camera_base::Task Class Reference

#include <Task.hpp>

Inheritance diagram for camera_base::Task:

Public Member Functions
	Task (std::string const &name="camera::Task")
	Task (std::string const &name, RTT::ExecutionEngine *engine)
	~Task ()
virtual bool	configureCamera ()
virtual void	setExtraAttributes (base::samples::frame::Frame *frame_ptr)
bool	configureHook ()
bool	startHook ()
void	updateHook ()
void	stopHook ()
void	cleanupHook ()

Protected Member Functions
virtual double	getDoubleAttrib (::camera::double_attrib::CamAttrib const &type)
virtual double	getDoubleRangeMax (::camera::double_attrib::CamAttrib const &type)
virtual double	getDoubleRangeMin (::camera::double_attrib::CamAttrib const &type)
virtual boost::int32_t	getIntAttrib (::camera::int_attrib::CamAttrib const &type)
virtual boost::int32_t	getIntRangeMax (::camera::int_attrib::CamAttrib const &type)
virtual boost::int32_t	getIntRangeMin (::camera::int_attrib::CamAttrib const &type)
virtual ::std::string	getStringAttrib (::camera::str_attrib::CamAttrib const &type)
virtual bool	isEnumAttribSet (::camera::enum_attrib::CamAttrib const &type)
virtual bool	setDoubleAttrib (::camera::double_attrib::CamAttrib const &type, double value)
virtual bool	setEnumAttrib (::camera::enum_attrib::CamAttrib const &type)
virtual bool	setIntAttrib (::camera::int_attrib::CamAttrib const &type, boost::int32_t value)
virtual bool	setStringAttrib (::camera::str_attrib::CamAttrib const &type,::std::string const &value)
virtual void	onRetrieveNewFrame (base::samples::frame::Frame &frame)
virtual bool	getFrame ()
virtual void	processImage ()
virtual bool	setExposure (int exposure)
virtual bool	setExposure_mode (std::string const &value)
virtual bool	setTarget_gray_value (boost::int32_t value)

Protected Attributes
camera::CamInterface *	cam_interface
RTT::extras::ReadOnlyPointer< base::samples::frame::Frame >	camera_frame
RTT::extras::ReadOnlyPointer< base::samples::frame::Frame >	output_frame
bool	process_image
frame_helper::FrameHelper	frame_helper
unsigned int	invalid_frames_count
unsigned int	valid_frames_count
float	stat_frame_rate
float	stat_invalid_frame_rate
float	stat_valid_frame_rate
base::Time	time_save

Friends
class	TaskBase

Constructor & Destructor Documentation

Task::Task

(

std::string const &

name = "camera::Task"

)

Task::Task	(	std::string const &	name,
		RTT::ExecutionEngine *	engine
	)

Task::~Task

(

)

Member Function Documentation

void Task::cleanupHook

(

)

This hook is called by Orocos when the state machine transitions from Stopped to PreOperational, requiring the call to configureHook() before calling start() again.

bool Task::configureCamera ( )

virtual

bool Task::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

double Task::getDoubleAttrib ( ::camera::double_attrib::CamAttrib const &  type )

protectedvirtual

double Task::getDoubleRangeMax ( ::camera::double_attrib::CamAttrib const &  type )

protectedvirtual

double Task::getDoubleRangeMin ( ::camera::double_attrib::CamAttrib const &  type )

protectedvirtual

bool Task::getFrame ( )

protectedvirtual

Reads the frame into camera_frame.

Returns

true if successful.

int Task::getIntAttrib ( ::camera::int_attrib::CamAttrib const &  type )

protectedvirtual

boost::int32_t Task::getIntRangeMax ( ::camera::int_attrib::CamAttrib const &  type )

protectedvirtual

boost::int32_t Task::getIntRangeMin ( ::camera::int_attrib::CamAttrib const &  type )

protectedvirtual

std::string Task::getStringAttrib ( ::camera::str_attrib::CamAttrib const &  type )

protected

bool Task::isEnumAttribSet ( ::camera::enum_attrib::CamAttrib const &  type )

protectedvirtual

void Task::onRetrieveNewFrame ( base::samples::frame::Frame &  frame )

protectedvirtual

void Task::processImage ( )

protectedvirtual

Processes a frame an puts it into output_frame.

bool Task::setDoubleAttrib ( ::camera::double_attrib::CamAttrib const &  type, double  value  )

protectedvirtual

bool Task::setEnumAttrib ( ::camera::enum_attrib::CamAttrib const &  type )

protectedvirtual

bool Task::setExposure ( int  exposure )

protectedvirtual

bool Task::setExposure_mode ( std::string const &  value )

protectedvirtual

void Task::setExtraAttributes ( base::samples::frame::Frame *  frame_ptr )

virtual

bool Task::setIntAttrib ( ::camera::int_attrib::CamAttrib const &  type, boost::int32_t  value  )

protectedvirtual

bool Task::setStringAttrib ( ::camera::str_attrib::CamAttrib const &  type, ::std::string const &  value  )

protectedvirtual

bool Task::setTarget_gray_value ( boost::int32_t  value )

protectedvirtual

bool Task::startHook

(

)

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.

void Task::stopHook

(

)

This hook is called by Orocos when the component is in the RunTimeError state, at each activity step. See the discussion in updateHook() about triggering options.

Call recovered() to go back in the Runtime state. This hook is called by Orocos when the state machine transitions from Running to Stopped after stop() has been called.

void Task::updateHook

(

)

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 class TaskBase

friend

Member Data Documentation

camera::CamInterface* camera_base::Task::cam_interface

protected

RTT::extras::ReadOnlyPointer<base::samples::frame::Frame> camera_base::Task::camera_frame

protected

frame_helper::FrameHelper camera_base::Task::frame_helper

protected

unsigned int camera_base::Task::invalid_frames_count

protected

RTT::extras::ReadOnlyPointer<base::samples::frame::Frame> camera_base::Task::output_frame

protected

bool camera_base::Task::process_image

protected

float camera_base::Task::stat_frame_rate

protected

float camera_base::Task::stat_invalid_frame_rate

protected

float camera_base::Task::stat_valid_frame_rate

protected

base::Time camera_base::Task::time_save

protected

unsigned int camera_base::Task::valid_frames_count

protected

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

• /build/rock-master-18.09-drivers-orogen-camera-base-0.20171215/tasks/Task.hpp
• /build/rock-master-18.09-drivers-orogen-camera-base-0.20171215/tasks/Task.cpp