A Service defines a JAUS Service which contains an identifier, version, message set, protocol, and associated information. More...

#include <service.h>

Inheritance diagram for JAUS::Service:

List of all members.

Classes
class	ID
	ID is the Service Identifier information for a Service. It is a globally unique string that identifies a specific Service Definition. Since a Service mandates a message set and associated protocol, the Service Identifier and version number are sufficient to identify the service interface. Service Identifiers are based on a Uniform Resource Identifier (URI), and are specified for each service by the SAE JAUS standard. More...
Public Types
typedef std::map< std::string, Service * >	Map
typedef Mutex::ScopedPtr< Service >	Ptr
Public Member Functions
	Service (const ID &serviceIdentifier, const ID &parentServiceIdentifier)
	Constructor.
virtual	~Service ()
	Destructor.
virtual void	Initialize ()
virtual void	Shutdown ()
virtual bool	IsDiscoverable () const =0
virtual bool	LoadSettings (const std::string &filename)
virtual bool	Send (const Message *message, const int broadcastFlags=NoBroadcast) const
	Sends a JAUS message.
virtual bool	Send (const Message message, Message response, const unsigned int waitTimeMs=DefaultWaitMs) const
	Sends a JAUS message, and blocks until a response is received.
virtual bool	Send (const Message *message, Message::List &possibleResponses, const unsigned int waitTimeMs=Service::DefaultWaitMs) const
	Sends a JAUS message, and blocks until a response is received. You must pass pointers to the response message object by adding them to the list passed.
virtual void	Receive (const Message *message)
	Processes messages passed-to or received by this Service.
virtual Message *	CreateMessage (const UShort messageCode) const =0
ID	GetServiceID () const
bool	SetComponentID (const Address &id)
	Sets the component ID of the Service.
Address	GetComponentID () const
bool	InheritsFrom (const Service::ID &id) const
	Checks to see if the Service inherits from the given Service.
bool	AddChildService (Service *childService)
	Add a Service this inherits from (i.e. is child of) this Service.
bool	SetParentService (Service *parentService)
	Sets a pointer to the Service that this Service inherits from.
Service *	GetParentService ()
const Service *	GetParentService () const
Service *	GetChildService (const Service::ID &id=Service::ID())
const Service *	GetChildService (const Service::ID &id=Service::ID()) const
Service::ID::Set	GetServices () const
	Gets a set of all the Service information for this Service and its child services. Services that are marked as not discoverable through the IsDiscoverable() method are not put in this set. Also, if the service is set in a synchronize mode, it is not discoverable either. This only applies if your class is using the Sensor interface.
virtual void	EnableDebugMessages (const bool on=true)
virtual void	CheckServiceStatus (const unsigned int timeSinceLastCheckMs)
void	EnableService (const bool enable)
bool	IsEnabled () const
virtual void	RecursiveShutdown ()
	Performs a recursive shutdown where all child services are shutdown from the bottom up (lowest leaf) followed by this service.
void	SetComponent (Component *component)
	Sets a pointer to the component the Service belongs to.
Component *	GetComponent ()
const Component *	GetComponent () const
virtual void	PrintStatus () const
void	SignalServiceToShutdown (const bool enable=true)
bool	IsServiceShuttingDown () const
Static Public Attributes
static const int	NoBroadcast = 0
static const int	LocalBroadcast = 1
static const int	GlobalBroadcast = 2
static const unsigned int	DefaultWaitMs = 100
Protected Member Functions
void	PushMessageToChildren (const Message *message)
	If the message is not supported by this Service, use this method to pass it to all children to this Service.
Map	GetChildServices ()
	Recursively gets all child services.
const Map	GetChildServices () const
	Recursively gets all child services.
Transport *	GetTransportService ()
const Transport *	GetTransportService () const
Protected Attributes
volatile bool	mDebugMessagesFlag
	If true, show debugging messages.
Address	mComponentID
	ID of the JAUS component the transport is for.
Component *	mpComponent
	Pointer to the component the service belongs to.
volatile bool	mShutdownServiceFlag
	If true, service must shutdown.
Static Protected Attributes
static Mutex	mDebugMessagesMutex
	Mutex to lock console for message display.
Friends
class	Transport

Detailed Description

A Service defines a JAUS Service which contains an identifier, version, message set, protocol, and associated information.

Definition at line 61 of file service.h.

Member Typedef Documentation

typedef std::map<std::string, Service*> JAUS::Service::Map

Definition at line 97 of file service.h.

typedef Mutex::ScopedPtr<Service> JAUS::Service::Ptr

Definition at line 98 of file service.h.

Constructor & Destructor Documentation

Service::Service	(	const ID &	serviceIdentifier,
		const ID &	parentServiceIdentifier
	)

Constructor.

Parameters:

[in]	serviceIdentifier	The Service ID information.
[in]	parentServiceIdentifier	Service ID of the parent Service to this Service class. Who this Service inherits from.

Definition at line 213 of file service.cpp.

Service::~Service ( ) [virtual]

Destructor.

Definition at line 230 of file service.cpp.

Member Function Documentation

bool Service::AddChildService ( Service * childService )

Add a Service this inherits from (i.e. is child of) this Service.

Parameters:

[in] childService The child Service to add.

Returns:: True on success, false on failure.

Definition at line 395 of file service.cpp.

virtual void JAUS::Service::CheckServiceStatus ( const unsigned int timeSinceLastCheckMs ) [inline, virtual]

Reimplemented in JAUS::AccessControl, JAUS::Discovery, JAUS::Events, JAUS::Management, JAUS::SubsystemCommand, JAUS::ControlDevice, JAUS::Joystick, and JAUS::Keyboard.

Definition at line 150 of file service.h.

virtual Message* JAUS::Service::CreateMessage ( const UShort messageCode ) const [pure virtual]

virtual void JAUS::Service::EnableDebugMessages ( const bool on = true ) [inline, virtual]

Reimplemented in JAUS::JTCPClient.

Definition at line 148 of file service.h.

void JAUS::Service::EnableService ( const bool enable ) [inline]

Definition at line 152 of file service.h.

const Service * Service::GetChildService ( const Service::ID & id = Service::ID() ) const

Parameters:

[in] id ID of the child Service to get a pointer to.

Returns:: A pointer to the child Service.

Definition at line 506 of file service.cpp.

Service * Service::GetChildService ( const Service::ID & id = Service::ID() )

Parameters:

[in] id ID of the child Service to get a pointer to.

Returns:: A pointer to the child Service.

Definition at line 486 of file service.cpp.

Service::Map Service::GetChildServices ( ) [protected]

Recursively gets all child services.

Returns:: Map of all children to the Service.

Definition at line 660 of file service.cpp.

const Service::Map Service::GetChildServices ( ) const [protected]

Recursively gets all child services.

Returns:: Map of all children to the Service.

Definition at line 689 of file service.cpp.

Component* JAUS::Service::GetComponent ( ) [inline]

Definition at line 160 of file service.h.

const Component* JAUS::Service::GetComponent ( ) const [inline]

Definition at line 162 of file service.h.

Address JAUS::Service::GetComponentID ( ) const [inline]

Definition at line 130 of file service.h.

Service * Service::GetParentService ( )

Returns:: A pointer to the parent service.

Definition at line 462 of file service.cpp.

const Service * Service::GetParentService ( ) const

Returns:: A pointer to the parent service.

Definition at line 473 of file service.cpp.

ID JAUS::Service::GetServiceID ( ) const [inline]

Definition at line 126 of file service.h.

Service::ID::Set Service::GetServices ( ) const

Gets a set of all the Service information for this Service and its child services. Services that are marked as not discoverable through the IsDiscoverable() method are not put in this set. Also, if the service is set in a synchronize mode, it is not discoverable either. This only applies if your class is using the Sensor interface.

Returns:: List of service information.

Definition at line 531 of file service.cpp.

const Transport* JAUS::Service::GetTransportService ( ) const [inline, protected]

Definition at line 176 of file service.h.

Transport* JAUS::Service::GetTransportService ( ) [inline, protected]

Definition at line 175 of file service.h.

bool Service::InheritsFrom ( const Service::ID & id ) const

Checks to see if the Service inherits from the given Service.

Parameters:

[in] id ID of the Service to check for direct inheritance from.

Returns:: True if the Service inhertis from the ID of the provided Service, false otherwise.

Definition at line 375 of file service.cpp.

virtual void JAUS::Service::Initialize ( ) [inline, virtual]

Reimplemented in JAUS::Discovery, JAUS::Management, and JAUS::SubsystemCommand.

Definition at line 104 of file service.h.

virtual bool JAUS::Service::IsDiscoverable ( ) const [pure virtual]

bool JAUS::Service::IsEnabled ( ) const [inline]

Definition at line 154 of file service.h.

bool JAUS::Service::IsServiceShuttingDown ( ) const [inline]

Definition at line 168 of file service.h.

virtual bool JAUS::Service::LoadSettings ( const std::string & filename ) [inline, virtual]

Reimplemented in JAUS::AccessControl, JAUS::Discovery, JAUS::JTCPClient, JAUS::JUDP, JAUS::ControlDevice, JAUS::Joystick, and JAUS::Keyboard.

Definition at line 110 of file service.h.

virtual void JAUS::Service::PrintStatus ( ) const [inline, virtual]

Reimplemented in JAUS::AccessControl, JAUS::Discovery, JAUS::Events, JAUS::Management, JAUS::SubsystemCommand, JAUS::ControlDevice, JAUS::Microcontroller, JAUS::GlobalWaypointDriver, JAUS::GlobalWaypointListDriver, JAUS::LocalWaypointDriver, JAUS::LocalWaypointListDriver, JAUS::PrimitiveDriver, JAUS::AccelerationStateSensor, JAUS::GlobalPoseSensor, JAUS::LocalPoseSensor, and JAUS::VelocityStateSensor.

Definition at line 164 of file service.h.

void Service::PushMessageToChildren ( const Message * message ) [protected]

If the message is not supported by this Service, use this method to pass it to all children to this Service.

Parameters:

[in] message The message to push to child Services.

Definition at line 624 of file service.cpp.

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

Processes messages passed-to or received by this Service.

Whenever a Service receives a message, this method is called. New Services must overload this method to add processing capabilities.

If the service does not support the Message, then it must use the PushMessageToChildren method to pass it to inheriting Services that do support it (this is the default behavior of the method).

Parameters:

[in] message JAUS Message data to process.

Reimplemented in JAUS::AccessControl, JAUS::Discovery, JAUS::Events, JAUS::Liveness, JAUS::Management, JAUS::TimeService, JAUS::Transport, JAUS::AudioSensor, JAUS::SubsystemCommand, JAUS::ControlDevice, JAUS::Microcontroller, JAUS::RangeSensor, JAUS::RangeSubscriber, JAUS::VideoSubscriber, JAUS::VisualSensor, JAUS::GlobalWaypointDriver, JAUS::GlobalWaypointListDriver, JAUS::ListDriver, JAUS::LocalWaypointDriver, JAUS::LocalWaypointListDriver, JAUS::PrimitiveDriver, JAUS::ListManager, JAUS::AccelerationStateSensor, JAUS::GlobalPoseSensor, JAUS::LocalPoseSensor, and JAUS::VelocityStateSensor.

Definition at line 332 of file service.cpp.

void Service::RecursiveShutdown ( ) [virtual]

Performs a recursive shutdown where all child services are shutdown from the bottom up (lowest leaf) followed by this service.

This type of shutdown is necessary to make sure that lower level serives shutdown before their parent services do. Failure to do so may result in disabling a service capability needed by a child service to perform safe cleanup.

Definition at line 575 of file service.cpp.

bool Service::Send	(	const Message *	message,
		Message *	response,
		const unsigned int	waitTimeMs = `DefaultWaitMs`
	)		const `[virtual]`

Sends a JAUS message, and blocks until a response is received.

Parameters:

[in]	message	JAUS Message to send.
[out]	response	Pointer to message that is the response to the message sent which will read received data.
[in]	waitTimeMs	How long to wait in ms for a response to be received.

Returns:: True on success, false on failure.

Reimplemented in JAUS::Transport.

Definition at line 277 of file service.cpp.

bool Service::Send	(	const Message *	message,
		const int	broadcastFlags = `NoBroadcast`
	)		const `[virtual]`

Sends a JAUS message.

Parameters:

[in]	message	JAUS Message to send.
[in]	broadcastFlags	Values to use to signify if message should be sent using any broadcast options (e.g. multicast). 0 = no options, 1 = local broadcast, 2 = global broadcast.

Returns:: True on success, false on failure.

Reimplemented in JAUS::Transport.

Definition at line 254 of file service.cpp.

bool Service::Send	(	const Message *	message,
		Message::List &	possibleResponses,
		const unsigned int	waitTimeMs = `Service::DefaultWaitMs`
	)		const `[virtual]`

Sends a JAUS message, and blocks until a response is received. You must pass pointers to the response message object by adding them to the list passed.

Parameters:

[in]	message	JAUS Message to send.
[out]	possibleResponses	Lists of messages that are possible responses to the message sent. For example Create Event can be responded with Confirm or Reject Event Request.
[in]	waitTimeMs	How long to wait in ms for a response to be received.

Returns:: True on success, false on failure.

Reimplemented in JAUS::Transport.

Definition at line 306 of file service.cpp.

void Service::SetComponent ( Component * component )

Sets a pointer to the component the Service belongs to.

When called, the component pointer to passed to all child services also.

Parameters:

[in] component Pointer to component Service belongs to.

Definition at line 597 of file service.cpp.

bool Service::SetComponentID ( const Address & id )

Sets the component ID of the Service.

Parameters:

[in] id Component ID the Service belongs to.

Returns:: True if valid ID, false otherwise.

Definition at line 346 of file service.cpp.

bool Service::SetParentService ( Service * parentService )

Sets a pointer to the Service that this Service inherits from.

Parameters:

[in] parentService Parent to this Service.

Returns:: True on success, false on failure.

Definition at line 443 of file service.cpp.

virtual void JAUS::Service::Shutdown ( ) [inline, virtual]

Reimplemented in JAUS::AccessControl, JAUS::Discovery, JAUS::Events, JAUS::Management, JAUS::JTCPClient, JAUS::JUDP, JAUS::Transport, JAUS::ControlDevice, JAUS::Joystick, JAUS::Keyboard, JAUS::RangeSubscriber, and JAUS::VideoSubscriber.

Definition at line 106 of file service.h.

void JAUS::Service::SignalServiceToShutdown ( const bool enable = true ) [inline]

Definition at line 166 of file service.h.

Friends And Related Function Documentation

friend class Transport [friend]

Definition at line 63 of file service.h.

Member Data Documentation

const unsigned int JAUS::Service::DefaultWaitMs = 100 [static]

Definition at line 96 of file service.h.

const int JAUS::Service::GlobalBroadcast = 2 [static]

Definition at line 95 of file service.h.

const int JAUS::Service::LocalBroadcast = 1 [static]

Definition at line 94 of file service.h.

Address JAUS::Service::mComponentID [protected]

ID of the JAUS component the transport is for.

Definition at line 179 of file service.h.

volatile bool JAUS::Service::mDebugMessagesFlag [protected]

If true, show debugging messages.

Definition at line 178 of file service.h.

Mutex Service::mDebugMessagesMutex [static, protected]

Mutex to lock console for message display.

Definition at line 177 of file service.h.

Component* JAUS::Service::mpComponent [protected]

Pointer to the component the service belongs to.

Definition at line 180 of file service.h.

volatile bool JAUS::Service::mShutdownServiceFlag [protected]

If true, service must shutdown.

Definition at line 181 of file service.h.

const int JAUS::Service::NoBroadcast = 0 [static]

Definition at line 93 of file service.h.

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

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

JAUS::Service Class Reference

Classes

Public Types

Public Member Functions

Static Public Attributes

Protected Member Functions

Protected Attributes

Static Protected Attributes

Friends

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation