Service so that controlling components can interact with Microcontrollers on a subsystem. More...

#include <microcontroller.h>

Inheritance diagram for JAUS::Microcontroller:

Public Types
typedef std::map< std::string, bool >	DigitalStates
typedef std::map< std::string, double >	AnalogStates
Public Member Functions
	Microcontroller ()
	Constructor.
virtual	~Microcontroller ()
	Destructor.
virtual bool	IsDiscoverable () const
virtual void	SetDigitalOut (const std::string &name, const bool value)=0
virtual void	SetAnalogOut (const std::string &name, const double value)=0
virtual void	SetDigitalInput (const std::string &name, const bool value)
	Use this method to set the current value of a digital input of the Microcontroller.
virtual void	SetAnalogInput (const std::string &name, const double value)
	Use this method to set the current value of a analog input of the Microcontroller.
virtual bool	GetDigitalState (const std::string &name) const
	Returns the value of the state by name. Values for these states are set usin gthe SetDigitalInput method.
virtual double	GetAnalogState (const std::string &name) const
	Returns the value of the state by name. Values for these states are set usin gthe SetAnalogInput method.
DigitalStates	GetDigitalStates () const
AnalogStates	GetAnalogStates () const
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.
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	Receive (const Message *message)
	Processes message received by the Service. If not supported, then message is passed to inheriting services.
virtual bool	Resume ()
virtual bool	Reset ()
virtual bool	Standby ()
virtual bool	SetEmergency ()
virtual bool	ClearEmergency ()
virtual bool	ReleaseControl ()
	Method called whenever control of the parent component has been released.
virtual void	PrintStatus () const
	Prints the status of the Primitive Driver.
Static Public Attributes
static const std::string	Name = "urn:jaus:jss:jpp:extras:Microcontroller"
	Name of service (string).
Protected Member Functions
virtual void	CheckServiceSynchronization (const unsigned int timeSinceLastCheckMs)
	If synchronization is enabled, then this method is used to subscribe to sensor data from the component we are synchronizing with.
virtual void	SignalEvent (const bool digital, const std::string &name)
	Method used to signal an event has occured.
Protected Attributes
Mutex	mMcuMutex
	Mutex for thread protection of data.
DigitalStates	mDigitalStates
	Digital State of pins.
AnalogStates	mAnalogStates
	Analog state of pins.

Detailed Description

Service so that controlling components can interact with Microcontrollers on a subsystem.

Definition at line 56 of file microcontroller.h.

Member Typedef Documentation

typedef std::map<std::string, double> JAUS::Microcontroller::AnalogStates

Definition at line 61 of file microcontroller.h.

typedef std::map<std::string, bool> JAUS::Microcontroller::DigitalStates

Definition at line 60 of file microcontroller.h.

Constructor & Destructor Documentation

Microcontroller::Microcontroller ( )

Constructor.

Definition at line 55 of file microcontroller.cpp.

Microcontroller::~Microcontroller ( ) [virtual]

Destructor.

Definition at line 66 of file microcontroller.cpp.

Member Function Documentation

void Microcontroller::CheckServiceSynchronization ( const unsigned int timeSinceLastCheckMs ) [protected, virtual]

If synchronization is enabled, then this method is used to subscribe to sensor data from the component we are synchronizing with.

Parameters:

[in] timeSinceLastCheckMs Time since last update in ms.

Implements JAUS::Sensor.

Definition at line 523 of file microcontroller.cpp.

virtual bool JAUS::Microcontroller::ClearEmergency ( ) [inline, virtual]

Reimplemented from JAUS::Management::Child.

Definition at line 107 of file microcontroller.h.

Message * Microcontroller::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 337 of file microcontroller.cpp.

bool Microcontroller::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 198 of file microcontroller.cpp.

double Microcontroller::GetAnalogState ( const std::string & name ) const [virtual]

Returns the value of the state by name. Values for these states are set usin gthe SetAnalogInput method.

Parameters:

[in] name Name of the device to get value for.

Returns:: Value of the analog state. If not set, value returned is 0.0.

Definition at line 177 of file microcontroller.cpp.

