Class component. More...

#include <Component.h>

Inheritance diagram for Component:

Public Member Functions
	Component (double desired_hz)
	Public constructor.
ReturnValue	CreateTask (int prio, double frec, void (start_routine)(void *))
	Creates new tasks.
States	GetState ()
	Returns the general state of the Component.
virtual char *	GetStateString ()
	Returns the general state of the Component as string.
char *	GetStateString (States state)
	Returns the general state as string.
double	GetUpdateRate ()
	Gets current update rate of the thread.
virtual ReturnValue	Setup ()
virtual ReturnValue	ShutDown ()
virtual ReturnValue	Start ()
virtual ReturnValue	Stop ()
virtual	~Component ()
	Public destructor.
Protected Member Functions
virtual ReturnValue	Allocate ()
virtual void	AllState ()
	Actions performed in all states.
virtual ReturnValue	Close ()
virtual ReturnValue	Configure ()
virtual void	ControlThread ()
	All core component functionality is contained in this thread.
virtual void	EmergencyState ()
	Actions performed on the emergency state.
virtual void	FailureState ()
	Actions performed on Failure state.
virtual ReturnValue	Free ()
ReturnValue	GetThreadData (thread_data *data)
	Gets the data of the current thread.
virtual void	InitState ()
	Actions performed on initial state.
virtual ReturnValue	Open ()
virtual void	ReadyState ()
	Actions performed on ready state.
virtual void	StandbyState ()
	Actions performed on standby state.
virtual void	SwitchToState (States new_state)
	Switches between states.
Protected Attributes
bool	bInitialized
	Controls if has been initialized succesfully.
bool	bRunning
	Controls the execution of the Component's thread.
States	iOldState
	State before.
States	iState
	State of the Component.
string	sComponentName
	Almacenaremos el nombre del componente para personalizar el log a de cada una de las clases derivadas.
thread_data	threadData
	Contains data for the main thread.
vector< thread_data >	vThreadData
	Contains data for the secondary threads.
Private Attributes
pthread_mutex_t	mutexThread
	Mutex to manage the access to the thread's vector.
Friends
void *	AuxControlThread (void *threadParam)
	Main function to execute into the thread.

Detailed Description

Class component.

Definition at line 121 of file Component.h.

Constructor & Destructor Documentation

Component::Component ( double desired_hz )

Public constructor.

Constructor by default.

Parameters:

desired_hz as double, sets the desired frequency of the controlthread

Definition at line 31 of file Component.cc.

Component::~Component ( ) [virtual]

Public destructor.

Destructor by default

Definition at line 52 of file Component.cc.

Member Function Documentation

ReturnValue Component::Allocate ( ) [protected, virtual]

Allocates virtual memory if it's necessary

Returns:: OK

Allocates virtual memory if it's necessary

Returns:: OK

Definition at line 151 of file Component.cc.

void Component::AllState ( ) [protected, virtual]

Actions performed in all states.

Actions performed on all states.

Reimplemented in purepursuit_planner_node.

Definition at line 369 of file Component.cc.

ReturnValue Component::Close ( ) [protected, virtual]

Closes used devices

Returns:: OK; ERROR

Closes used devices

Returns:: OK; ERROR

Definition at line 180 of file Component.cc.

ReturnValue Component::Configure ( ) [protected, virtual]

Configures devices and performance of the component

Returns:: OK; ERROR, if the configuration process fails

Configures devices and performance of the component

Returns:: OK; ERROR if the configuration process fails

Definition at line 142 of file Component.cc.

void Component::ControlThread ( ) [protected, virtual]

All core component functionality is contained in this thread.

All core component functionality is contained in this thread. All of the Component component state machine code can be found here.

Reimplemented in purepursuit_planner_node.

Definition at line 261 of file Component.cc.

ReturnValue Component::CreateTask	(	int	prio,
		double	frec,
		void ()(void *)	start_routine
	)

Creates new tasks.

Creates new thread executing specific tasks

Parameters:

prio	as int, Thread priority level ( 0[min]-80[max] )
frec	as double, thread frequency
start_routine	as void()(void*), function wich will execute the task

Returns:: THREAD_NOT_RUNNING if the component is not running; OK if waits successfully; ERROR if an error is produced creating the thread

Definition at line 500 of file Component.cc.

void Component::EmergencyState ( ) [protected, virtual]

Actions performed on the emergency state.

Actions performed on emergency state.

Reimplemented in purepursuit_planner_node.

Definition at line 355 of file Component.cc.

void Component::FailureState ( ) [protected, virtual]

Actions performed on Failure state.

Actions performed on failure state.

Reimplemented in purepursuit_planner_node.

Definition at line 362 of file Component.cc.

