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

#include <GlobalVectorDriverInterface.h>

Inherits openjaus::core::ManagementInterface.

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

Public Member Functions
virtual	~GlobalVectorDriverInterface ()

virtual ReportGlobalVector	getReportGlobalVector (QueryGlobalVector *queryGlobalVector)=0
	Send a Report Global Vector message. More...

virtual bool	setGlobalVector (SetGlobalVector *setGlobalVector)=0
	SetGlobalVector action with input SetGlobalVector. 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 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)=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	GlobalVectorDriverService ()
	Builds a default instance of the GlobalVectorDriver Service and populates the URI and Version numbers. More...

static OPENJAUS_DEPRECATED std::string	GlobalVectorDriverUri ()
	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 Global Vector Driver is to perform closed loop control of the desired global heading, altitude and speed of a mobile platform. The Global Vector Driver takes the desired heading of the platform as measured with respect to the global coordinate system and the desired speed of the platform. The desired heading angle is defined in a right hand sense about the Z axis of the global coordinate system (the Z axis points downward) where North is defined as zero degrees. The desired Altitude, measured in accordance with the WGS 84 standard, provides a means through which systems capable of flight can be controlled. For ground-based systems, the Altitude field is ignored. The Global Vector Driver also receives data from the Global Pose Sensor and the Velocity State Sensor. This information allows the Global Vector Driver to perform closed loop control on the platform's global heading, altitude and speed.

URI: urn:jaus:jss:mobility:GlobalVectorDriver

Version: 1.0

Inherits From:

urn:jaus:jss:core:Management

Constructor & Destructor Documentation

§ ~GlobalVectorDriverInterface()

virtual openjaus::mobility::GlobalVectorDriverInterface::~GlobalVectorDriverInterface ( )

inlinevirtual

Member Function Documentation

§ getReportGlobalVector()

virtual ReportGlobalVector openjaus::mobility::GlobalVectorDriverInterface::getReportGlobalVector ( QueryGlobalVector * queryGlobalVector )

pure virtual

Send a Report Global Vector message.

Parameters

[in] queryGlobalVector - Input Trigger.

Returns: ReportGlobalVector Output Message.

Implemented in openjaus::mobility::services::GlobalVectorDriver.

§ GlobalVectorDriverService()

static OPENJAUS_DEPRECATED model::Service openjaus::mobility::GlobalVectorDriverInterface::GlobalVectorDriverService ( )

inlinestatic

Returns: model::Service - The populated service.

§ GlobalVectorDriverUri()

static OPENJAUS_DEPRECATED std::string openjaus::mobility::GlobalVectorDriverInterface::GlobalVectorDriverUri ( )

inlinestatic

Returns: std::string - Service URI

§ setGlobalVector()

virtual bool openjaus::mobility::GlobalVectorDriverInterface::setGlobalVector ( SetGlobalVector * setGlobalVector )

pure virtual

SetGlobalVector action with input SetGlobalVector.