graspit_dbase_tasks::DBTask Class Reference

A task is a database record of some experiment that we want to run. More...

#include <dbTask.h>

Inheritance diagram for graspit_dbase_tasks::DBTask:

[legend]

List of all members.

Public Types
enum	Status { RUNNING, ERROR, DONE }
Public Member Functions
	DBTask (DBTaskDispatcher *disp, db_planner::DatabaseManager *mgr, db_planner::TaskRecord rec)
db_planner::TaskRecord	getRecord ()
	Returns a copy of the dbase record of this task.
Status	getStatus ()
	Returns the current status of this task.
virtual void	mainLoop ()
virtual void	start ()=0
virtual	~DBTask ()
Protected Attributes
db_planner::DatabaseManager *	mDBMgr
	A database mgr that can be used to access the dbase.
DBTaskDispatcher *	mDispatcher
	The Dispatcher that started this task.
db_planner::TaskRecord	mRecord
	The dbase record of the task being executed.
Status	mStatus
	The current status of this task.

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Detailed Description

A task is a database record of some experiment that we want to run.

Usually, a task will involve an object, a hand, and some sort of experiment, such as planning grasps and recording them in the database. This class encapsulates a task, plus it offers some connections so that the task can be run automatically by a DBTaskDispatcher.

A DBTask is responsible for its own event management. It can use a callback system (i.e. surrender control and then get it back later via its own timers or callbacks). For example, this can be achieved by using one of the EGPlanners, which do that natively.

A DBTask must implement the following interface:

• at the beginning, the DBTaskDispatcher will call the start() fctn. The DBTask must start its own event management from there.

• if the DBTask is one-shot, it can do all the work in start() and set its status to either DONE or ERROR at the end. The Dispatcher will see this, clean up and go to the next Task.

• if the DBTask is event based, start() must set up the DBTask event loop, then leave mStatus = RUNNING, and then surrender control. The Dispatcher will in turn surrender control and let the DBTask event loop do its thing.

• when the DBTask is done, it is responsible for setting its own mStatus to DONE. The DBTaskDispatcher wakes up periodically and checks on this. When it sees that the status of the DBTask is DONE it will clean up and continue to another task.

Definition at line 70 of file dbTask.h.

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Member Enumeration Documentation

enum graspit_dbase_tasks::DBTask::Status

Enumerator:

RUNNING
ERROR
DONE

Definition at line 72 of file dbTask.h.

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Constructor & Destructor Documentation

graspit_dbase_tasks::DBTask::DBTask	(	DBTaskDispatcher *	disp,
		db_planner::DatabaseManager *	mgr,
		db_planner::TaskRecord	rec
	)			[inline]

Definition at line 88 of file dbTask.h.

virtual graspit_dbase_tasks::DBTask::~DBTask

(

)

[inline, virtual]

Definition at line 91 of file dbTask.h.

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Member Function Documentation

db_planner::TaskRecord graspit_dbase_tasks::DBTask::getRecord

(

)

[inline]

Returns a copy of the dbase record of this task.

Definition at line 101 of file dbTask.h.

Status graspit_dbase_tasks::DBTask::getStatus

(

)

[inline]

Returns the current status of this task.

Definition at line 98 of file dbTask.h.

virtual void graspit_dbase_tasks::DBTask::mainLoop

(

)

[inline, virtual]

Reimplemented in graspit_dbase_tasks::DBEmptyTask.

Definition at line 95 of file dbTask.h.

virtual void graspit_dbase_tasks::DBTask::start

(

)

[pure virtual]

Implemented in graspit_dbase_tasks::DBEmptyTask, and graspit_dbase_tasks::DBEmptyOneShotTask.

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Member Data Documentation

db_planner::DatabaseManager* graspit_dbase_tasks::DBTask::mDBMgr [protected]

A database mgr that can be used to access the dbase.

Acquired from the DBTaskDispatcher

Definition at line 82 of file dbTask.h.

DBTaskDispatcher* graspit_dbase_tasks::DBTask::mDispatcher [protected]

The Dispatcher that started this task.

Definition at line 78 of file dbTask.h.

db_planner::TaskRecord graspit_dbase_tasks::DBTask::mRecord [protected]

The dbase record of the task being executed.

Definition at line 85 of file dbTask.h.

Status graspit_dbase_tasks::DBTask::mStatus [protected]

The current status of this task.

Definition at line 75 of file dbTask.h.

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

• /opt/ros/diamondback/stacks/graspit_simulator/graspit_dbase_tasks/include/graspit_dbase_tasks/dbTask.h