#include <MonoTask.hpp>

Inheritance diagram for image_preprocessing::MonoTask:

Public Member Functions
	MonoTask (std::string const &name="image_preprocessing::MonoTask", TaskCore::TaskState initial_state=Stopped)

	~MonoTask ()

bool	startHook ()
	The following lines are template definitions for the various state machine. More...

void	updateHook ()

Protected Attributes
RTT::extras::ReadOnlyPointer< base::samples::frame::Frame >	in_frame

RTT::extras::ReadOnlyPointer< base::samples::frame::Frame >	out_frame

Friends
class	MonoTaskBase

Constructor & Destructor Documentation

◆ MonoTask()

MonoTask::MonoTask	(	std::string const &	name = `"image_preprocessing::MonoTask"`,
		TaskCore::TaskState	initial_state = `Stopped`
	)

◆ ~MonoTask()

MonoTask::~MonoTask ( )

Member Function Documentation

◆ startHook()

bool MonoTask::startHook ( )

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 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.

◆ updateHook()

void MonoTask::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

◆ MonoTaskBase

friend class MonoTaskBase

friend

Member Data Documentation

◆ in_frame

RTT::extras::ReadOnlyPointer<base::samples::frame::Frame> image_preprocessing::MonoTask::in_frame

protected

◆ out_frame

RTT::extras::ReadOnlyPointer<base::samples::frame::Frame> image_preprocessing::MonoTask::out_frame