjaus::core::services::Discovery::buildRequestedIds ( core::QSNodeList & nodeList )

private

§ configure()

void openjaus::core::services::Discovery::configure ( DiscoverySettingsInterface * settings )

protected

§ create()

model::Service * openjaus::core::services::Discovery::create ( )

static

Returns: model::Service - The populated service.

§ getReportConfiguration()

core::ReportConfiguration openjaus::core::services::Discovery::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.

Implements openjaus::core::DiscoveryInterface.

§ getReportIdentification()

core::ReportIdentification openjaus::core::services::Discovery::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.

Implements openjaus::core::DiscoveryInterface.

§ getReportServiceList()

core::ReportServiceList openjaus::core::services::Discovery::getReportServiceList ( QueryServiceList * queryServiceList )

virtual

Parameters

[in] queryServiceList - Input Trigger.

Returns: ReportServiceList Output Message.

Implements openjaus::core::DiscoveryInterface.

§ getReportServices()

core::ReportServices openjaus::core::services::Discovery::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.

Implements openjaus::core::DiscoveryInterface.

§ getReportSubsystemList()

core::ReportSubsystemList openjaus::core::services::Discovery::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.

Implements openjaus::core::DiscoveryInterface.

§ handleLocalComponentAdd()

void openjaus::core::services::Discovery::handleLocalComponentAdd ( const transport::Address & address )

private

§ populateReportedNodeList()

void openjaus::core::services::Discovery::populateReportedNodeList	(	std::vector< std::pair< uint8_t, std::vector< uint8_t > > > &	requestedIds,
		model::SubsystemInfo &	subsystem,
		core::ServicesNodeList &	nodeList
	)

private

§ publishServices()

bool openjaus::core::services::Discovery::publishServices ( RegisterServices * registerServices )

virtual

PublishServices action with input RegisterServices.

Parameters

[in] registerServices - Input Trigger.

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

Implements openjaus::core::DiscoveryInterface.

§ reportServiceListGetComponent()

core::ServicesComponentRecord openjaus::core::services::Discovery::reportServiceListGetComponent	(	uint16	subsId,
		uint8	nodeId,
		core::QSLComponentRecord &	queryCmptRec
	)

private

§ reportServiceListGetNode()

core::ServicesNodeRecord openjaus::core::services::Discovery::reportServiceListGetNode	(	uint16	subsId,
		core::QSLNodeRecord &	queryNodeRec
	)

private

§ reportServiceListGetSubsystem()

core::RSLSubsystemRecord openjaus::core::services::Discovery::reportServiceListGetSubsystem ( core::QSLSubsystemRecord & querySubsRec )

private

§ sendQueryIdentification()

void openjaus::core::services::Discovery::sendQueryIdentification	(	core::SystemLevelEnumeration::SystemLevelEnum	queryLevel,
		const transport::Address &	destination
	)

private

§ setServices()

void openjaus::core::services::Discovery::setServices ( std::vector< model::Service *> * serviceList )

protected

§ setSystemTree()

void openjaus::core::services::Discovery::setSystemTree ( model::SystemTree * systemTree )

protected

§ startService()

void openjaus::core::services::Discovery::startService ( )

§ stopService()

void openjaus::core::services::Discovery::stopService ( )

§ uri()

const char * openjaus::core::services::Discovery::uri ( )

static

Returns: const char* - The URI.

Member Data Documentation

§ discoveryLoopback

DiscoveryLoopback openjaus::core::services::Discovery::discoveryLoopback

private

§ myServiceList

std::vector<model::Service*>* openjaus::core::services::Discovery::myServiceList

private

§ settings

DiscoverySettingsInterface* openjaus::core::services::Discovery::settings

private

§ systemTree

model::SystemTree* openjaus::core::services::Discovery::systemTree

private

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

include/openjaus/core/Services/Discovery.h
src/openjaus/core/Services/Discovery.cpp

Public Member Functions

Static Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

§ Discovery()

§ ~Discovery()

Member Function Documentation

§ addAllComponents()

§ addAllNodes()

§ addAllServices()

§ addComponent() [1/2]

§ addComponent() [2/2]

§ addComponentsOnAllNodes()

§ addComponentsOnNode() [1/3]

§ addComponentsOnNode() [2/3]

§ addComponentsOnNode() [3/3]

§ addNode()

§ addService()

§ buildRequestedIds()

§ configure()

§ create()

§ getReportConfiguration()

§ getReportIdentification()

§ getReportServiceList()

§ getReportServices()

§ getReportSubsystemList()

§ handleLocalComponentAdd()

§ populateReportedNodeList()

§ publishServices()

§ reportServiceListGetComponent()

§ reportServiceListGetNode()

§ reportServiceListGetSubsystem()

§ sendQueryIdentification()

§ setServices()

§ setSystemTree()

§ startService()

§ stopService()

§ uri()

Member Data Documentation

§ discoveryLoopback

§ myServiceList

§ settings

§ systemTree