ReturnValue Component::Free ( ) [protected, virtual]

Frees allocated memory previously

Returns:: OK

Frees allocated memory previously

Returns:: OK

Definition at line 160 of file Component.cc.

States Component::GetState ( )

Returns the general state of the Component.

returns the state of the component

Definition at line 384 of file Component.cc.

char * Component::GetStateString ( ) [virtual]

Returns the general state of the Component as string.

Gets the state of the component as string.

Definition at line 391 of file Component.cc.

char * Component::GetStateString ( States state )

Returns the general state as string.

Gets the state as a string.

Definition at line 420 of file Component.cc.

ReturnValue Component::GetThreadData ( thread_data * data ) [protected]

Gets the data of the current thread.

Gets the data of the current thread

Returns:: OK if the id is OK; ERROR if the id doesn't exist

Definition at line 467 of file Component.cc.

double Component::GetUpdateRate ( )

Gets current update rate of the thread.

Method to get current update rate of the thread

Returns:: pthread_hz; real frequency of the thread

Definition at line 377 of file Component.cc.

void Component::InitState ( ) [protected, virtual]

Actions performed on initial state.

Reimplemented in purepursuit_planner_node.

Definition at line 334 of file Component.cc.

ReturnValue Component::Open ( ) [protected, virtual]

Opens used devices

Returns:: OK; ERROR

Opens used devices

Returns:: OK; ERROR

Definition at line 170 of file Component.cc.

void Component::ReadyState ( ) [protected, virtual]

Actions performed on ready state.

Reimplemented in purepursuit_planner_node.

Definition at line 348 of file Component.cc.

ReturnValue Component::Setup ( ) [virtual]

Configures and initializes the component

Returns:: OK; INITIALIZED if the component is already intialized; ERROR

Configures and initializes the component

Returns:: OK; INITIALIZED if the component is already intialized; ERROR

Reimplemented in purepursuit_planner_node.

Definition at line 63 of file Component.cc.

ReturnValue Component::ShutDown ( ) [virtual]

Closes and frees the reserved resources

Returns:: OK; ERROR if fails when closes the devices; RUNNING if the component is running; NOT_INITIALIZED if the component is not initialized

Closes and frees the reserved resources

Returns:: OK; ERROR if fails when closes the devices; RUNNING if the component is running; NOT_INITIALIZED if the component is not initialized

Definition at line 107 of file Component.cc.

void Component::StandbyState ( ) [protected, virtual]

Actions performed on standby state.

Actions performed on Standby state.

Reimplemented in purepursuit_planner_node.

Definition at line 341 of file Component.cc.

ReturnValue Component::Start ( ) [virtual]

Starts the control thread of the component and its subcomponents

Returns:: OK; ERROR starting the thread; RUNNING if it's already running; NOT_INITIALIZED if it's not initialized

Starts the control thread of the component and its subcomponents

Returns:: OK; RUNNING if it's already running; NOT_INITIALIZED if the component is not initialized

Reimplemented in purepursuit_planner_node.

Definition at line 191 of file Component.cc.

ReturnValue Component::Stop ( ) [virtual]

Stops the main control thread of the component and its subcomponents

Returns:: OK; ERROR if any error has been produced; NOT_RUNNING if the main thread isn't running

Stops the control thread of the Motors

Returns:: OK; ERROR if it can't be stopped; THREAD_NOT_RUNNING if the thread is not running

Reimplemented in purepursuit_planner_node.

Definition at line 237 of file Component.cc.

void Component::SwitchToState ( States new_state ) [protected, virtual]

Switches between states.

function that switches the state of the component into the desired state

Parameters:

new_state as an integer, the new state of the component

Definition at line 451 of file Component.cc.

Friends And Related Function Documentation

void* AuxControlThread ( void * threadParam ) [friend]

Main function to execute into the thread.

Definition at line 20 of file Component.cc.

Member Data Documentation

bool Component::bInitialized [protected]

Controls if has been initialized succesfully.

Definition at line 125 of file Component.h.

bool Component::bRunning [protected]

Controls the execution of the Component's thread.

Definition at line 127 of file Component.h.

States Component::iOldState [protected]

State before.

Definition at line 135 of file Component.h.

States Component::iState [protected]

State of the Component.

Definition at line 133 of file Component.h.

pthread_mutex_t Component::mutexThread [private]

Mutex to manage the access to the thread's vector.

Definition at line 140 of file Component.h.

string Component::sComponentName [protected]

Almacenaremos el nombre del componente para personalizar el log a de cada una de las clases derivadas.

Definition at line 137 of file Component.h.

thread_data Component::threadData [protected]

Contains data for the main thread.

Definition at line 129 of file Component.h.

vector<thread_data> Component::vThreadData [protected]

Contains data for the secondary threads.

Definition at line 131 of file Component.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Private Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation