hokuyo::Task Class Reference

#include <Task.hpp>

Inheritance diagram for hokuyo::Task:

Public Member Functions
	Task (std::string const &name="hokuyo::Task")
	Task (std::string const &name, RTT::ExecutionEngine *engine)
	~Task ()
bool	configureHook ()
bool	startHook ()
void	updateHook ()
void	stopHook ()
void	cleanupHook ()

Protected Attributes
URG *	m_driver
double	m_devicePeriod
aggregator::TimestampEstimator *	timestampEstimator

Friends
class	TaskBase

Constructor & Destructor Documentation

Task::Task

(

std::string const &

name = "hokuyo::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::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.

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. 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.

Friends And Related Function Documentation

friend class TaskBase

friend

Member Data Documentation

double hokuyo::Task::m_devicePeriod

protected

URG* hokuyo::Task::m_driver

protected

aggregator::TimestampEstimator* hokuyo::Task::timestampEstimator

protected

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

• /build/rock-master-18.09-drivers-orogen-hokuyo-0.20160122/tasks/Task.hpp
• /build/rock-master-18.09-drivers-orogen-hokuyo-0.20160122/tasks/Task.cpp