AnalogStates JAUS::Microcontroller::GetAnalogStates ( ) const [inline]

Definition at line 85 of file microcontroller.h.

bool Microcontroller::GetDigitalState ( const std::string & name ) const [virtual]

Returns the value of the state by name. Values for these states are set usin gthe SetDigitalInput method.

Parameters:

[in] name Name of the device to get value for.

Returns:: True if state is on, false if off.

Definition at line 155 of file microcontroller.cpp.

DigitalStates JAUS::Microcontroller::GetDigitalStates ( ) const [inline]

Definition at line 83 of file microcontroller.h.

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

Implements JAUS::Service.

Definition at line 65 of file microcontroller.h.

bool Microcontroller::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 271 of file microcontroller.cpp.

void Microcontroller::PrintStatus ( ) const [virtual]

Prints the status of the Primitive Driver.

Reimplemented from JAUS::Service.

Definition at line 481 of file microcontroller.cpp.

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

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

Parameters:

[in] message Message data to process.

Reimplemented from JAUS::Service.

Definition at line 367 of file microcontroller.cpp.

virtual bool JAUS::Microcontroller::ReleaseControl ( ) [inline, virtual]

Method called whenever control of the parent component has been released.

Reimplemented from JAUS::Management::Child.

Definition at line 109 of file microcontroller.h.

virtual bool JAUS::Microcontroller::Reset ( ) [inline, virtual]

Implements JAUS::Management::Child.

Definition at line 101 of file microcontroller.h.

virtual bool JAUS::Microcontroller::Resume ( ) [inline, virtual]

Implements JAUS::Management::Child.

Definition at line 99 of file microcontroller.h.

void Microcontroller::SetAnalogInput	(	const std::string &	name,
		const double	value
	)		`[virtual]`

Use this method to set the current value of a analog input of the Microcontroller.

If this analog input is set for the first time, or the value changes events will be generated automatically.

Parameters:

[in]	name	Name of the analog input that changed.
[in]	value	The current value of the input [-100, 100]%.

Definition at line 117 of file microcontroller.cpp.

virtual void JAUS::Microcontroller::SetAnalogOut	(	const std::string &	name,
		const double	value
	)		`[pure virtual]`

void Microcontroller::SetDigitalInput	(	const std::string &	name,
		const bool	value
	)		`[virtual]`

Use this method to set the current value of a digital input of the Microcontroller.

If this digital input is set for the first time, or the value changes events will be generated automatically.

Parameters:

[in]	name	Name of the digital input that changed.
[in]	value	The current value of the input.

Definition at line 83 of file microcontroller.cpp.

virtual void JAUS::Microcontroller::SetDigitalOut	(	const std::string &	name,
		const bool	value
	)		`[pure virtual]`

virtual bool JAUS::Microcontroller::SetEmergency ( ) [inline, virtual]

Reimplemented from JAUS::Management::Child.

Definition at line 105 of file microcontroller.h.

void Microcontroller::SignalEvent	(	const bool	digital,
		const std::string &	name
	)		`[protected, virtual]`

Method used to signal an event has occured.

Parameters:

[in]	digital	Type of change (digital data = true, analog = false).
[in]	name	The name of the device/pin that changed.

Definition at line 547 of file microcontroller.cpp.

virtual bool JAUS::Microcontroller::Standby ( ) [inline, virtual]

Implements JAUS::Management::Child.

Definition at line 103 of file microcontroller.h.

Member Data Documentation

AnalogStates JAUS::Microcontroller::mAnalogStates [protected]

Analog state of pins.

Definition at line 119 of file microcontroller.h.

DigitalStates JAUS::Microcontroller::mDigitalStates [protected]

Digital State of pins.

Definition at line 118 of file microcontroller.h.

Mutex JAUS::Microcontroller::mMcuMutex [protected]

Mutex for thread protection of data.

Definition at line 117 of file microcontroller.h.

const std::string Microcontroller::Name = "urn:jaus:jss:jpp:extras:Microcontroller" [static]

Name of service (string).

Definition at line 59 of file microcontroller.h.

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

jaus++/2.0/include/jaus/extras/mcu/microcontroller.h
jaus++/2.0/src/jaus/extras/mcu/microcontroller.cpp

JAUS::Microcontroller Class Reference

Public Types

Public Member Functions

Static Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation