jaus++/2.0/include/jaus/extras/command/subsystemcommand.h

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#ifndef __JAUS_EXTRAS_SUBSYSTEM_COMMAND__H
#define __JAUS_EXTRAS_SUBSYSTEM_COMMAND__H


#include "jaus/extras/jausextrasdll.h"
#include "jaus/core/management/management.h"
#include "jaus/core/discovery/vehicle.h"

namespace JAUS
{
    class JAUS_EXTRAS_DLL SubsystemCommand : public Management::Child,
                                             public Discovery::Callback
    {
    public:
        const static std::string Name;  
        SubsystemCommand(const Service::ID& id);
        virtual ~SubsystemCommand();
        // Called upon initialization (if overloaded, call parent method).
        virtual void Initialize();
        // Sets the type of global pose subscriptions to make.
        void SetGlobalPoseSubscriptionType(const bool everyChange = false, 
                                           const double desiredPeriodicRateHz = 25);
        // Method called when transitioning to a ready state (overload to add behavior).
        virtual bool Resume() { return true; };
        // Method called to transition due to reset (overload to add behavior).
        virtual bool Reset() { return true; };
        // Method called when transitioning to a standby state (overload to add behavior).
        virtual bool Standby() { return true; };
        // Method called when transitioning to an emergency state (overload to add behavior).
        virtual bool SetEmergency() { return true; };
        // Method called when leaving the emergency state (overload to add behavior).
        virtual bool ClearEmergency() { return true; };
        // Method called when control is released (overload to add behavior).
        virtual bool ReleaseControl() { return true; };
        // Gets the Discovery service.
        const Discovery* DiscoveryService() const;
        // Gets the Discovery service.
        Discovery* DiscoveryService();
        // Gets the Discovery service.
        const AccessControl* AccessControlService() const;
        // Gets the Discovery service.
        AccessControl* AccessControlService();
        // Sends a command to a component by taking control (if not established) first.
        virtual bool SendCommand(const Message* commandMessage,
                                 const bool sendResumeFlag,
                                 const unsigned int waitTimeMs = Service::DefaultWaitMs);
        // Method called whenever this service acquires control of a component.
        virtual void ProcessAcquisitionOfControl(const Address& controlledComponent) {}
        // This is not a discoverable service at this time.
        virtual bool IsDiscoverable() const { return false; }
        // Method called when an Event has been signaled, generates an Event message.
        virtual bool GenerateEvent(const Events::Subscription& info) const { return false; }
        // Method called to determine if an Event is supported by the service.
        virtual bool IsEventSupported(const Events::Type type,
                                      const double requestedPeriodicRate,
                                      const Message* queryMessage,
                                      double& confirmedPeriodicRate,
                                      std::string& errorMessage) const { return false; }
        // Receives global pose data and updates status of subsystems in Discovery Service.
        virtual void Receive(const Message* message);
        // Creates messages supported by the Service.
        virtual Message* CreateMessage(const UShort messageCode) const;  
        // When called, checks to see if new subscriptions need to be made.
        virtual void CheckServiceStatus(const unsigned int timeSinceLastCheckMs);
        // Prints information about the service.
        virtual void PrintStatus() const;
    protected:
        bool mOnChangeEventsFlag;       
        double mDesiredPeriodicRateHz;  
    private:
        class GlobalPoseCallback : public Transport::Callback
        {
        public:
            GlobalPoseCallback() { mpComponent = NULL; }
            ~GlobalPoseCallback() {}
            virtual void ProcessMessage(const Message* message);
            Component* mpComponent;
        };
        virtual void ProcessSystemState(const Subsystem::Map& system);
        GlobalPoseCallback* mpGlobalPoseCallback;       
    };
}

#endif
/*  End of File */