The Discovery Service implementation of the Core Service Set library. More...

#include <discovery.h>

Inheritance diagram for JAUS::Discovery:

Classes
class	Callback
	Callback class used to be notified when a Subsystem is discovered, updated, or disconnects from system. More...
Public Types
typedef std::map< UShort, std::string >	List
	List of discovered subsystems.
Public Member Functions
	Discovery ()
	Constructor.
	~Discovery ()
	Destructor.
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	Initialize ()
	Called on initialization.
virtual void	Shutdown ()
	Shutsdown the service.
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.
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.
virtual void	CheckServiceStatus (const unsigned int timeSinceLastCheckMs)
	Method called periodically by external classes and is used to verify subscriptions are still valid.
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	SetComponentIdentification (const std::string &identification)
void	SetNodeIdentification (const std::string &identification)
void	SetSubsystemIdentification (const Subsystem::Type type, const std::string &identification)
	Sets the identification information for the subsystem. If this data is not set, then Subsystem Discovery won't work correctly.
bool	SetDiscoveryFrequency (const double frequencyHz)
	Sets how often the service to send a query to identify new components through the discovery process.
void	DiscoverSubsystems (const bool enable=true)
Subsystem::Type	GetSubsystemType () const
std::string	GetSubsystemIdentification () const
std::string	GetNodeIdentification () const
std::string	GetComponentIdentification () const
List	GetSubsystemList () const
List	GetVehicleList () const
Address::List	GetComponentsWithService (const std::string &serviceName) const
Subsystem::Ptr	GetSubsystem (const UShort id)
	Gets a pointer to the subsystem information if available. This pointer returned is thread safe.
Subsystem::Ptr	GetSubsystem (const Address &id)
const Subsystem::Ptr	GetSubsystem (const UShort id) const
	Gets a pointer to the subsystem information if available. This pointer returned is thread safe.
const Subsystem::Ptr	GetSubsystem (const Address &id) const
Vehicle::Ptr	GetVehicle (const UShort id)
	Gets a pointer to the vehicle information if available. This pointer returned is thread safe. Vehicle data is similar to a Subsystem, except it contains additional information such as position and orientation which is set by other services.
Vehicle::Ptr	GetVehicle (const Address &id)
const Vehicle::Ptr	GetVehicle (const UShort id) const
	Gets a pointer to the vehicle information if available. This pointer returned is thread safe. Vehicle data is similar to a Subsystem, except it contains additional information such as position and orientation which is set by other services.
const Vehicle::Ptr	GetVehicle (const Address &id) const
void	GetSubsystems (Subsystem::Map &subsystems) const
	Gets a copy of the subsystem data, you must delete this data.
void	GetVehicles (Vehicle::Map &vehicles) const
	Gets a copy of the subsystem data, you must delete this data.
void	RegisterCallback (Callback *callback, const bool add=true)
	Method to register a callback to receive Discovery Events.
void	PrintSystemConfiguration () const
	Prints system information to the console.
virtual void	PrintStatus () const
	Prints status info about the Service to the console.
void	TriggerDiscoveryCallbacks ()
	Triggers Discovery callbacks. Only use if you are updating subsystem data externally from Discovery service.
void	SetSubsystemsToDiscover (const std::set< UShort > &toDiscover)
	By default, all subsystems are discovered. Use this method to filter out to only a specific set of subsystems you are interested in.
std::set< UShort >	GetSubsystemsToDiscover () const
Static Public Attributes
static const std::string	Name = "urn:jaus:jss:core:Discovery"
	String name of the Service.

Detailed Description

The Discovery Service implementation of the Core Service Set library.

The process of discovery is conducted at both the node level and the subsystem level. This service supports the discovery of both legacy components defined the JAUS Reference Architecture 3.2+, and new components. The Component IDs of legacy components were fixed at specification time (Primitive Driver == 33 for example) and could only contain one service beyond the core service support. New components may use any component ID that is not used in the Reference Architecture for legacy component definitions. New components can also contain two or more services beyond the core service support.

Definition at line 75 of file discovery.h.

Member Typedef Documentation

typedef std::map<UShort, std::string> JAUS::Discovery::List

List of discovered subsystems.

Definition at line 94 of file discovery.h.

Constructor & Destructor Documentation

Discovery::Discovery ( )

Constructor.

Definition at line 68 of file discovery.cpp.

Discovery::~Discovery ( )

Destructor.

Definition at line 84 of file discovery.cpp.

Member Function Documentation

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

Method called periodically by external classes and is used to verify subscriptions are still valid.

Parameters:

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

Reimplemented from JAUS::Service.

Definition at line 740 of file discovery.cpp.

Message * Discovery::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 691 of file discovery.cpp.

void JAUS::Discovery::DiscoverSubsystems ( const bool enable = true ) [inline]

Definition at line 129 of file discovery.h.

bool Discovery::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 883 of file discovery.cpp.

std::string JAUS::Discovery::GetComponentIdentification ( ) const [inline]

Definition at line 137 of file discovery.h.

Address::List Discovery::GetComponentsWithService ( const std::string & serviceName ) const

Returns:: A list of any components discovered with a given service.

Definition at line 1075 of file discovery.cpp.

std::string JAUS::Discovery::GetNodeIdentification ( ) const [inline]

Definition at line 135 of file discovery.h.

Subsystem::Ptr Discovery::GetSubsystem ( const UShort id )

Gets a pointer to the subsystem information if available. This pointer returned is thread safe.

Parameters:

[in] id The subsystem ID number of the subsystem.

Returns:: Thread safe pointer on success, NULL safe pointer if data not present.

Definition at line 1129 of file discovery.cpp.

Subsystem::Ptr JAUS::Discovery::GetSubsystem ( const Address & id ) [inline]

Definition at line 147 of file discovery.h.

const Subsystem::Ptr Discovery::GetSubsystem ( const UShort id ) const

Gets a pointer to the subsystem information if available. This pointer returned is thread safe.

Parameters:

[in] id The subsystem ID number of the subsystem.

Returns:: Thread safe pointer on success, NULL safe pointer if data not present.

Definition at line 1163 of file discovery.cpp.

const Subsystem::Ptr JAUS::Discovery::GetSubsystem ( const Address & id ) const [inline]

Definition at line 151 of file discovery.h.

std::string JAUS::Discovery::GetSubsystemIdentification ( ) const [inline]

Definition at line 133 of file discovery.h.

Discovery::List Discovery::GetSubsystemList ( ) const

Returns:: A map list of all subsystems and their identification names.

Definition at line 1018 of file discovery.cpp.

void Discovery::GetSubsystems ( Subsystem::Map & subsystems ) const

Gets a copy of the subsystem data, you must delete this data.

An easy way to delete the data is with the Subsystem::DeleteSubsystemMap method.

Parameters:

[in] subsystems Where to save the system configuration to.

Definition at line 1276 of file discovery.cpp.

std::set< UShort > Discovery::GetSubsystemsToDiscover ( ) const

Returns:: List of subsystems being discovered (if emtpy, all are being discovered - default).

Definition at line 1511 of file discovery.cpp.

Subsystem::Type JAUS::Discovery::GetSubsystemType ( ) const [inline]

Definition at line 131 of file discovery.h.

Vehicle::Ptr JAUS::Discovery::GetVehicle ( const Address & id ) [inline]

Definition at line 155 of file discovery.h.

const Vehicle::Ptr JAUS::Discovery::GetVehicle ( const Address & id ) const [inline]

Definition at line 159 of file discovery.h.

Vehicle::Ptr Discovery::GetVehicle ( const UShort id )

Gets a pointer to the vehicle information if available. This pointer returned is thread safe. Vehicle data is similar to a Subsystem, except it contains additional information such as position and orientation which is set by other services.

Parameters:

[in] id The subsystem ID number of the vehicle.

Returns:: Thread safe pointer on success, NULL safe pointer if data not present.

Definition at line 1199 of file discovery.cpp.

const Vehicle::Ptr Discovery::GetVehicle ( const UShort id ) const

Gets a pointer to the vehicle information if available. This pointer returned is thread safe. Vehicle data is similar to a Subsystem, except it contains additional information such as position and orientation which is set by other services.

Parameters:

[in] id The subsystem ID number of the vehicle.

Returns:: Thread safe pointer on success, NULL safe pointer if data not present.

Definition at line 1239 of file discovery.cpp.

Discovery::List Discovery::GetVehicleList ( ) const

Returns:: A map list of all vehicles and their identification names.

Definition at line 1045 of file discovery.cpp.

void Discovery::GetVehicles ( Vehicle::Map & vehicles ) const

Gets a copy of the subsystem data, you must delete this data.

An easy way to delete the data is with the Subsystem::DeleteSubsystemMap method.

Parameters:

[in] vehicles Where to save the system configuration to.

Definition at line 1312 of file discovery.cpp.

void Discovery::Initialize ( ) [virtual]

Called on initialization.

Reimplemented from JAUS::Service.

Definition at line 152 of file discovery.cpp.

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

Implements JAUS::Service.

Definition at line 104 of file discovery.h.

bool Discovery::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 953 of file discovery.cpp.

bool Discovery::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 106 of file discovery.cpp.

void Discovery::PrintStatus ( ) const [virtual]

Prints status info about the Service to the console.

Reimplemented from JAUS::Service.

Definition at line 1434 of file discovery.cpp.

void Discovery::PrintSystemConfiguration ( ) const

Prints system information to the console.

Definition at line 1369 of file discovery.cpp.

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

Processes message received by the Service. If not supported, then message is passed to inheriting services.

This Service supports Discovery related messages only.

Parameters:

[in] message Message data to process.

Reimplemented from JAUS::Service.

Definition at line 200 of file discovery.cpp.

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

Method to register a callback to receive Discovery Events.

Discovery events include changes in configuration, identification, etc. to a subsystem.

Parameters:

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

Definition at line 1345 of file discovery.cpp.

void JAUS::Discovery::SetComponentIdentification ( const std::string & identification ) [inline]

Definition at line 120 of file discovery.h.

bool Discovery::SetDiscoveryFrequency ( const double frequencyHz )

Sets how often the service to send a query to identify new components through the discovery process.

Parameters:

[in] frequencyHz The frequency to broadcast a query message in Hz.

Returns:: True on success, false on failure.

Definition at line 1002 of file discovery.cpp.

void JAUS::Discovery::SetNodeIdentification ( const std::string & identification ) [inline]

Definition at line 122 of file discovery.h.

void Discovery::SetSubsystemIdentification	(	const Subsystem::Type	type,
		const std::string &	identification
	)

Sets the identification information for the subsystem. If this data is not set, then Subsystem Discovery won't work correctly.

Parameters:

[in]	type	Type of subsystem.
[in]	identification	Subsystem identification string [255 char max].

Definition at line 984 of file discovery.cpp.

void Discovery::SetSubsystemsToDiscover ( const std::set< UShort > & toDiscover )

By default, all subsystems are discovered. Use this method to filter out to only a specific set of subsystems you are interested in.

Parameters:

[in] toDiscover Subsystems to discovery.

Definition at line 1498 of file discovery.cpp.

void Discovery::Shutdown ( ) [virtual]

Shutsdown the service.

Reimplemented from JAUS::Service.

Definition at line 181 of file discovery.cpp.

void Discovery::TriggerDiscoveryCallbacks ( )

Triggers Discovery callbacks. Only use if you are updating subsystem data externally from Discovery service.

Definition at line 1451 of file discovery.cpp.

Member Data Documentation

const std::string Discovery::Name = "urn:jaus:jss:core:Discovery" [static]

String name of the Service.

Definition at line 78 of file discovery.h.

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

jaus++/2.0/include/jaus/core/discovery/discovery.h
jaus++/2.0/src/jaus/core/discovery/discovery.cpp

JAUS::Discovery Class Reference

Classes

Public Types

Public Member Functions

Static Public Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation