#include <TaskCore.hpp>
Public Types | |
| enum | TaskState { Init, PreOperational, FatalError, Exception, Stopped, Running, RunTimeError } |
Public Member Functions | |
| ExecutionEngine * | engine () |
| const ExecutionEngine * | engine () const |
| virtual TaskState | getTargetState () const |
| virtual TaskState | getTaskState () const |
| void | setExecutionEngine (ExecutionEngine *engine) |
| TaskCore (ExecutionEngine *parent, TaskState initial_state=Stopped) | |
| TaskCore (TaskState initial_state=Stopped) | |
| virtual | ~TaskCore () |
Operations | |
These TaskCore functions are exported in a TaskContext as script methods and are for configuration, starting and stopping its ExecutionEngine. | |
| virtual bool | activate () |
| virtual bool | cleanup () |
| virtual bool | configure () |
| virtual void | error () |
| virtual unsigned | getCpuAffinity () const |
| virtual Seconds | getPeriod () const |
| virtual bool | inException () const |
| virtual bool | inFatalError () const |
| virtual bool | inRunTimeError () const |
| virtual bool | isActive () const |
| virtual bool | isConfigured () const |
| virtual bool | isRunning () const |
| virtual bool | recover () |
| virtual bool | setCpuAffinity (unsigned cpu) |
| virtual bool | setPeriod (Seconds s) |
| virtual bool | start () |
| virtual bool | stop () |
| virtual bool | trigger () |
| virtual bool | update () |
Protected Member Functions | |
| virtual bool | breakUpdateHook () |
| virtual void | cleanupHook () |
| virtual bool | configureHook () |
| virtual void | errorHook () |
| virtual void | exception () |
| virtual void | exceptionHook () |
| virtual void | fatal () |
| virtual bool | startHook () |
| virtual void | stopHook () |
| virtual void | updateHook () |
Protected Attributes | |
| ExecutionEngine * | ee |
| TaskState | mTaskState |
Private Member Functions | |
| virtual void | prepareUpdateHook () |
| TaskCore (TaskCore &) | |
Private Attributes | |
| TaskState const | mInitialState |
| TaskState | mTargetState |
Friends | |
| class | ::RTT::ExecutionEngine |
| class | TaskContext |
The minimal Orocos task. It has a state and an ExecutionEngine to process messages and user functions.
Definition at line 54 of file TaskCore.hpp.
Describes the different states a component can have. When a TaskContext is being constructed, it is in the Init state. After the construction ends, the component arrives in the PreOperational (additional configuration required) or the Stopped (ready to run) state. Invoking start() will make a transition to the Running state and stop() back to the Stopped state. The Running state executes updateHook(). Finally, there is an FatalError state, in which the component can enter by calling the protected method fatal(). In this state, the ExecutionEngine is stopped and updateHook() is no longer called. The object should then be disposed by a supervision system.
Next to the fatal error, one run-time error level is available in the Running state as well. This level allows 'automatic' recovery by the component in case the problem is temporal. In case of problems, one may call the protected method error() when the component is Running. The component will enter the RunTimeError state and will cause the errorHook() to be called instead of updateHook(). When recover() is called, this run-time error state is left and the nominal Running state is entered again.
In order to check if these transitions are allowed, hook functions are executed, which can be filled in by the component builder.
Definition at line 99 of file TaskCore.hpp.
| RTT::TaskCore::TaskCore | ( | TaskState | initial_state = Stopped |
) |
Create a TaskCore. It's ExecutionEngine will be newly constructed with private processing of commands, events, programs and state machines.
| initial_state | Provide the PreOperational parameter flag here to force users in calling configure(), before they call start(). |
Definition at line 46 of file TaskCore.cpp.
| RTT::TaskCore::TaskCore | ( | ExecutionEngine * | parent, | |
| TaskState | initial_state = Stopped | |||
| ) |
Create a TaskCore. Its commands programs and state machines are processed by parent. Use this constructor to share execution engines among task contexts, such that the execution of their functionality is serialised (executed in the same thread).
| initial_state | Provide the PreOperational parameter flag here to force users in calling configure(), before they call start(). |
Definition at line 54 of file TaskCore.cpp.
| RTT::TaskCore::~TaskCore | ( | ) | [virtual] |
Definition at line 64 of file TaskCore.cpp.
| RTT::base::TaskCore::TaskCore | ( | TaskCore & | ) | [private] |
| bool RTT::TaskCore::activate | ( | ) | [virtual] |
This method starts the ExecutionEngine of this component in case it was not running. Normally, it is always running. There is no way to deactivate it from the public interface.
Reimplemented in RTT::corba::TaskContextProxy.
Definition at line 235 of file TaskCore.cpp.
| bool RTT::TaskCore::breakUpdateHook | ( | ) | [protected, virtual] |
Implement this function if your code might block for long times inside the updateHook() function. Insert in this hook the code to wake up that code or signal it otherwise that updateHook() is requested to return (for example by setting a flag). The method returns false by default.
Reimplemented in StatesTC.
Definition at line 307 of file TaskCore.cpp.
| bool RTT::TaskCore::cleanup | ( | ) | [virtual] |
This method instructs a stopped component to enter the pre-operational state again. It calls cleanupHook().
Reimplemented in RTT::corba::TaskContextProxy.
Definition at line 122 of file TaskCore.cpp.
| void RTT::TaskCore::cleanupHook | ( | ) | [protected, virtual] |
Implement this method such that it contains the code which will be executed when cleanup() is called. The default implementation is an empty function.
Reimplemented in StatesTC.
Definition at line 240 of file TaskCore.cpp.
| bool RTT::TaskCore::configure | ( | ) | [virtual] |
This method instructs the component to (re-)read configuration data and try to enter the Stopped state. This can only succeed if the component is not running and configureHook() returns true.
Reimplemented in RTT::corba::TaskContextProxy.
Definition at line 99 of file TaskCore.cpp.
| bool RTT::TaskCore::configureHook | ( | ) | [protected, virtual] |
Implement this method such that it contains the code which will be executed when configure() is called. The default implementation is an empty function which returns true.
| true | to indicate that configuration succeeded and the Stopped state may be entered. | |
| false | to indicate that configuration failed and the Preoperational state is entered. |
Reimplemented in StatesTC.
Definition at line 288 of file TaskCore.cpp.
| ExecutionEngine* RTT::base::TaskCore::engine | ( | ) | [inline] |
Get a pointer to the ExecutionEngine of this Task.
Definition at line 335 of file TaskCore.hpp.
| const ExecutionEngine* RTT::base::TaskCore::engine | ( | ) | const [inline] |
Get a const pointer to the ExecutionEngine of this Task.
Definition at line 327 of file TaskCore.hpp.
| void RTT::TaskCore::error | ( | ) | [virtual] |
Call this method in a Running state to indicate a run-time error condition. errorHook() will be called instead of updateHook(). If the error condition is solved, call recover().
Definition at line 147 of file TaskCore.cpp.
| void RTT::TaskCore::errorHook | ( | ) | [protected, virtual] |
Implement this method to contain code that must be executed in the RunTimeError state, instead of updateHook(). This allows you to specify the behaviour in an erroneous component. errorHook() is called as long as the component is not recover()'ed. After recover()'ed, the updateHook() is called again.
Reimplemented in StatesTC.
Definition at line 297 of file TaskCore.cpp.
| void RTT::TaskCore::exception | ( | ) | [protected, virtual] |
Call this method to indicate a run-time exception happend. First the TaskState is set to Exception. Next, if the taskstate was >= Running, stopHook() is called. Next, if the taskstate was >= Stopped, cleanupHook() is called. Finally, exceptionHook() is called. If any exception happens in exceptionHook(), fatal() is called.
Definition at line 154 of file TaskCore.cpp.
| void RTT::TaskCore::exceptionHook | ( | ) | [protected, virtual] |
Implement this method to contain code that must be executed when transitioning to the Exception state. This allows you to specify the last actions in an erroneous component, after stopHook() and cleanupHook() were called.
