mars::Plugin Class Reference

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 <Plugin.hpp>

Inheritance diagram for mars::Plugin:

Public Member Functions
	Plugin (std::string const &name="mars::Plugin")
	Plugin (std::string const &name, RTT::ExecutionEngine *engine)
	~Plugin ()
bool	configureHook ()
	The following lines are template definitions for the various state machine. More...
bool	startHook ()
void	updateHook ()
void	errorHook ()
void	stopHook ()
void	cleanupHook ()
base::Time	getTime ()
	provides the mars time to be used as timestamps More...
bool	connect ()
void	disconnect ()
virtual void	reset ()
virtual void	receiveData (const mars::data_broker::DataInfo &info, const mars::data_broker::DataPackage &package, int id)
virtual void	handleMarsShudown ()
virtual void	init ()
virtual void	update (double delta_t)

Protected Attributes
mars::interfaces::SimulatorInterface *	sim

Friends
class	PluginBase

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.

The name of a TaskContext is primarily defined via:

deployment 'deployment_name'
    task('custom_task_name','mars::Plugin')
end

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

Constructor & Destructor Documentation

Plugin() [1/2]

Plugin::Plugin

(

std::string const &

name = "mars::Plugin"

)

TaskContext constructor for Plugin

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.

Plugin() [2/2]

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

TaskContext constructor for Plugin

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.

~Plugin()

Plugin::~Plugin

(

)

Default deconstructor of Plugin

Member Function Documentation

cleanupHook()

void Plugin::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 Plugin::configureHook

(

)

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

connect()

bool Plugin::connect

(

)

disconnect()

void Plugin::disconnect

(

)

errorHook()

void Plugin::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.

getTime()

base::Time Plugin::getTime

(

)

provides the mars time to be used as timestamps

Returns the mars time, which is a combination of the wall time when the mars was started, and the mars time elapsed since then.

Use ONLY this time for setting the timestamps of the output data

Returns

the mars time to be used as timestamps

handleMarsShudown()

void Plugin::handleMarsShudown ( )

virtual

init()

void Plugin::init ( )

virtual

receiveData()

void Plugin::receiveData ( const mars::data_broker::DataInfo &  info, const mars::data_broker::DataPackage &  package, int  id  )

virtual

reset()

void Plugin::reset ( )

virtual

startHook()

bool Plugin::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 Plugin::stopHook

(

)

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

update()

void Plugin::update ( double  delta_t )

virtual

updateHook()

void Plugin::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

PluginBase

friend class PluginBase

friend

Member Data Documentation

sim

mars::interfaces::SimulatorInterface* mars::Plugin::sim

protected

---

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

• /build/rock-master-18.09-simulation-orogen-mars-0.20180420/tasks/Plugin.hpp
• /build/rock-master-18.09-simulation-orogen-mars-0.20180420/tasks/Plugin.cpp