#include <Task.hpp>
Public Member Functions | |
| Task (std::string const &name="dvl_teledyne::Task") | |
| Task (std::string const &name, RTT::ExecutionEngine *engine) | |
| ~Task () | |
| bool | configureHook () |
| The following lines are template definitions for the various state machine. More... | |
| bool | startHook () |
| void | processIO () |
| void | stopHook () |
Protected Attributes | |
| Driver * | mDriver |
| aggregator::TimestampEstimator * | mTimestamper |
| uint64_t | mGlobalSeq |
| int32_t | mLastSeq |
| double | var |
Friends | |
| class | TaskBase |
Constructor & Destructor Documentation
◆ Task() [1/2]
| Task::Task | ( | std::string const & | name = "dvl_teledyne::Task" | ) |
◆ Task() [2/2]
| Task::Task | ( | std::string const & | name, |
| RTT::ExecutionEngine * | engine | ||
| ) |
◆ ~Task()
| Task::~Task | ( | ) |
Member Function Documentation
◆ configureHook()
| bool Task::configureHook | ( | ) |
The following lines are template definitions for the various state machine.
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
◆ processIO()
| void Task::processIO | ( | ) |
Called by iodrivers_base::Task when some data is available for processing
◆ startHook()
| 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.
◆ stopHook()
| void Task::stopHook | ( | ) |
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. 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 recover() 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.
Friends And Related Function Documentation
◆ TaskBase
|
friend |
Member Data Documentation
◆ mDriver
|
protected |
◆ mGlobalSeq
|
protected |
◆ mLastSeq
|
protected |
◆ mTimestamper
|
protected |
◆ var
|
protected |
The documentation for this class was generated from the following files:
