This service offers a basic interface for acquiring preemptable exclusive control to one or more related services that utilize this function. More...

#include <accesscontrol.h>

Inheritance diagram for JAUS::AccessControl:

List of all members.

Classes
class	Callback
	Callback class used to be notified when AccessControl service loses control of a component or a component releases control of the Service. More...
class	Child
	Class that all direct child Services of AccessControl must inherit from to support state transitions in control and system management. More...
Public Member Functions
	AccessControl ()
	Constructor.
	~AccessControl ()
	Destructor.
bool	AcceptCommandMessage (const Message *commandMessage) const
	Method to check if the message can be processed or not.
virtual bool	LoadSettings (const std::string &filename)
	Loads UDP configuration values from an XML file. Only loads values if transport has not been initialized.
virtual void	Shutdown ()
	Shutsdown the service.
bool	RequestComponentControl (const Address &id, const bool reacquire=true, const unsigned int waitTimeMs=Service::DefaultWaitMs)
	Method to request exclusive control of a component.
bool	ReleaseComponentControl (const Address &id, const unsigned int waitTimeMs=Service::DefaultWaitMs)
	Method to release exclusive control of a component.
virtual bool	GenerateEvent (const Events::Subscription &info) const
	Generates an event for the given information.
virtual bool	IsEventSupported (const Events::Type type, const double requestedPeriodicRate, const Message *queryMessage, double &confirmedPeriodicRate, std::string &errorMessage) const
	Checks if the event is supported by the Service.
void	SetControllable (const bool on=true)
	Method to enable control of the service/component by other components. By default, all components are controllable.
bool	IsControllable () const
virtual bool	IsDiscoverable () const
virtual void	Receive (const Message *message)
	Processes message received by the Service. If not supported, then message is passed to inheriting services depending on what type of control has been established for the component.
virtual Message *	CreateMessage (const UShort messageCode) const
	Attempts to create the message desired. Only message supported by this Service can be created by this Service.
void	SetAuthorityCode (const Byte authorityCode)
	Sets the value of the authority for the component/service. This value determines what components can request control and what components you can take control of.
Byte	GetAuthorityCode () const
bool	HaveControl (const Address &id) const
	Check if control has been established for a component.
bool	IsControlled () const
void	SetControllerID (const Address &id)
Address	GetControllerID () const
Byte	GetControllerAuthorityCode () const
Address::List	GetControlledComponents () const
virtual void	CheckServiceStatus (const unsigned int timeSinceLastCheckMs)
	Method called periodically by external classes and is used to verify control of components.
Byte	GetTimeoutPeriod () const
void	SetTimeoutPeriod (const Byte timeSeconds)
	Sets the timeout period for controlling components to lose control of this component. If timeSeconds is greater than 0, then controlling components must continuously re-acquire control within this window or they will lose it due to timeout.
Time::Stamp	GetControlCheckPeriod () const
Time	GetControllerUpdateTime () const
void	RegisterCallback (Callback *callback, const bool add=true)
	Method to register a callback to receive Control Events.
virtual void	PrintStatus () const
	Prints status info about the Service to the console.
Static Public Attributes
static const std::string	Name = "urn:jaus:jss:core:AccessControl"
	String name of the Service.
Protected Attributes
bool	mControllableFlag
	Is the Service controllable?
Byte	mAuthorityCode
	Authority code of the service.
Mutex	mControlMutex
	Mutex for thread protection of data.
Address::Set	mControlledComponents
	Components being controlled.
Address::Set	mToReleaseControl
	Components control is being released for.
std::map< Address, bool >	mMaintainFlags
	Flags to indicate control should be re-established.
std::map< Address, bool >	mControlFlags
	Flags to indicate which components we have verified control of.
Address	mControllerID
	ID of the controlling component.
Byte	mControllerAuthorityCode
	Authority code of controlling component.
Time	mControllerUpdateTime
	The last time the controller sent a command message.
Time	mControllerCheckTime
	The last time the controller updated control.
Byte	mTimeoutPeriod
	Timeout period in seconds.
double	mTimeoutThreshold
	Threshold for timeout requests/checking (percentage of timeout period).
std::map< Address, Byte >	mTimeoutPeriods
	Timeout periods for controlled components.
std::map< Address, Time >	mControlCheckTimes
	The last time a control check occurred for controlled components.
std::map< Address, Time >	mControlConfirmTimes
	The last time when control was confirmed froma controlled component.
Callback::Set	mCallbacks
	Callbacks for control events.
Mutex	mCallbacksMutex
	Mutex for thread protection of callbacks.

Detailed Description

This service offers a basic interface for acquiring preemptable exclusive control to one or more related services that utilize this function.

Once exclusive control is established, the related services shall only execute commands originating from the controlling component. Service is always granted to components of higher authority that are requesting exclusive control, all other Command messages will be ignored.

Definition at line 72 of file accesscontrol.h.

Constructor & Destructor Documentation

AccessControl::AccessControl ( )

Constructor.

Definition at line 56 of file accesscontrol.cpp.

AccessControl::~AccessControl ( )

Destructor.

Definition at line 72 of file accesscontrol.cpp.

Member Function Documentation

bool AccessControl::AcceptCommandMessage ( const Message * commandMessage ) const

Method to check if the message can be processed or not.

Definition at line 82 of file accesscontrol.cpp.

void AccessControl::CheckServiceStatus ( const unsigned int timeSinceLastCheckMs ) [virtual]

Method called periodically by external classes and is used to verify control of components.

Parameters:

[in] timeSinceLastCheckMs Number of milliseconds since the last time this method was called.

Reimplemented from JAUS::Service.

Definition at line 1072 of file accesscontrol.cpp.

Message * AccessControl::CreateMessage ( const UShort messageCode ) const [virtual]

Attempts to create the message desired. Only message supported by this Service can be created by this Service.

Parameters:

[in] messageCode Message to create.

Returns:: Pointer to newly allocated Message data, NULL if message is not supported by the Service.

Implements JAUS::Service.

Definition at line 896 of file accesscontrol.cpp.

bool AccessControl::GenerateEvent ( const Events::Subscription & info ) const [virtual]

Generates an event for the given information.

Parameters:

[in] info The event information (ID, Sequence #, etc.) for generation.

Returns:: True if event generated, otherwise false.

Implements JAUS::Events::Child.

Definition at line 361 of file accesscontrol.cpp.

Byte JAUS::AccessControl::GetAuthorityCode ( ) const [inline]

Definition at line 177 of file accesscontrol.h.

Time::Stamp JAUS::AccessControl::GetControlCheckPeriod ( ) const

Address::List AccessControl::GetControlledComponents ( ) const

Returns:: List of all components currently controlled by the service.

Definition at line 1045 of file accesscontrol.cpp.

Byte AccessControl::GetControllerAuthorityCode ( ) const

Returns:: Authority level of the controlling component.

Definition at line 1033 of file accesscontrol.cpp.

Address AccessControl::GetControllerID ( ) const

Returns:: ID of the controlling component.

Definition at line 1021 of file accesscontrol.cpp.

Time JAUS::AccessControl::GetControllerUpdateTime ( ) const [inline]

Definition at line 199 of file accesscontrol.h.

Byte AccessControl::GetTimeoutPeriod ( ) const

Returns:: Timeout period for this component (seconds).

Definition at line 1208 of file accesscontrol.cpp.

bool AccessControl::HaveControl ( const Address & id ) const

Check if control has been established for a component.

Parameters:

[in] id The ID of the component to check for control of. If a ID of 0.0.0 is passed, then the method will check if we are in control of any components.

Returns:: True if you have control, false otherwise.

Definition at line 970 of file accesscontrol.cpp.

bool JAUS::AccessControl::IsControllable ( ) const [inline]

Definition at line 167 of file accesscontrol.h.

bool AccessControl::IsControlled ( ) const

Returns:: True if the component is controlled, false otherwise.

Definition at line 994 of file accesscontrol.cpp.

virtual bool JAUS::AccessControl::IsDiscoverable ( ) const [inline, virtual]

Implements JAUS::Service.

Definition at line 169 of file accesscontrol.h.

bool AccessControl::IsEventSupported	(	const Events::Type	type,
		const double	requestedPeriodicRate,
		const Message *	queryMessage,
		double &	confirmedPeriodicRate,
		std::string &	errorMessage
	)		const `[virtual]`

Checks if the event is supported by the Service.

Parameters:

[in]	type	The event type (Periodic/EveryChange).
[in]	requestedPeriodicRate	If type == Periodic, then this is the desired update rate.
[in]	queryMessage	The query message associated with the event.
[out]	confirmedPeriodicRate	This is the confirmed periodic rate supported by the Service.
[out]	errorMessage	If not supported, this is an optional error message.

Returns:: True if event supported, otherwise false.

Implements JAUS::Events::Child.

Definition at line 398 of file accesscontrol.cpp.

bool AccessControl::LoadSettings ( const std::string & filename ) [virtual]

Loads UDP configuration values from an XML file. Only loads values if transport has not been initialized.

Parameters:

[in] filename File containing Service settings data.

Returns:: True on success, false on failure.

Reimplemented from JAUS::Service.

Definition at line 113 of file accesscontrol.cpp.

void AccessControl::PrintStatus ( ) const [virtual]

Prints status info about the Service to the console.

Reimplemented from JAUS::Service.

Definition at line 1250 of file accesscontrol.cpp.

void AccessControl::Receive ( const Message * message ) [virtual]

Processes message received by the Service. If not supported, then message is passed to inheriting services depending on what type of control has been established for the component.

This Service supports AccessControl related messages only.

Parameters:

[in] message Message data to process.

Reimplemented from JAUS::Service.

Definition at line 445 of file accesscontrol.cpp.

void AccessControl::RegisterCallback	(	Callback *	callback,
		const bool	add = `true`
	)

Method to register a callback to receive Control Events.

Control events include loss of control to a component we had control of or release of control by a controlling component.

Parameters:

[in]	callback	Pointer to callback to add/remove.
[in]	add	If true, callback is added, if false, it is removed.

Definition at line 1226 of file accesscontrol.cpp.

bool AccessControl::ReleaseComponentControl	(	const Address &	id,
		const unsigned int	waitTimeMs = `Service::DefaultWaitMs`
	)

Method to release exclusive control of a component.

Parameters:

[in]	id	The ID of the component to request control of. If ID is invalid (all zeros), then control is released to all components.
[in]	waitTimeMs	How long to wait for a response in milliseconds from the component being requested.

Returns:: True if control is established, otherwise false.

Definition at line 274 of file accesscontrol.cpp.

bool AccessControl::RequestComponentControl	(	const Address &	id,
		const bool	reacquire = `true`,
		const unsigned int	waitTimeMs = `Service::DefaultWaitMs`
	)

Method to request exclusive control of a component.

Parameters:

[in]	id	The ID of the component to request control of.
[in]	reacquire	If true, and control is lost for any reason, then we will try to re-acquire control. If false, and control is lost, we forget about the component.
[in]	waitTimeMs	How long to wait for a response in milliseconds from the component being requested.

Returns:: True if control is established, otherwise false.

Definition at line 186 of file accesscontrol.cpp.

void AccessControl::SetAuthorityCode ( const Byte authorityCode )

Sets the value of the authority for the component/service. This value determines what components can request control and what components you can take control of.

Parameters:

[in] authorityCode Authority level of the component.

Definition at line 951 of file accesscontrol.cpp.

void AccessControl::SetControllable ( const bool on = true )

Method to enable control of the service/component by other components. By default, all components are controllable.

Parameters:

[in] on If true, control is enabled, false it disable.

Definition at line 428 of file accesscontrol.cpp.

void AccessControl::SetControllerID ( const Address & id )

Returns:: ID of the controlling component.

Definition at line 1006 of file accesscontrol.cpp.

void AccessControl::SetTimeoutPeriod ( const Byte timeSeconds )

Sets the timeout period for controlling components to lose control of this component. If timeSeconds is greater than 0, then controlling components must continuously re-acquire control within this window or they will lose it due to timeout.

Parameters:

[in] timeSeconds How long before timeout occurs in seconds. A value of 0 disables timeout.

Definition at line 1197 of file accesscontrol.cpp.

void AccessControl::Shutdown ( ) [virtual]

Shutsdown the service.

Reimplemented from JAUS::Service.

Definition at line 158 of file accesscontrol.cpp.