RapidAgent Class Reference

A RAPID Agent is an entity that can be monitored and/or controlled through the RAPID system of messages and services. More...

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List of all members.

Public Member Functions
	RapidAgent (Agent agent) throws NullPointerException
	RapidAgent (Agent agent, DomainParticipant participant) throws NullPointerException
	RapidAgent (Agent agent, DomainParticipant participant, int domainId)
String	getAgentName ()
Agent	getAgent ()
int	getDomainId ()
DomainParticipant	getDomainParticipant ()
synchronized void	writeMessage (MessageType type, IRapidMessage message, String domainName)
	Calling a direct writeMessage will write the message directly to the RapidAgent as specified in the header.
synchronized void	writeMessage (MessageType type, IRapidMessage message, List< String > agentNames)
synchronized void	writeMessage (MessageType type, IRapidMessage message, String...agentNames)
synchronized void	writeMessage (MessageType type, IRapidMessage message)
	FIXME mallan 05/06/2010: this method is broken and should be replaced the signature should be reused, however.
synchronized void	writeMessage (DomainParticipant participant, Copyable copyable, String domainName, String topicName, DomainParticipantListener dpListener, PublisherListener publisherListener, DataWriterQos writerQos, int sampleCount)
synchronized void	writeMessage (DomainParticipant participant, Copyable copyable, String dstAgentName, String topicName, DomainParticipantListener dpListener, PublisherListener publisherListener, String dataWriterQosLibName, String dataWriterQosProfileName, int sampleCount)
	MAE-4191: use the profiles from the XML.
synchronized void	writeMessage (DomainParticipant participant, IRapidMessage message, String dstAgentName, String topicName, DomainParticipantListener dpListener, PublisherListener publisherListener, String dataWriterQosLibName, String dataWriterQosProfileName, int sampleCount)
	This is the main method that works in sending messages.
String	toString ()
void	connectionException ()
	This method is invoked by the system at the first hint of a DDS connection error.
Agent[]	getCommandableAgentsArray ()
	Return the list of commandable agents, the list does not include any client consoles.
synchronized void	sendMessageInThread (final MessageType type, final IRapidMessage msg, final List< String > dstAgents)
	Message sending needs to be thread safe.
synchronized void	sendMessageInThread (final MessageType type, final IRapidMessage msg)
Static Public Member Functions
static boolean	isConnected ()
Public Attributes
DomainParticipant	participant
Static Public Attributes
static final int	DEFAULT_DOMAIN_ID = DDSParticipant.getDomainId()
static final int	DEFAULT_SAMPLE_COUNT = 1
Protected Attributes
Agent	agent
RapidPositionSample	position

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Detailed Description

RAPID agents have included actual and simulated rovers, web cameras, and even Astronauts. RAPID Agents are specific articles: ATHLETE SDM-B or Robonaut 2A. RAPID Agents are classified by Agent Type, which identifies the general capabilities of the Agent: Astronaut, K10, ATHLETE, Camera. The RapidAgent class is aided by the Rapid and Agent classes.

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Constructor & Destructor Documentation

RapidAgent

(

Agent

agent

)

throws NullPointerException

RapidAgent	(	Agent	agent,
		DomainParticipant	participant
	)		throws NullPointerException

RapidAgent	(	Agent	agent,
		DomainParticipant	participant,
		int	domainId
	)

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Member Function Documentation

void connectionException

(

)

Agent getAgent

(

)

Reimplemented in RapidClient.

String getAgentName

(

)

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Agent [] getCommandableAgentsArray

(

)

Returns:

Agent[]

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int getDomainId

(

)

DomainParticipant getDomainParticipant

(

)

static boolean isConnected

(

)

[static]

synchronized void sendMessageInThread	(	final MessageType	type,
		final IRapidMessage	msg,
		final List< String >	dstAgents
	)

Is it better to have a thread already created if you will be streaming telemetry?

This could be a huge memory leak -> Look at SingleTaskThread / ThreadQueue / ThreadUtils

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synchronized void sendMessageInThread	(	final MessageType	type,
		final IRapidMessage	msg
	)

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String toString

(

)

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synchronized void writeMessage	(	MessageType	type,
		IRapidMessage	message,
		String	domainName
	)

Parameters:

type
message
domainName

Reimplemented in RapidClient, and ExampleWorkbenchAgent.

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synchronized void writeMessage	(	MessageType	type,
		IRapidMessage	message,
		String...	agentNames
	)

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synchronized void writeMessage	(	DomainParticipant	participant,
		Copyable	copyable,
		String	domainName,
		String	topicName,
		DomainParticipantListener	dpListener,
		PublisherListener	publisherListener,
		DataWriterQos	writerQos,
		int	sampleCount
	)

Reimplemented in RapidClient, and ExampleWorkbenchAgent.

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synchronized void writeMessage	(	MessageType	type,
		IRapidMessage	message,
		List< String >	agentNames
	)

Reimplemented in RapidClient, and ExampleWorkbenchAgent.

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synchronized void writeMessage	(	DomainParticipant	participant,
		IRapidMessage	message,
		String	dstAgentName,
		String	topicName,
		DomainParticipantListener	dpListener,
		PublisherListener	publisherListener,
		String	dataWriterQosLibName,
		String	dataWriterQosProfileName,
		int	sampleCount
	)

This signature will be able to take in IRapidMessage objects.

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synchronized void writeMessage	(	MessageType	type,
		IRapidMessage	message
	)

Attempting to send a message results in a DDS error. Also, Task should be treated differently and Broadcast is no longer a valid pattern.

Check to see if the message is a Task and contains a Command if it contains a Command, grab the cmdDst from the command otherwise the message is telemetry and can be sent through broadcast FIXME checking RapidTask and Broadast should be moved somewhere else

Parameters:

type
message

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synchronized void writeMessage	(	DomainParticipant	participant,
		Copyable	copyable,
		String	dstAgentName,
		String	topicName,
		DomainParticipantListener	dpListener,
		PublisherListener	publisherListener,
		String	dataWriterQosLibName,
		String	dataWriterQosProfileName,
		int	sampleCount
	)

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Member Data Documentation

Agent agent [protected]

final int DEFAULT_DOMAIN_ID = DDSParticipant.getDomainId() [static]

final int DEFAULT_SAMPLE_COUNT = 1 [static]

DomainParticipant participant

RapidPositionSample position [protected]

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

• RapidAgent.java