controldev::GenericTask Class Reference

#include <GenericTask.hpp>

Inheritance diagram for controldev::GenericTask:

Classes
class	AxisPortHandle

Public Member Functions
	GenericTask (std::string const &name="controldev::GenericTask")
	GenericTask (std::string const &name, RTT::ExecutionEngine *engine)
virtual	~GenericTask ()
virtual bool	configureHook ()
	This hook is called by Orocos when the state machine transitions from PreOperational to Stopped. More...
virtual bool	startHook ()
	This hook is called by Orocos when the state machine transitions from Stopped to Running. More...
virtual void	updateHook ()
	This hook is called by Orocos when the component is in the Running state, at each activity step. More...
virtual void	stopHook ()
	This hook is called by Orocos when the component is in the RunTimeError state, at each activity step. More...

Protected Member Functions
virtual bool	updateRawCommand (RawCommand &rcmd)=0
virtual int	getFileDescriptor ()=0

Protected Attributes
std::vector< AxisPortHandle >	axisHandles
std::vector< double >	axisScales

Friends
class	GenericTaskBase

Constructor & Destructor Documentation

GenericTask::GenericTask

(

std::string const &

name = "controldev::GenericTask"

)

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

GenericTask::~GenericTask ( )

virtual

Member Function Documentation

bool GenericTask::configureHook ( )

virtual

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

virtual int controldev::GenericTask::getFileDescriptor ( )

protectedpure virtual

bool GenericTask::startHook ( )

virtual

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 GenericTask::stopHook ( )

virtual

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 GenericTask::updateHook ( )

virtual

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. See README.txt for different triggering options.

The warning(), error() and fatal() calls, when called in this hook, allow to get into the associated RunTimeWarning, RunTimeError and FatalError states.

In the first case, updateHook() is still called, and recovered() allows you to go back into the Running state. In the second case, the errorHook() will be called instead of updateHook() and in the third case the component is stopped and resetError() needs to be called before starting it again.

virtual bool controldev::GenericTask::updateRawCommand ( RawCommand &  rcmd )

protectedpure virtual

Friends And Related Function Documentation

friend class GenericTaskBase

friend

Member Data Documentation

std::vector<AxisPortHandle> controldev::GenericTask::axisHandles

protected

std::vector<double> controldev::GenericTask::axisScales

protected

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

• /build/rock-master-18.09-drivers-orogen-controldev-0.20180522/tasks/GenericTask.hpp
• /build/rock-master-18.09-drivers-orogen-controldev-0.20180522/tasks/GenericTask.cpp