Reimplemented in StatesTC.
Definition at line 312 of file TaskCore.cpp.
| void RTT::TaskCore::fatal | ( | ) | [protected, virtual] |
Call this method from any place to indicate that this component encountered a fatal error. It calls no hooks, the ExecutionEngine is stopped and the component waits destruction.
Definition at line 141 of file TaskCore.cpp.
| unsigned RTT::TaskCore::getCpuAffinity | ( | ) | const [virtual] |
Get the configured cpu affinity of this component.
Definition at line 278 of file TaskCore.cpp.
| Seconds RTT::TaskCore::getPeriod | ( | ) | const [virtual] |
Get the configured execution period of this component. Note that this value only is used when the component isActive() or isRunning().
| 0.0 | if the component is non-periodic (event based). | |
| a | negative number when the component is not executable. | |
| a | positive value when the component is periodic. The period is expressed in seconds. |
Definition at line 268 of file TaskCore.cpp.
| TaskCore::TaskState RTT::TaskCore::getTargetState | ( | ) | const [virtual] |
Returns the state this TaskCore is going to, or in case no transition is taking place, returns getTaskState(). For example, before start(), this function returns Stopped. During startHook(), it returns Running and after start() it also returns Running.
If getTaskState() != getTargetState, a transition is taking place.
Definition at line 81 of file TaskCore.cpp.
| TaskCore::TaskState RTT::TaskCore::getTaskState | ( | ) | const [virtual] |
Returns the current state of the TaskCore. For example, before start(), this function returns Stopped. During startHook() it returns Stopped, and after start() it returns Running.
Reimplemented in RTT::corba::TaskContextProxy.
Definition at line 77 of file TaskCore.cpp.
| bool RTT::TaskCore::inException | ( | ) | const [virtual] |
Inspect if the component is in the Exception state.
Definition at line 255 of file TaskCore.cpp.
| bool RTT::TaskCore::inFatalError | ( | ) | const [virtual] |
Inspect if the component is in the FatalError state. There is no possibility to recover from this state. You need to destroy and recreate your component.
Reimplemented in RTT::corba::TaskContextProxy.
Definition at line 251 of file TaskCore.cpp.
| bool RTT::TaskCore::inRunTimeError | ( | ) | const [virtual] |
Inspect if the component is in the RunTimeError state.
Reimplemented in RTT::corba::TaskContextProxy.
Definition at line 259 of file TaskCore.cpp.
| bool RTT::TaskCore::isActive | ( | ) | const [virtual] |
Inspect if the component's ExecutionEngine is processing requests. Normally this is always the case, but user code could stop the ExecutionEngine manually.
Reimplemented in RTT::corba::TaskContextProxy.
Definition at line 263 of file TaskCore.cpp.
| bool RTT::TaskCore::isConfigured | ( | ) | const [virtual] |
Inspect if the component is configured, i.e. in the Stopped, Active or Running state.
Reimplemented in RTT::corba::TaskContextProxy.
Definition at line 247 of file TaskCore.cpp.
| bool RTT::TaskCore::isRunning | ( | ) | const [virtual] |
Inspect if the component is in the Running or RunTimeError state. As RunTimeError is a substate of Running, this method also returns true when the component is in one of these states. See inRunTimeError() or testing the run-time error state.
Reimplemented in RTT::corba::TaskContextProxy.
Definition at line 243 of file TaskCore.cpp.
| void RTT::TaskCore::prepareUpdateHook | ( | ) | [private, virtual] |
This is how the EE informs the TaskContext that it is about to run updateHook. This function might be replaced by another mechanism in the future and currently serves to handle event ports callbacks.
Reimplemented in RTT::TaskContext.
Definition at line 300 of file TaskCore.cpp.
| bool RTT::TaskCore::recover | ( | ) | [virtual] |
Call this method in a RunTimeError or Exception state to indicate that the run-time error conditions are gone and nominal operation is resumed. Makes transition to Running or PreOperational, depending on the state it was in.
Definition at line 176 of file TaskCore.cpp.
| bool RTT::TaskCore::setCpuAffinity | ( | unsigned | cpu | ) | [virtual] |
Sets the cpu affinity of this component.
Definition at line 283 of file TaskCore.cpp.
| void RTT::TaskCore::setExecutionEngine | ( | ExecutionEngine * | engine | ) |
Use this method to re-set the execution engine of this task core.
| engine | The new execution engine which will execute this TaskCore or null if a new execution engine must be created (the old is deleted in that case). |
Definition at line 319 of file TaskCore.cpp.
| bool RTT::TaskCore::setPeriod | ( | Seconds | s | ) | [virtual] |
Sets the period of this component. You may call this at any time, it is simply forwarded to the component's activity object.
Definition at line 273 of file TaskCore.cpp.
| bool RTT::TaskCore::start | ( | void | ) | [virtual] |
This method starts the execution of the updateHook() with each trigger or period. This function calls the user function startHook(), which must return true in order to allow this component to run.
| false |
| |
| true | if the Running state was entered. |
Reimplemented in RTT::TaskContext, and RTT::corba::TaskContextProxy.
Definition at line 188 of file TaskCore.cpp.
| bool RTT::TaskCore::startHook | ( | ) | [protected, virtual] |
Implement this method such that it contains the code which will be executed when start() is called. The default implementation is an empty function which returns true.
| true | to indicate that the component may run and the Running state may be entered. | |
| false | to indicate that the component may not run and the Stopped state is entered. |
Reimplemented in StatesTC.
Definition at line 292 of file TaskCore.cpp.
| bool RTT::TaskCore::stop | ( | void | ) | [virtual] |
This method stops the execution of updateHook() of this component. You can override this method to do something else or in addition. This function calls stopHook() as well.
Reimplemented in RTT::TaskContext, and RTT::corba::TaskContextProxy.
Definition at line 210 of file TaskCore.cpp.
| void RTT::TaskCore::stopHook | ( | ) | [protected, virtual] |
Implement this method such that it contains the code which will be executed when stop() is called. The default implementation is an empty function.
Reimplemented in StatesTC.
Definition at line 315 of file TaskCore.cpp.
| bool RTT::TaskCore::trigger | ( | ) | [virtual] |
Invoke this method to trigger the thread of this TaskContext to execute its ExecutionEngine and the update() method.
Definition at line 92 of file TaskCore.cpp.
| bool RTT::TaskCore::update | ( | ) | [virtual] |
Invoke this method to execute the ExecutionEngine and the update() method.
| false | if this->engine()->getActivity()->execute() == false | |
| true | otherwise. |
Definition at line 85 of file TaskCore.cpp.
| void RTT::TaskCore::updateHook | ( | ) | [protected, virtual] |
Function where the user must insert his 'application' code. When the ExecutionEngine's Activity is a periodic, this function is called by the ExecutionEngine in each periodic step after all messages are processed. When it is executed by a non periodic activity, this function is called after a message is received and executed. It should not loop forever, since no commands or events are processed when this function executes. The default implementation is an empty function.
Reimplemented in TheServer, TheServer, EventPortsTC, and StatesTC.
Definition at line 303 of file TaskCore.cpp.
friend class ::RTT::ExecutionEngine [friend] |
Definition at line 440 of file TaskCore.hpp.
friend class TaskContext [friend] |
Definition at line 464 of file TaskCore.hpp.
ExecutionEngine* RTT::base::TaskCore::ee [protected] |
The execution engine which calls update() and processes our commands, events etc.
Definition at line 446 of file TaskCore.hpp.
TaskState const RTT::base::TaskCore::mInitialState [private] |
Store the component's initial state here so that we can transition to it when recovering from Exception
Definition at line 455 of file TaskCore.hpp.
TaskState RTT::base::TaskCore::mTargetState [private] |
We need this to be able to detect transitions from mTaskState to mTargetState.
Definition at line 460 of file TaskCore.hpp.
TaskState RTT::base::TaskCore::mTaskState [protected] |
Definition at line 448 of file TaskCore.hpp.
