Functions | |
| void | cleanupHook () |
| <%=task.basename%> bool | configureHook () |
| void | errorHook () |
| bool | startHook () |
| void | stopHook () |
| void | updateHook () |
Variables | |
| class<%=task.basename%> | _ |
| class<%=task.basename%> | __pad0__ |
| class<%=task.basename%> | Base |
| class<%=task.basename%> | |
| <%=task.basename%> std::string const & | name = ", TaskCore::TaskState initial_state = Stopped" unless task.fixed_initial_state? %>) |
| void project::name::cleanupHook | ( | ) |
This hook is called by Orocos when the state machine transitions from Stopped to PreOperational, requiring the call to configureHook() before calling start() again.
| <%=task.basename%> bool project::name::configureHook | ( | ) |
Default deconstructor of <%= task.basename %> This hook is called by Orocos when the state machine transitions from PreOperational to Stopped. If it returns false, then the component will stay in PreOperational. Otherwise, it goes into Stopped.
It is meaningful only if the #needs_configuration has been specified in the task context definition with (for example):
task_context "TaskName" do
needs_configuration
...
end
| void project::name::errorHook | ( | ) |
This hook is called by Orocos when the component is in the RunTimeError state, at each activity step. See the discussion in updateHook() about triggering options.
Call recover() to go back in the Runtime state.
| bool project::name::startHook | ( | ) |
This hook is called by Orocos when the state machine transitions from Stopped to Running. If it returns false, then the component will stay in Stopped. Otherwise, it goes into Running and updateHook() will be called.
| void project::name::stopHook | ( | ) |
This hook is called by Orocos when the state machine transitions from Running to Stopped after stop() has been called.
| void project::name::updateHook | ( | ) |
This hook is called by Orocos when the component is in the Running state, at each activity step. Here, the activity gives the "ticks" when the hook should be called.
The error(), exception() and fatal() calls, when called in this hook, allow to get into the associated RunTimeError, Exception and FatalError states.
In the first case, updateHook() is still called, and recover() allows you to go back into the Running state. In the second case, the errorHook() will be called instead of updateHook(). In Exception, the component is stopped and recover() needs to be called before starting it again. Finally, FatalError cannot be recovered.
| class<%= task.basename %> project::name::_ |
Definition at line 47 of file TaskBase.hpp.
| class<%= task.basename %> project::name::__pad0__ |
| class<%= task.basename %> project::name::Base |
The oroGen-generated part of <%= task.name %>
It is used by oroGen and its plugins to define the task interfaces and set up the component. Never edit yourself, as its content would be overwritten at the next code generation.
Definition at line 47 of file TaskBase.hpp.
| project::name::class<%=task.basename%> |
Definition at line 39 of file TaskBase.hpp.
| <%=task.basename%> std::string const & project::name::name = ", TaskCore::TaskState initial_state = Stopped" unless task.fixed_initial_state? %>) |
TaskContext constructor for <%= task.basename %>
| name | Name of the task. This name needs to be unique to make it identifiable via nameservices. |
| initial_state | The initial TaskState of the TaskContext. Default is Stopped state. |
TaskContext constructor for <%= task.basename %>
| name | Name of the task. This name needs to be unique to make it identifiable for nameservices. |
| engine | The RTT Execution engine to be used for this task, which serialises the execution of all commands, programs, state machines and incoming events for a task. <%= "\\param initial_state The initial TaskState of the TaskContext. Default is Stopped state." unless task.fixed_initial_state? %> |