CommandConstants.idl File Reference

CommandConstants holds parameter lists for common commands. More...

import "BaseTypes.idl";

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Packages
package	rapid
Variables
const String32	ADMIN = "Admin"
	The commands in the Admin Command Group provide high-level test functions and control parameters.
const String32	ADMIN_METHOD_ECHO = "echo"
	Echos the parameter text.
const String32	ADMIN_METHOD_ECHO_PARAM_ECHOTEXT = "echoText"
	Key for parameter used in reply by bridge.
const DataType	ADMIN_METHOD_ECHO_DTYPE_ECHOTEXT = RAPID_STRING
const String32	ADMIN_METHOD_SHUTDOWN = "shutdown"
	Terminate the bridge.
const String32	ADMIN_METHOD_NOOP = "noOp"
	No operation command.
const String32	ADMIN_METHOD_SETPOSITIONSAMPLEPUBLISHRATE = "setPositionSamplePublishRate"
	Publish Agent pose at given rate.
const String32	ADMIN_METHOD_SETPOSITIONSAMPLEPUBLISHRATE_PARAM_POSERATE = "positionSamplePublishRate"
	In Hz.
const DataType	ADMIN_METHOD_SETPOSITIONSAMPLEPUBLISHRATE_DTYPE_POSERATE = RAPID_FLOAT
	Publish Agent articulation at given rate.
const String32	ADMIN_METHOD_SETJOINTSAMPLEPUBLISHRATE = "setJointSamplePublishRate"
	Publish Agent articulation at given rate.
const String32	ADMIN_METHOD_SETJOINTSAMPLEPUBLISHRATE_PARAM_JOINTSAMPLERATE = "jointSampleRate"
	Publish Agent articulation at given rate.
const DataType	ADMIN_METHOD_SETJOINTSAMPLEPUBLISHRATE_DTYPE_JOINTSAMPLERATE = RAPID_FLOAT
	Publish Agent articulation at given rate.
const String32	IMAGESENSOR = "ImageSensor"
	The commands in the ImageSensor Command Group are used to capture images from Agent-mounted cameras.
const String32	IMAGESENSOR_METHOD_REQSENSORSTATE = "reqSensorState"
	ImageSensorState message.
const String32	IMAGESENSOR_METHOD_REQSENSORSTATE_PARAM_SENSORNAME = "sensorName"
	Message.
const DataType	IMAGESENSOR_METHOD_REQSENSORSTATE_DTYPE_SENSORNAME = RAPID_STRING
	Message.
const String32	IMAGESENSOR_METHOD_IMAGEACQUIRE = "imageAcquire"
	Send image acquire command with this command, the ImageCommand attribute will be populated.
const String32	IMAGESENSOR_METHOD_IMAGEACQUIRE_PARAM_CAMERA_NAME = "cameraName"
const DataType	IMAGESENSOR_METHOD_IMAGEACQUIRE_DTYPE_CAMERA_NAME = RAPID_STRING
const String32	IMAGESENSOR_METHOD_IMAGEACQUIRE_PARAM_CAMERA_TYPE = "cameraType"
	IMAGESENSOR_CAMERA_TYPE_xxx.
const DataType	IMAGESENSOR_METHOD_IMAGEACQUIRE_DTYPE_CAMERA_TYPE = RAPID_STRING
const String32	IMAGESENSOR_METHOD_IMAGEACQUIRE_PARAM_CAMERA_MIME_TYPE = "mimeType"
	MIMETypeConstants.
const DataType	IMAGESENSOR_METHOD_IMAGEACQUIRE_DTYPE_CAMERA_MIME_TYPE = RAPID_STRING
const String32	IMAGESENSOR_METHOD_IMAGEACQUIRE_PARAM_PAN = "pan"
const DataType	IMAGESENSOR_METHOD_IMAGEACQUIRE_DTYPE_PAN = RAPID_FLOAT
const String32	IMAGESENSOR_METHOD_IMAGEACQUIRE_PARAM_TILT = "tilt"
const DataType	IMAGESENSOR_METHOD_IMAGEACQUIRE_DTYPE_TILT = RAPID_FLOAT
const String32	IMAGESENSOR_METHOD_IMAGEACQUIRE_PARAM_ZOOM = "zoom"
const DataType	IMAGESENSOR_METHOD_IMAGEACQUIRE_DTYPE_ZOOM = RAPID_FLOAT
const String32	IMAGESENSOR_METHOD_IMAGEACQUIRE_PARAM_HFOV = "hFOV"
const DataType	IMAGESENSOR_METHOD_IMAGEACQUIRE_DTYPE_HFOV = RAPID_FLOAT
const String32	IMAGESENSOR_METHOD_IMAGEACQUIRE_PARAM_VFOV = "vFOV"
const DataType	IMAGESENSOR_METHOD_IMAGEACQUIRE_DTYPE_VFOV = RAPID_FLOAT
const String32	IMAGESENSOR_METHOD_IMAGEACQUIRE_PARAM_COLORTYPE = "colorType"
	IMAGESENSOR_COLOR_TYPE_XXX.
const DataType	IMAGESENSOR_METHOD_IMAGEACQUIRE_DTYPE_COLORTYPE = RAPID_STRING
const String32	IMAGESENSOR_METHOD_IMAGEACQUIRE_PARAM_CAPTURE = "captureType"
	IMAGESENSOR_CAPTURE_XXX.
const DataType	IMAGESENSOR_METHOD_IMAGEACQUIRE_DTYPE_CAPTURE = RAPID_STRING
const String32	IMAGESENSOR_COLOR_TYPE_COLOR = "color"
const String32	IMAGESENSOR_COLOR_TYPE_GRAYSCALE = "grayscale"
const String32	IMAGESENSOR_CAPTURE_STREAMING = "streaming"
const String32	IMAGESENSOR_CAPTURE_SINGLE_SHOT = "singleImage"
const String32	IMAGESENSOR_CAPTURE_MULTI_SHOT = "multiImage"
const String32	IMAGESENSOR_CAMERA_TYPE_WEBCAM = "webcam"
const String32	IMAGESENSOR_CAMERA_TYPE_DSLR = "dslr"
const String32	IMAGESENSOR_CAMERA_TYPE_GIGAPAN = "gigapan"
const String32	MOBILITY = "Mobility"
	The commands in the Mobility Command Group controls the motion of navigable rovers over a surface.
const String32	MOBILITY_METHOD_STOPALLMOTION = "stopAllMotion"
	Stops all motion of the Agent, joints, wheels, etc.
const String32	MOBILITY_METHOD_SIMPLEMOVE = "simpleMove"
const String32	MOBILITY_METHOD_SIMPLEMOVE_PARAM_FRAME_NAME = "frameName"
const DataType	MOBILITY_METHOD_SIMPLEMOVE_DTYPE_FRAME_NAME = RAPID_STRING
const String32	MOBILITY_METHOD_SIMPLEMOVE_PARAM_END_LOCATION = "xyz"
const DataType	MOBILITY_METHOD_SIMPLEMOVE_DTYPE_END_LOCATION = RAPID_VEC3d
const String32	MOBILITY_METHOD_SIMPLEMOVE_PARAM_END_LOCATION_TOLERANCE = "xyzTolerance"
const DataType	MOBILITY_METHOD_SIMPLEMOVE_DTYPE_END_LOCATION_TOLERANCE = RAPID_VEC3d
const String32	MOBILITY_METHOD_SIMPLEMOVE6DOF = "simpleMove6DOF"
const String32	MOBILITY_METHOD_SIMPLEMOVE6DOF_PARAM_FRAME_NAME = "frameName"
const DataType	MOBILITY_METHOD_SIMPLEMOVE6DOF_DTYPE_FRAME_NAME = RAPID_STRING
const String32	MOBILITY_METHOD_SIMPLEMOVE6DOF_PARAM_END_LOCATION = "xyz"
const DataType	MOBILITY_METHOD_SIMPLEMOVE6DOF_DTYPE_END_LOCATION = RAPID_VEC3d
const String32	MOBILITY_METHOD_SIMPLEMOVE6DOF_PARAM_END_LOCATION_TOLERANCE = "xyzTolerance"
const DataType	MOBILITY_METHOD_SIMPLEMOVE6DOF_DTYPE_END_LOCATION_TOLERANCE = RAPID_VEC3d
const String32	MOBILITY_METHOD_SIMPLEMOVE6DOF_PARAM_ROT = "rot"
const DataType	MOBILITY_METHOD_SIMPLEMOVE6DOF_DTYPE_ROT = RAPID_MAT33f
const String32	MOBILITY_METHOD_MOVE = "move"
const String32	MOBILITY_METHOD_MOVE_PARAM_FRAME_NAME = "frameName"
const DataType	MOBILITY_METHOD_MOVE_DTYPE_FRAME_NAME = RAPID_STRING
const String32	MOBILITY_METHOD_MOVE_PARAM_END_LOCATION = "xyt"
	Can be defined as a rotation about an axis.
const DataType	MOBILITY_METHOD_MOVE_DTYPE_END_LOCATION = RAPID_VEC3d
const String32	MOBILITY_METHOD_MOVE_PARAM_END_LOCATION_TOLERANCE = "xytTolerance"
	The x,y,theta tolerance for waypoint.
const DataType	MOBILITY_METHOD_MOVE_DTYPE_END_LOCATION_TOLERANCE = RAPID_VEC3d
const String32	MOBILITY_METHOD_MOVE_PARAM_HINTED_SPEED = "hintedSpeed"
	In meters/sec.
const DataType	MOBILITY_METHOD_MOVE_DTYPE_HINTED_SPEED = RAPID_FLOAT
const String32	MOBILITY_METHOD_MOVE_PARAM_NAV_ALGO = "navAlgo"
const DataType	MOBILITY_METHOD_MOVE_DTYPE_NAV_ALGO = RAPID_STRING
const String32	MOBILITY_METHOD_MOVE6DOF = "move6DOF"
const String32	MOBILITY_METHOD_MOVE6DOF_PARAM_FRAME_NAME = "frameName"
const DataType	MOBILITY_METHOD_MOVE6DOF_DTYPE_FRAME_NAME = RAPID_STRING
const String32	MOBILITY_METHOD_MOVE6DOF_PARAM_END_LOCATION = "xyz"
const DataType	MOBILITY_METHOD_MOVE6DOF_DTYPE_END_LOCATION = RAPID_VEC3d
const String32	MOBILITY_METHOD_MOVE6DOF_PARAM_END_LOCATION_TOLERANCE = "xyzTolerance"
const DataType	MOBILITY_METHOD_MOVE6DOF_DTYPE_END_LOCATION_TOLERANCE = RAPID_VEC3d
const String32	MOBILITY_METHOD_MOVE6DOF_PARAM_ROT = "rot"
const DataType	MOBILITY_METHOD_MOVE6DOF_DTYPE_ROT = RAPID_MAT33f
const String32	MOBILITY_METHOD_MOVE6DOF_PARAM_HINTED_SPEED = "hintedSpeed"
	In meters/sec.
const DataType	MOBILITY_METHOD_MOVE6DOF_DTYPE_HINTED_SPEED = RAPID_FLOAT
const String32	MOBILITY_METHOD_MOVE6DOF_PARAM_NAV_ALGO = "navAlgo"
const DataType	MOBILITY_METHOD_MOVE6DOF_DTYPE_NAV_ALGO = RAPID_STRING
const String32	NAV_ALGO_SAFE = "RAPID_NAV_SAFE"
	Navigation Algorithm for MobilityCommand.
const String32	NAV_ALGO_BLIND = "RAPID_NAV_BLIND"
const String32	FRAME_NAME_UTM = "RAPID_UTM_FRAME"
	Frame information for MobilityCommand and CameraCommand.
const String32	FRAME_NAME_SITE = "RAPID_SITE_FRAME"
const String32	FRAME_NAME_ROVER = "RAPID_ROVER_FRAME"
const String32	QUEUE = "Queue"
	The commands in the Queue command group control task execution within the Sequencer.
const String32	QUEUE_METHOD_CANCELCURRENTTASK = "cancelCurrentTask"
	To come.
const String32	QUEUE_METHOD_CANCELALL = "cancelAll"
	To come.
const String32	QUEUE_METHOD_DELETEALL = "deleteAll"
	To come.
const String32	QUEUE_METHOD_SUSPENDONCOMPLETE = "suspendOnCompletion"
	Complete and suspend until queue resume command received.
const String32	QUEUE_METHOD_RESUME = "resume"
	To come.
const String32	ACCESSCONTROL = "AccessControl"
	The commands in the AccessControl command group govern transfer of control of agents between operators.
const String32	ACCESSCONTROL_METHOD_REQUESTCONTROL = "requestControl"
	AccessControl method type for requesting control of an Agent.
const String32	ACCESSCONTROL_METHOD_GRABCONTROL = "grabControl"
	AccessControl method type for grabbing control of an Agent.
const String32	ACCESSCONTROL_METHOD_RELEASECONTROL = "releaseControl"
	AccessControl method type for release control of an Agent.
const String32	ACCESSCONTROL_METHOD_TRANSFERCONTROL = "transferControl"
	AccessControl method type for transferring control of an Agent.
const String32	ACCESSCONTROL_METHOD_TRANSFERCONTROL_PARAM_RECIPIENT = "controlRecipient"
const DataType	ACCESSCONTROL_METHOD_TRANSFERCONTROL_DTYPE_RECIPIENT = RAPID_STRING
const String32	RAFT = "RAFT"
	RAFT: RAPID Advanced File Transfer subsystem.
const String32	RAFT_METHOD_PARAM_UUID = "uuid"
	RAFT paramter: Uuid of file.
const DataType	RAFT_METHOD_DTYPE_UUID = RAPID_STRING
const String32	RAFT_METHOD_PARAM_PRIORITY = "priority"
	RAFT paramter: Priority of file.
const DataType	RAFT_METHOD_DTYPE_PRIORITY = RAPID_FLOAT
const String32	RAFT_METHOD_PARAM_KEY = "key"
	RAFT paramter: metaData key field name.
const DataType	RAFT_METHOD_DTYPE_KEY = RAPID_STRING
const String32	RAFT_METHOD_PARAM_VALUE = "value"
	RAFT paramter: value of the metaData key field.
const DataType	RAFT_METHOD_DTYPE_VALUE = RAPID_STRING
const String32	RAFT_METHOD_PARAM_CHANNELID = "channelId"
	RAFT paramter: Channel id.
const DataType	RAFT_METHOD_DTYPE_CHANNELID = RAPID_INT
const String32	RAFT_METHOD_PARAM_BANDWIDTHBPS = "bandwidthBps"
	RAFT paramter: Bandwidth.
const DataType	RAFT_METHOD_DTYPE_BANDWIDTHBPS = RAPID_INT
const String32	RAFT_METHOD_PARAM_PREFETCHKBANDWIDTHBPS = "prefetchBandwidthBps"
const DataType	RAFT_METHOD_DTYPE_PREFETCHKBANDWIDTHBPS = RAPID_INT
const String32	RAFT_METHOD_PUTFILE = "putFile"
	Put file into RAFT queue.
const String32	RAFT_METHOD_PUTMATCHING = "putMatching"
	Put data product files into RAFT queue.
const String32	RAFT_METHOD_REMOVEFILE = "removeFile"
	Remove file from RAFT queue.
const String32	RAFT_METHOD_PAUSE = "pause"
	Pause a RAFT queue.
const String32	RAFT_METHOD_RESUME = "resume"
	Resume a RAFT queue.
const String32	RAFT_METHOD_SETBANDWIDTH = "setBandwidth"
	Resume a RAFT queue.

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Detailed Description

Command is sent by a remote application to command an Agent. CommandConfig sends a list of commands that are supported by the sending Agent, which are encapsulated in a CommandDef struct. The parameters listed for each of these common commands are guaranteed to be used by an Agent that lists the command in its CommandConfig.

Access Control parameters provide a method of transferring control between remote operators. AccessControlState is used to send the current controller and list of requestors. AccessControlConstants provides static values used in the state.