A task is a database record of some experiment that we want to run. More...
#include <dbTask.h>
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. | |
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.
Member Enumeration Documentation
Constructor & Destructor Documentation
| graspit_dbase_tasks::DBTask::DBTask | ( | DBTaskDispatcher * | disp, |
| db_planner::DatabaseManager * | mgr, | ||
| db_planner::TaskRecord | rec | ||
| ) | [inline] |
| virtual graspit_dbase_tasks::DBTask::~DBTask | ( | ) | [inline, virtual] |
Member Function Documentation
| db_planner::TaskRecord graspit_dbase_tasks::DBTask::getRecord | ( | ) | [inline] |
| Status graspit_dbase_tasks::DBTask::getStatus | ( | ) | [inline] |
| virtual void graspit_dbase_tasks::DBTask::mainLoop | ( | ) | [inline, virtual] |
Reimplemented in graspit_dbase_tasks::DBEmptyTask.
| virtual void graspit_dbase_tasks::DBTask::start | ( | ) | [pure virtual] |
Implemented in graspit_dbase_tasks::DBEmptyOneShotTask, and graspit_dbase_tasks::DBEmptyTask.
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
DBTaskDispatcher* graspit_dbase_tasks::DBTask::mDispatcher [protected] |
db_planner::TaskRecord graspit_dbase_tasks::DBTask::mRecord [protected] |
Status graspit_dbase_tasks::DBTask::mStatus [protected] |
The documentation for this class was generated from the following file: