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.
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#include <LaserRangeFinder.hpp>
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| base::samples::LaserScan | scan |
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| mars::sim::RaySensor * | sensor |
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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.
The name of a TaskContext is primarily defined via:
deployment 'deployment_name'
task('custom_task_name','mars::LaserRangeFinder')
end
It can be dynamically adapted when the deployment is called with a prefix argument.
◆ LaserRangeFinder() [1/2]
| LaserRangeFinder::LaserRangeFinder |
( |
std::string const & |
name = "mars::LaserRangeFinder" | ) |
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TaskContext constructor for LaserRangeFinder
- Parameters
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| 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. |
◆ LaserRangeFinder() [2/2]
| LaserRangeFinder::LaserRangeFinder |
( |
std::string const & |
name, |
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RTT::ExecutionEngine * |
engine |
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) |
| |
TaskContext constructor for LaserRangeFinder
- 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. |
◆ ~LaserRangeFinder()
| LaserRangeFinder::~LaserRangeFinder |
( |
| ) |
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◆ startHook()
| bool LaserRangeFinder::startHook |
( |
| ) |
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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.
◆ stopHook()
| void LaserRangeFinder::stopHook |
( |
| ) |
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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.
◆ update()
| void LaserRangeFinder::update |
( |
double |
time | ) |
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protected |
◆ LaserRangeFinderBase
| friend class LaserRangeFinderBase |
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friend |
◆ scan
| base::samples::LaserScan mars::LaserRangeFinder::scan |
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protected |
◆ sensor
| mars::sim::RaySensor* mars::LaserRangeFinder::sensor |
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protected |
The documentation for this class was generated from the following files:
