The task context provides and requires services. It uses an ExecutionEngine to perform its functions. Essential interfaces are operations, data flow ports and properties. These interfaces have been defined using the oroGen specification. In order to modify the interfaces you should (re)use oroGen and rely on the associated workflow. More...

#include <MessageTransportTask.hpp>

Inheritance diagram for fipa_services::MessageTransportTask:

Public Member Functions
	MessageTransportTask (std::string const &name="fipa_services::MessageTransportTask")

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

	~MessageTransportTask ()

bool	configureHook ()

bool	startHook ()

void	updateHook ()

void	errorHook ()

void	stopHook ()

void	cleanupHook ()

Protected Types
typedef std::map< std::string, RTT::base::OutputPortInterface * >	ReceiverPorts

Protected Member Functions
virtual bool	addReceiver (::std::string const &receiver, bool is_local=false)

virtual ::std::vector< ::std::string >	getReceivers ()

virtual bool	removeReceiver (::std::string const &receiver)

bool	addReceiverPort (RTT::base::OutputPortInterface *outputPort, const std::string &name)

bool	removeReceiverPort (const std::string &name)

void	registerService (std::string receiver)

void	deregisterService (std::string receiver)

void	serviceAdded (servicediscovery::avahi::ServiceEvent event)

void	serviceRemoved (servicediscovery::avahi::ServiceEvent event)

void	connectToMTS (const std::string &serviceName, const std::string &ior)

bool	deliverLetterLocally (const std::string &receiverName, const fipa::acl::Letter &letter)

void	initializeMessageTransport ()

Protected Attributes
boost::mutex	mConnectToMTSMutex

boost::shared_mutex	mServiceChangeMutex

fipa::services::message_transport::MessageTransport *	mMessageTransport
	Prevents a simulatenous change of the service. More...

std::string	mInterface

std::string	mClientServiceType

std::vector< fipa::services::ServiceDirectoryEntry >	mExtraServiceDirectoryEntries

ReceiverPorts	mReceivers

Friends
class	MessageTransportTaskBase

Detailed Description

The task context provides and requires services. It uses an ExecutionEngine to perform its functions. Essential interfaces are operations, data flow ports and properties. These interfaces have been defined using the oroGen specification. In order to modify the interfaces you should (re)use oroGen and rely on the associated workflow.

This oroGen task represents a message transport task to allow to allow for inter-robot communication in a p2p communication network.

Typically this instance will be controlled from the ruby layer (refer to bindings)

Calling the operation 'addReceiver' will trigger the creation of an output port of a predefined name, e.g. 'agent_0'

The client can then connect to this output port and any message addressed to 'agent_0' will be delivered to this port. This agent name

include <fipa_acl/fipa_acl.h>

fipa::acl::ACLMessage message; message.setPerformative(AclMessage::REQUEST); ... fipa::acl::Letter letter(message, representation::BITEFFICIENT); fipa::SerializedLetter serializedLetter(letter, representation::BITEFFICIENT);

The name of a TaskContext is primarily defined via:

deployment 'deployment_name'
    task('custom_task_name','fipa_services::MessageTransportTask')
end

It can be dynamically adapted when the deployment is called with a prefix argument.

Member Typedef Documentation

typedef std::map<std::string, RTT::base::OutputPortInterface*> fipa_services::MessageTransportTask::ReceiverPorts

protected

Constructor & Destructor Documentation

fipa_services::MessageTransportTask::MessageTransportTask ( std::string const & name = "fipa_services::MessageTransportTask" )

TaskContext constructor for MessageTransportTask

Parameters

name	Name of the task. This name needs to be unique to make it identifiable via nameservices.
initial_state	The initial TaskState of the TaskContext. Default is Stopped state.

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

TaskContext constructor for MessageTransportTask

Parameters

name	Name of the task. This name needs to be unique to make it identifiable for nameservices.
engine	The RTT Execution engine to be used for this task, which serialises the execution of all commands, programs, state machines and incoming events for a task.

fipa_services::MessageTransportTask::~MessageTransportTask ( )

Default deconstructor of MessageTransportTask

Member Function Documentation

bool fipa_services::MessageTransportTask::addReceiver	(	::std::string const &	receiver,
		bool	is_local = `false`
	)

protectedvirtual

bool fipa_services::MessageTransportTask::addReceiverPort	(	RTT::base::OutputPortInterface *	outputPort,
		const std::string &	name
	)

protected

Add an output port for a specific receiver, portname and receivername will be identical

Returns: true on success, false otherwise

void fipa_services::MessageTransportTask::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 fipa_services::MessageTransportTask::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

void fipa_services::MessageTransportTask::connectToMTS	(	const std::string &	serviceName,
		const std::string &	ior
	)

protected

Connect to another MTS using a known ior

bool fipa_services::MessageTransportTask::deliverLetterLocally	(	const std::string &	receiverName,
		const fipa::acl::Letter &	letter
	)

protected

void fipa_services::MessageTransportTask::deregisterService ( std::string receiver )

protected

Deregister a service (a receiver) with the distributed service directory.

void fipa_services::MessageTransportTask::errorHook ( )

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.

std::vector< std::string > fipa_services::MessageTransportTask::getReceivers ( )

protected

void fipa_services::MessageTransportTask::initializeMessageTransport ( )

protected

Initialize the message transport

void fipa_services::MessageTransportTask::registerService ( std::string receiver )

protected

Register a service (a receiver) with the distributed service directory.

bool fipa_services::MessageTransportTask::removeReceiver ( ::std::string const & receiver )

protectedvirtual

bool fipa_services::MessageTransportTask::removeReceiverPort ( const std::string & name )

protected

Remove the output port for a specific receiver

Returns: true on success, false otherwise

void fipa_services::MessageTransportTask::serviceAdded ( servicediscovery::avahi::ServiceEvent event )

protected

Service added callback handler

void fipa_services::MessageTransportTask::serviceRemoved ( servicediscovery::avahi::ServiceEvent event )

protected

Service removed callback handler

bool fipa_services::MessageTransportTask::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 fipa_services::MessageTransportTask::stopHook ( )

This hook is called by Orocos when the state machine transitions from Running to Stopped after stop() has been called.

void fipa_services::MessageTransportTask::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.

Friends And Related Function Documentation

friend class MessageTransportTaskBase

friend

Member Data Documentation

std::string fipa_services::MessageTransportTask::mClientServiceType

protected

boost::mutex fipa_services::MessageTransportTask::mConnectToMTSMutex

mutableprotected

std::vector<fipa::services::ServiceDirectoryEntry> fipa_services::MessageTransportTask::mExtraServiceDirectoryEntries

protected

std::string fipa_services::MessageTransportTask::mInterface

protected

fipa::services::message_transport::MessageTransport* fipa_services::MessageTransportTask::mMessageTransport

protected

Prevents a simulatenous change of the service.

ReceiverPorts fipa_services::MessageTransportTask::mReceivers

protected

boost::shared_mutex fipa_services::MessageTransportTask::mServiceChangeMutex

mutableprotected

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

/build/rock-master-18.09-multiagent-orogen-fipa-services-0.20180802/tasks/MessageTransportTask.hpp
/build/rock-master-18.09-multiagent-orogen-fipa-services-0.20180802/tasks/MessageTransportTask.cpp

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation