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

#include <RangeSensorInterface.h>

Inherits openjaus::core_v1_1::AccessControlInterface.

Inherited by openjaus::environment_v1_0::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 ConfirmSensorConfiguration	getConfirmSensorConfiguration (SetRangeSensorConfiguration *setRangeSensorConfiguration)=0
	Send ConfirmSensorConfiguration message to the component Send ConfirmSensorConfiguration message to the component. 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_v1_1::AccessControlInterface
virtual	~AccessControlInterface ()

virtual void	init ()=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	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	sendRejectControlReleased (ReleaseControl *releaseControl)=0
	SendRejectControlReleased action with input ReleaseControl. More...

virtual bool	sendRejectControlReleased (AccessControlTimeout *accessControlTimeout)=0
	SendRejectControlReleased action with input AccessControlTimeout. 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_v1_1::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_v1_1::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_v1_1::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_v1_1::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_v1_1::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 sensor�s 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 sensor�s native coordinate system (sensor�s origin) to the specified point. Bearing is the angle, in radians, that the line from the sensor�s origin to the specified point makes about the sensor�s 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 sensor�s 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 sensor�s 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:

urn:jaus:jss:core:AccessControl

Constructor & Destructor Documentation

◆ ~RangeSensorInterface()

virtual openjaus::environment_v1_0::RangeSensorInterface::~RangeSensorInterface ( )

inlinevirtual

Member Function Documentation

◆ getConfirmSensorConfiguration()

virtual ConfirmSensorConfiguration openjaus::environment_v1_0::RangeSensorInterface::getConfirmSensorConfiguration ( SetRangeSensorConfiguration * setRangeSensorConfiguration )

pure virtual

Parameters

[in] setRangeSensorConfiguration - Input Trigger.

Returns: ConfirmSensorConfiguration Output Message.

Implemented in openjaus::environment_v1_0::services::RangeSensor.

◆ getReportRangeSensorCapabilities()

virtual ReportRangeSensorCapabilities openjaus::environment_v1_0::RangeSensorInterface::getReportRangeSensorCapabilities ( QueryRangeSensorCapabilities * queryRangeSensorCapabilities )

pure virtual

Parameters

[in] queryRangeSensorCapabilities - Input Trigger.

Returns: ReportRangeSensorCapabilities Output Message.

Implemented in openjaus::environment_v1_0::services::RangeSensor.

◆ getReportRangeSensorCompressedData()

virtual ReportRangeSensorCompressedData openjaus::environment_v1_0::RangeSensorInterface::getReportRangeSensorCompressedData ( QueryRangeSensorCompressedData * queryRangeSensorCompressedData )

pure virtual

Parameters

[in] queryRangeSensorCompressedData - Input Trigger.

Returns: ReportRangeSensorCompressedData Output Message.

Implemented in openjaus::environment_v1_0::services::RangeSensor.

◆ getReportRangeSensorCompressedDataInNativeSystem()

virtual ReportRangeSensorCompressedData openjaus::environment_v1_0::RangeSensorInterface::getReportRangeSensorCompressedDataInNativeSystem ( QueryRangeSensorCompressedData * queryRangeSensorCompressedData )

pure virtual

Parameters

[in] queryRangeSensorCompressedData - Input Trigger.

Returns: ReportRangeSensorCompressedData Output Message.

Implemented in openjaus::environment_v1_0::services::RangeSensor.

◆ getReportRangeSensorConfiguration()

virtual ReportRangeSensorConfiguration openjaus::environment_v1_0::RangeSensorInterface::getReportRangeSensorConfiguration ( QueryRangeSensorConfiguration * queryRangeSensorConfiguration )

pure virtual

Parameters

[in] queryRangeSensorConfiguration - Input Trigger.

Returns: ReportRangeSensorConfiguration Output Message.

Implemented in openjaus::environment_v1_0::services::RangeSensor.

◆ getReportRangeSensorData()

virtual ReportRangeSensorData openjaus::environment_v1_0::RangeSensorInterface::getReportRangeSensorData ( QueryRangeSensorData * queryRangeSensorData )

pure virtual

Parameters

[in] queryRangeSensorData - Input Trigger.

Returns: ReportRangeSensorData Output Message.

Implemented in openjaus::environment_v1_0::services::RangeSensor.

◆ getReportRangeSensorDataInNativeSystem()

virtual ReportRangeSensorData openjaus::environment_v1_0::RangeSensorInterface::getReportRangeSensorDataInNativeSystem ( QueryRangeSensorData * queryRangeSensorData )

pure virtual

Parameters

[in] queryRangeSensorData - Input Trigger.

Returns: ReportRangeSensorData Output Message.

Implemented in openjaus::environment_v1_0::services::RangeSensor.

◆ getReportRangeSensorGeometricProperties()

virtual ReportRangeSensorGeometricProperties openjaus::environment_v1_0::RangeSensorInterface::getReportRangeSensorGeometricProperties ( QuerySensorGeometricProperties * querySensorGeometricProperties )

pure virtual

Parameters

[in] querySensorGeometricProperties - Input Trigger.

Returns: ReportRangeSensorGeometricProperties Output Message.

Implemented in openjaus::environment_v1_0::services::RangeSensor.

◆ isCoordinateTransformSupported() [1/2]

virtual bool openjaus::environment_v1_0::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_v1_0::services::RangeSensor.

◆ isCoordinateTransformSupported() [2/2]

virtual bool openjaus::environment_v1_0::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_v1_0::services::RangeSensor.

◆ RangeSensorService()

static OPENJAUS_DEPRECATED model::Service openjaus::environment_v1_0::RangeSensorInterface::RangeSensorService ( )

inlinestatic

Returns: model::Service - The populated service.

◆ RangeSensorUri()

static OPENJAUS_DEPRECATED std::string openjaus::environment_v1_0::RangeSensorInterface::RangeSensorUri ( )

inlinestatic

Returns: std::string - Service URI

◆ updateRangeSensorConfiguration()

virtual bool openjaus::environment_v1_0::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_v1_0::services::RangeSensor.

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

include/openjaus/environment_v1_0/RangeSensorInterface.h

Public Member Functions

Static Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ ~RangeSensorInterface()

Member Function Documentation

◆ getConfirmSensorConfiguration()

◆ getReportRangeSensorCapabilities()

◆ getReportRangeSensorCompressedData()

◆ getReportRangeSensorCompressedDataInNativeSystem()

◆ getReportRangeSensorConfiguration()

◆ getReportRangeSensorData()

◆ getReportRangeSensorDataInNativeSystem()

◆ getReportRangeSensorGeometricProperties()

◆ isCoordinateTransformSupported() [1/2]

◆ isCoordinateTransformSupported() [2/2]

◆ RangeSensorService()

◆ RangeSensorUri()

◆ updateRangeSensorConfiguration()