TaskBase.cpp
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00001 /* Generated from orogen/lib/orogen/templates/tasks/TAskBase.cpp */
00002 
00003 #include "tasks/<%= task.basename %>Base.hpp"
00004 
00005 using namespace <%= component.name %>;
00006 
00007 <% code_before, code_after =
00008    task.base_implementation_code.partition(&:first)
00009    code_before.map! { |_, c| c.call }
00010    code_after.map! { |_, c| c.call }
00011 %>
00012 
00013 <%= code_before.sort.join("\n") %>
00014 
00015 <% initializer_list = task.self_base_members.
00016         sort_by { |m| [m.kind, m.name] }.
00017         map { |m| 
00018             ret = m.with_indent(4, :initializer)
00019             if(ret)
00020                 ", " + ret.strip
00021             else
00022                   nil
00023             end
00024         }.
00025         compact.join("\n    ") %> 
00026 
00027 <%= task.basename %>Base::<%= task.basename %>Base(std::string const& name<%= ", TaskCore::TaskState state" unless task.fixed_initial_state? %>)
00028 <% if task.superclass.fixed_initial_state? %>
00029     : ::<%= task.superclass.name %>(name)
00030 <% elsif task.needs_configuration? %>
00031     : ::<%= task.superclass.name %>(name, TaskCore::PreOperational)
00032 <% else %>
00033     : ::<%= task.superclass.name %>(name, state)
00034 <% end %>
00035 <%= initializer_list %>
00036 {
00037     setupComponentInterface();
00038 }
00039 
00040 <%= task.basename %>Base::<%= task.basename %>Base(std::string const& name, RTT::ExecutionEngine* engine<%= ", TaskCore::TaskState state" unless task.fixed_initial_state? %>)
00041 <% if task.superclass.fixed_initial_state? %>
00042     : ::<%= task.superclass.name %>(name, engine)
00043 <% elsif task.needs_configuration? %>
00044     : ::<%= task.superclass.name %>(name, engine, TaskCore::PreOperational)
00045 <% else %>
00046     : ::<%= task.superclass.name %>(name, engine, state)
00047 <% end %>
00048 <%= initializer_list %>
00049 {
00050     setupComponentInterface();
00051 }
00052 
00053 <%= task.basename %>Base::~<%= task.basename %>Base()
00054 {
00055 <%= task.self_base_members.
00056     sort_by { |m| [m.kind, m.name] }.
00057     map { |m| m.with_indent(4, :destructor) }.
00058     compact.join("\n") %>
00059 }
00060 
00061 void <%= task.basename %>Base::setupComponentInterface()
00062 {
00063 <%= task.self_base_members.
00064     sort_by { |m| [m.kind, m.name] }.
00065     map { |m| m.with_indent(4, :constructor) }.
00066     compact.join("\n") %>
00067 
00068     <% if task.extended_state_support? %>
00069     _state.keepLastWrittenValue(true);
00070     _state.write(getTaskState());
00071     <% end %>
00072 }
00073 
00074 <%= task.self_base_methods.
00075         sort_by { |m| [m.name] }.
00076         map { |m| m.with_indent(0, :definition) }.
00077         compact.join("\n") %>
00078 
00079 <% if task.extended_state_support? %>
00080 void <%= task.basename %>Base::report(States state)
00081 {
00082     _state.write(state);
00083 }
00084 void <%= task.basename %>Base::state(States state)
00085 {
00086     _state.write(state);
00087 }
00088 void <%= task.basename %>Base::error(States state)
00089 {
00090     _state.write(state);
00091     TaskContext::error();
00092 }
00093 void <%= task.basename %>Base::exception(States state)
00094 {
00095     _state.write(state);
00096     TaskContext::exception();
00097 }
00098 void <%= task.basename %>Base::fatal(States state)
00099 {
00100     _state.write(state);
00101     TaskContext::fatal();
00102 }
00103 <%= task.basename %>Base::States <%= task.basename %>Base::state() const
00104 {
00105     return static_cast<<%= task.basename %>Base::States>(_state.getLastWrittenValue());
00106 }
00107 <% end %>
00108 
00109 <% if task.extended_state_support? && !task.superclass.extended_state_support? %>
00110 struct StateExporter
00111 {
00112     RTT::TaskContext const& task;
00113     RTT::OutputPort<int>&   port;
00114 
00115     StateExporter(RTT::TaskContext const& task, RTT::OutputPort<int>& port)
00116         : task(task), port(port) {}
00117     ~StateExporter()
00118     {
00119         port.write(task.getTaskState());
00120     }
00121 };
00122 <% end %>
00123 
00124 bool <%= task.basename %>Base::start()
00125 {
00126 <% if task.extended_state_support? && !task.superclass.extended_state_support? %>
00127     StateExporter exporter(*this, _state);
00128 <% end %>
00129     bool started = <%= superclass.name %>::start();
00130     if (!started)
00131         return false;
00132 
00133     <% task.self_ports.find_all { |p| p.kind_of?(InputPort) }.each do |port| %>
00134     _<%= port.name %>.clear();
00135     <% end %>
00136     return true;
00137 }
00138 
00139 <% if task.extended_state_support? && !task.superclass.extended_state_support? %>
00140 bool <%= task.basename %>Base::configure()
00141 {
00142     StateExporter exporter(*this, _state);
00143     return <%= superclass.name %>::configure();
00144 }
00145 bool <%= task.basename %>Base::recover()
00146 {
00147     StateExporter exporter(*this, _state);
00148     return <%= superclass.name %>::recover();
00149 }
00150 bool <%= task.basename %>Base::stop()
00151 {
00152     StateExporter exporter(*this, _state);
00153     return <%= superclass.name %>::stop();
00154 }
00155 bool <%= task.basename %>Base::cleanup()
00156 {
00157     StateExporter exporter(*this, _state);
00158     return <%= superclass.name %>::cleanup();
00159 }
00160 void <%= task.basename %>Base::fatal()
00161 { return fatal(FATAL_ERROR); }
00162 void <%= task.basename %>Base::error()
00163 { return error(RUNTIME_ERROR); }
00164 void <%= task.basename %>Base::exception()
00165 { return exception(EXCEPTION); }
00166 <% end %>
00167 
00168 <% task.base_hook_code.keys.sort.each do |hook_name| %>
00169 <%    snippets = task.base_hook_code[hook_name] %>
00170 <%    next if snippets.empty? %>
00171 <%    is_boolean = (hook_name == "start" || hook_name == "configure") %>
00172 <%= (is_boolean ? 'bool' : 'void') %> <%= task.basename %>Base::<%= hook_name %>Hook()
00173 {
00174     <% if is_boolean %>
00175     if (! <%= task.superclass.name %>::<%= hook_name %>Hook())
00176         return false;
00177     <% else %>
00178     <%= task.superclass.name %>::<%= hook_name %>Hook();
00179     <% end %>
00180 
00181     <% snippets.each do |code| %>
00182         <% if code.respond_to?(:to_str) %>
00183 <%= code %>
00184         <% else %>
00185 <%= code.call %>
00186         <% end %>
00187     <% end %>
00188 
00189     <% if is_boolean %>
00190     return true;
00191     <% end %>
00192 }
00193 <% end %>
00194 
00195 <%= code_after.join("\n") %>
00196 


orogen
Author(s): Sylvain Joyeux/sylvain.joyeux@m4x.org
autogenerated on Wed Sep 16 2015 10:36:40