canbus::Task Class Reference

#include <Task.hpp>

Inheritance diagram for canbus::Task:

Classes
struct	Mapping
struct	MappingCacheItem

Public Member Functions
	Task (std::string const &name="canbus::Task")
	~Task ()
bool	configureHook ()
bool	startHook ()
void	updateHook ()
void	stopHook ()
void	cleanupHook ()

Protected Types
typedef std::vector< Mapping >	Mappings
typedef std::map< uint32_t, MappingCacheItem >	MappingCache

Protected Member Functions
virtual bool	watch (std::string const &name, int id, int mask)
virtual bool	unwatch (std::string const &name)

Protected Attributes
canbus::Driver *	m_driver
canbus::Statistics	m_stats
Mappings	m_mappings
MappingCache	m_mapping_cache
base::Time	m_last_can_check_time
base::Time	m_last_stats_time
base::Time	m_can_check_interval
base::Time	m_stats_interval

Friends
class	TaskBase

Member Typedef Documentation

typedef std::map<uint32_t, MappingCacheItem> canbus::Task::MappingCache

protected

typedef std::vector<Mapping> canbus::Task::Mappings

protected

Constructor & Destructor Documentation

Task::Task

(

std::string const &

name = "canbus::Task"

)

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::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

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.

bool Task::unwatch ( std::string const &  name )

protectedvirtual

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.

bool Task::watch ( std::string const &  name, int  id, int  mask  )

protectedvirtual

Friends And Related Function Documentation

friend class TaskBase

friend

Member Data Documentation

base::Time canbus::Task::m_can_check_interval

protected

canbus::Driver* canbus::Task::m_driver

protected

base::Time canbus::Task::m_last_can_check_time

protected

base::Time canbus::Task::m_last_stats_time

protected

MappingCache canbus::Task::m_mapping_cache

protected

Mappings canbus::Task::m_mappings

protected

canbus::Statistics canbus::Task::m_stats

protected

base::Time canbus::Task::m_stats_interval

protected

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

• /build/rock-master-18.09-drivers-orogen-canbus-0.20180808/tasks/Task.hpp
• /build/rock-master-18.09-drivers-orogen-canbus-0.20180808/tasks/Task.cpp