mars::Task Class Reference

#include <Task.hpp>

Inheritance diagram for mars::Task:

Public Member Functions
	Task (std::string const &name="mars::Task")
	Task (std::string const &name, RTT::ExecutionEngine *engine)
	~Task ()
void	registerPlugin (Plugin *plugin)
void	unregisterPlugin (Plugin *plugin)
bool	configureHook ()
bool	startHook ()
void	updateHook ()
void	errorHook ()
void	stopHook ()
void	cleanupHook ()
void	receiveData (const mars::data_broker::DataInfo &info, const mars::data_broker::DataPackage &package, int id)

Static Public Member Functions
static mars::interfaces::SimulatorInterface *	getSimulatorInterface ()
static mars::Task *	getTaskInterface ()

Protected Member Functions
int	getOptionCount (const std::vector< Option > &options)
virtual void	move_node (::mars::Positions const &arg)
char **	setOptions (const std::vector< Option > &options)
virtual void	loadScene (::std::string const &path)
virtual bool	setShow_coordinate_system (bool value)
virtual bool	setReaction_to_physics_error (::std::string const &value)
virtual bool	setSim_step_size (double value)
virtual bool	setGravity (::base::Vector3d const &value)
virtual bool	setGravity_internal (::base::Vector3d const &value)
virtual void	setPosition (::mars::Positions const &positions)

Static Protected Member Functions
static void *	startTaskFunc (void *)

Protected Attributes
QApplication *	app
pthread_t	thread_info
mars::interfaces::PluginInterface *	multisimPlugin
std::vector< Plugin * >	plugins
mars::interfaces::GraphicsManagerInterface *	marsGraphics

Static Protected Attributes
static mars::app::GraphicsTimer *	graphicsTimer = 0
static mars::interfaces::SimulatorInterface *	simulatorInterface = 0
static mars::Task *	taskInterface = 0
static std::string	configDir
static bool	marsRunning
static lib_manager::LibManager *	libManager = 0

Friends
class	TaskBase

Detailed Description

Core module that brings up the mars mars and makes it accessible as a orogen module

use subclassing to derive robot specific modules, e.g.

task_context 'RobotSimulation' do subclasses 'mars::Task' .. end

Constructor & Destructor Documentation

Task() [1/2]

Task::Task

(

std::string const &

name = "mars::Task"

)

Task() [2/2]

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

~Task()

Task::~Task

(

)

Member Function Documentation

cleanupHook()

void Task::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 Task::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

errorHook()

void Task::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 recovered() to go back in the Runtime state.

getOptionCount()

int Task::getOptionCount ( const std::vector< Option > &  options )

protected

getSimulatorInterface()

mars::interfaces::SimulatorInterface * Task::getSimulatorInterface ( )

static

get the singleton instance of the simulator interface

getTaskInterface()

mars::Task * Task::getTaskInterface ( )

static

loadScene()

void Task::loadScene ( ::std::string const &  path )

protectedvirtual

move_node()

void Task::move_node ( ::mars::Positions const &  arg )

protectedvirtual

receiveData()

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

registerPlugin()

void Task::registerPlugin

(

Plugin *

plugin

)

setGravity()

bool Task::setGravity ( ::base::Vector3d const &  value )

protectedvirtual

setGravity_internal()

bool Task::setGravity_internal ( ::base::Vector3d const &  value )

protectedvirtual

setOptions()

char ** Task::setOptions ( const std::vector< Option > &  options )

protected

setPosition()

void Task::setPosition ( ::mars::Positions const &  positions )

protectedvirtual

setReaction_to_physics_error()

bool Task::setReaction_to_physics_error ( ::std::string const &  value )

protectedvirtual

setShow_coordinate_system()

bool Task::setShow_coordinate_system ( bool  value )

protectedvirtual

setSim_step_size()

bool Task::setSim_step_size ( double  value )

protectedvirtual

startHook()

bool Task::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.

startTaskFunc()

void * Task::startTaskFunc ( void *  argument )

staticprotected

stopHook()

void Task::stopHook

(

)

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

unregisterPlugin()

void Task::unregisterPlugin

(

Plugin *

plugin

)

updateHook()

void Task::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.

Friends And Related Function Documentation

TaskBase

friend class TaskBase

friend

Member Data Documentation

app

QApplication* mars::Task::app

protected

configDir

std::string mars::Task::configDir

staticprotected

graphicsTimer

mars::app::GraphicsTimer * Task::graphicsTimer = 0

staticprotected

libManager

lib_manager::LibManager * Task::libManager = 0

staticprotected

marsGraphics

mars::interfaces::GraphicsManagerInterface* mars::Task::marsGraphics

protected

marsRunning

bool mars::Task::marsRunning

staticprotected

multisimPlugin

mars::interfaces::PluginInterface* mars::Task::multisimPlugin

protected

plugins

std::vector<Plugin*> mars::Task::plugins

protected

simulatorInterface

mars::interfaces::SimulatorInterface * Task::simulatorInterface = 0

staticprotected

taskInterface

mars::Task * Task::taskInterface = 0

staticprotected

thread_info

pthread_t mars::Task::thread_info

protected

---

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

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