#include <SimpleController.hpp>
Public Member Functions | |
| SimpleController (std::string const &name="skid4_control::SimpleController") | |
| SimpleController (std::string const &name, RTT::ExecutionEngine *engine) | |
| bool | configureHook () |
| void | updateHook () |
Friends | |
| class | SimpleControllerBase |
Constructor & Destructor Documentation
| SimpleController::SimpleController | ( | std::string const & | name = "skid4_control::SimpleController" | ) |
TaskContext constructor for SimpleController
- Parameters
-
name Name of the task. This name needs to be unique to make it identifiable via nameservices. initial_state The initial TaskState of the TaskContext. Default is Stopped state.
| SimpleController::SimpleController | ( | std::string const & | name, |
| RTT::ExecutionEngine * | engine | ||
| ) |
TaskContext constructor for SimpleController
- Parameters
-
name Name of the task. This name needs to be unique to make it identifiable for nameservices. engine The RTT Execution engine to be used for this task, which serialises the execution of all commands, programs, state machines and incoming events for a task.
Member Function Documentation
| bool SimpleController::configureHook | ( | ) |
This hook is called by Orocos when the state machine transitions from PreOperational to Stopped. If it returns false, then the component will stay in PreOperational. Otherwise, it goes into Stopped.
It is meaningful only if the #needs_configuration has been specified in the task context definition with (for example):
task_context "TaskName" do needs_configuration ... end
| void SimpleController::updateHook | ( | ) |
This hook is called by Orocos when the state machine transitions from Stopped to Running. If it returns false, then the component will stay in Stopped. Otherwise, it goes into Running and updateHook() will be called. This hook is called by Orocos when the component is in the Running state, at each activity step. Here, the activity gives the "ticks" when the hook should be called.
The error(), exception() and fatal() calls, when called in this hook, allow to get into the associated RunTimeError, Exception and FatalError states.
In the first case, updateHook() is still called, and recover() allows you to go back into the Running state. In the second case, the errorHook() will be called instead of updateHook(). In Exception, the component is stopped and recover() needs to be called before starting it again. Finally, FatalError cannot be recovered.
Friends And Related Function Documentation
|
friend |
The documentation for this class was generated from the following files:
- /build/rock-master-18.09-control-orogen-skid4-control-0.20170821/tasks/SimpleController.hpp
- /build/rock-master-18.09-control-orogen-skid4-control-0.20170821/tasks/SimpleController.cpp
