sonar_tritech::Micron Class Reference

#include <Micron.hpp>

Inheritance diagram for sonar_tritech::Micron:

Public Member Functions
	Micron (std::string const &name="sonar_tritech::Micron")
bool	configureHook ()
bool	startHook ()
void	updateHook ()
void	processIO ()
void	processEchoSounderPacket ()
void	stopHook ()
void	cleanupHook ()

Protected Member Functions
virtual bool	setConfig (::sea_net::MicronConfig const &value)

Constructor & Destructor Documentation

Micron()

Micron::Micron

(

std::string const &

name = "sonar_tritech::Micron"

)

Member Function Documentation

cleanupHook()

void Micron::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.

configureHook()

bool Micron::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 "MicronName" do needs_configuration ... end

processEchoSounderPacket()

void Micron::processEchoSounderPacket

(

)

processIO()

void Micron::processIO

(

)

setConfig()

bool Micron::setConfig ( ::sea_net::MicronConfig const &  value )

protectedvirtual

startHook()

bool Micron::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 Micron::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.

updateHook()

void Micron::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.

The updated_ports argument is the set of ports that have triggered this call. If the trigger is caused by something different (for instance, a periodic update), then this set is empty.

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

• /build/rock-master-18.09-drivers-orogen-sonar-tritech-0.20160621/tasks/Micron.hpp
• /build/rock-master-18.09-drivers-orogen-sonar-tritech-0.20160621/tasks/Micron.cpp