#include <TaskContext.hpp>

Inheritance diagram for RTT::TaskContext:

[legend]

Public Types
typedef std::vector< std::string >	PeerList

Public Types inherited from RTT::base::TaskCore
enum	TaskState { Init, PreOperational, FatalError, Exception, Stopped, Running, RunTimeError }

Public Member Functions
virtual void	clear ()

base::ActivityInterface *	getActivity ()

template<typename T >
T *	getActivity ()

virtual const std::string &	getName () const

virtual bool	ready ()

bool	setActivity (base::ActivityInterface *new_act)

virtual bool	start ()

virtual bool	stop ()

	TaskContext (const std::string &name, TaskState initial_state=Stopped)

virtual	~TaskContext ()

Peer-to-Peer functions
These functions are used to setup and manage peer-to-peer networks of TaskContext objects.
virtual bool	addPeer (TaskContext *peer, std::string alias="")

virtual void	removePeer (const std::string &name)

virtual void	removePeer (TaskContext *peer)

virtual bool	connectPeers (TaskContext *peer)

virtual void	disconnect ()

virtual void	disconnectPeers (const std::string &name)

virtual PeerList	getPeerList () const

virtual bool	hasPeer (const std::string &peer_name) const

virtual TaskContext *	getPeer (const std::string &peer_name) const

Services
These functions are used to create and manage services. Use provides() or requires() to access the Service or ServiceRequester objects that contain all service related functions.
Service::shared_ptr	provides ()

Service::shared_ptr	provides (const std::string &service_name)

ServiceRequester::shared_ptr	requires ()

ServiceRequester::shared_ptr	requires (const std::string &service_name)

virtual bool	connectServices (TaskContext *peer)

template<class ServiceType >
boost::shared_ptr< ServiceType >	getProvider (const std::string &name)

bool	loadService (const std::string &service_name)

Operations
Adding and getting operations from the TaskContext interface. These functions all forward to the Service representing this TaskContext. Use provides() to access the complete Service interface of this TaskContext.
template<class Signature >
Operation< Signature > &	addOperation (Operation< Signature > &op)

template<class Func , class Service >
Operation< typename internal::GetSignature< Func >::Signature > &	addOperation (const std::string name, Func func, Service *serv, ExecutionThread et=ClientThread)

template<class Signature >
Operation< Signature > &	addOperation (const std::string name, Signature *func, ExecutionThread et=ClientThread)

OperationInterfacePart *	getOperation (std::string name)

OperationInterface *	operations ()

Attributes
Adding and getting attributes from the TaskContext interface. These functions all forward to the Service representing this TaskContext. Use attributes() to access the complete ConfigurationInterface interface of this TaskContext.
template<class T >
bool	addAttribute (const std::string &name, T &attr)

template<class T >
bool	addConstant (const std::string &name, const T &attr)

bool	addAttribute (base::AttributeBase &a)

base::AttributeBase *	getAttribute (const std::string &name) const

ConfigurationInterface *	attributes ()

Properties
Adding and getting properties from the TaskContext interface. These functions all forward to the Service representing this TaskContext. Use properties() to access the complete PropertyBag interface of this TaskContext.
template<class T >
Property< T > &	addProperty (const std::string &name, T &attr)

bool	addProperty (base::PropertyBase &pb)

base::PropertyBase *	getProperty (const std::string &name) const

PropertyBag *	properties ()

Public Member Functions inherited from RTT::base::TaskCore
const ExecutionEngine *	engine () const

ExecutionEngine *	engine ()

unsigned int	getCycleCounter () const

unsigned int	getIOCounter () const

virtual TaskState	getTargetState () const

virtual TaskState	getTaskState () const

unsigned int	getTimeOutCounter () const

unsigned int	getTriggerCounter () const

	TaskCore (TaskState initial_state=Stopped, const std::string &name=std::string())

virtual	~TaskCore ()

virtual bool	configure ()

virtual bool	activate ()

virtual bool	cleanup ()

virtual bool	isConfigured () const

virtual bool	isActive () const

virtual bool	isRunning () const

virtual Seconds	getPeriod () const

virtual bool	setPeriod (Seconds s)

virtual unsigned	getCpuAffinity () const

virtual bool	setCpuAffinity (unsigned cpu)

virtual bool	inFatalError () const

virtual bool	inException () const

virtual bool	inRunTimeError () const

virtual bool	update ()

virtual bool	trigger ()

virtual void	error ()

virtual bool	recover ()

Protected Member Functions
virtual void	dataOnPortCallback (base::PortInterface *port)

virtual bool	dataOnPortHook (base::PortInterface *port)

void	forceActivity (base::ActivityInterface *new_act)

Protected Member Functions inherited from RTT::base::TaskCore
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 ()

Private Types
typedef std::map< std::string, boost::shared_ptr< ServiceRequester > >	LocalServices

typedef std::map< std::string, TaskContext * >	PeerMap

typedef std::map< base::PortInterface *, SlotFunction >	UserCallbacks

typedef std::vector< TaskContext * >	Users

Private Member Functions
void	addUser (TaskContext *user)

void	dataOnPort (base::PortInterface *port)

bool	prepareProvide (const std::string &name)

void	removeDataOnPortCallback (base::PortInterface *port)

void	removeUser (TaskContext *user)

void	setDataOnPortCallback (base::InputPortInterface *port, SlotFunction callback)

void	setup ()

	TaskContext (TaskContext &)

Private Attributes
PeerMap	_task_map
	map of the tasks we are using More...

LocalServices	localservs

os::Mutex	mportlock

Users	musers
	map of the tasks that are using us. More...

base::ActivityInterface::shared_ptr	our_act

ServiceRequester::shared_ptr	tcrequests

Service::shared_ptr	tcservice

UserCallbacks	user_callbacks

Friends
class	DataFlowInterface

class	ExecutionEngine

Ports
These functions serve to manage ports and data flow connections. Use ports() to access the complete DataFlowInterface functionality of this TaskContext.
typedef boost::function< void(base::PortInterface *)>	SlotFunction

base::PortInterface &	addPort (const std::string &name, base::PortInterface &port)

base::PortInterface &	addPort (base::PortInterface &port)

base::InputPortInterface &	addEventPort (const std::string &name, base::InputPortInterface &port, SlotFunction callback=SlotFunction())

base::InputPortInterface &	addEventPort (base::InputPortInterface &port, SlotFunction callback=SlotFunction())

base::PortInterface *	getPort (const std::string &name) const

DataFlowInterface *	ports ()

const DataFlowInterface *	ports () const

virtual bool	connectPorts (TaskContext *peer)

Additional Inherited Members
Protected Attributes inherited from RTT::base::TaskCore
ExecutionEngine *	ee

unsigned int	mCycleCounter

unsigned int	mIOCounter

std::string	mName

TaskState	mTaskState

unsigned int	mTimeOutCounter

unsigned int	mTriggerCounter

bool	mTriggerOnStart

Detailed Description

The TaskContext is the C++ representation of an Orocos component. It defines which services it provides and requires and which ports are inputs and outputs. It can be configured through the means of properties.

TaskContext interface: You can define the interface of a TaskContext by adding interface primitives. These are (data flow) ports, (configuration) properties and operations (functions). Setting up the interface is explained at length in the Orocos Component Builder's Manual.

TaskContext state behaviour: When a TaskContext is created it defaults to the 'Stopped' state or the 'PreOperational' state. If it is 'Stopped', it can be start()'ed. If it is 'PreOperational', it must first be configure()'d before it can be started. You can choose between both using the constructor.

See also: TaskState (in base::TaskCore) for a detailed explanation.

Executing a TaskContext: In order to run the ExecutionEngine, the ExecutionEngine must be run by an base::ActivityInterface implementation. As long as there is no activity or the activity is not started, this TaskContext will not accept any asynchronous invocations, nor execute programs or state machines.

Connecting TaskContexts: TaskContexts are connected using the unidirectional addPeer() or bidirectional RTT::connectPeers() methods. These methods only allow 'peer' TaskContexts to use each other's interface. Use RTT::connectPorts() to setup the data connections between data ports. In order to disconnect this task from its peers, use disconnect(), which will disconnect all the Data Flow Ports and remove this object from its Peers.

In day-to-day use, TaskContexts are connected using the OCL::DeploymentComponent and an XML file or script.

Definition at line 93 of file TaskContext.hpp.

Member Typedef Documentation

typedef std::map<std::string, boost::shared_ptr<ServiceRequester> > RTT::TaskContext::LocalServices

private

Definition at line 680 of file TaskContext.hpp.

typedef std::vector< std::string > RTT::TaskContext::PeerList

A list of Peer TaskContext names.

Definition at line 100 of file TaskContext.hpp.

typedef std::map< std::string, TaskContext* > RTT::TaskContext::PeerMap

private

Definition at line 627 of file TaskContext.hpp.

typedef boost::function<void(base::PortInterface*)> RTT::TaskContext::SlotFunction

Definition at line 527 of file TaskContext.hpp.

typedef std::map<base::PortInterface*, SlotFunction > RTT::TaskContext::UserCallbacks

private

Definition at line 652 of file TaskContext.hpp.

typedef std::vector< TaskContext* > RTT::TaskContext::Users

private

Definition at line 628 of file TaskContext.hpp.

Constructor & Destructor Documentation

RTT::TaskContext::TaskContext	(	const std::string &	name,
		TaskState	initial_state = `Stopped`
	)

Create a TaskContext. It's ExecutionEngine will be newly constructed with private processing of commands, events, programs and state machines.

Parameters

name	The name of this component.
initial_state	Provide the PreOperational parameter flag here to force users in calling configure(), before they call start().

Definition at line 70 of file TaskContext.cpp.

RTT::TaskContext::~TaskContext ( )

virtual

Definition at line 119 of file TaskContext.cpp.

RTT::TaskContext::TaskContext ( TaskContext & )

private

Member Function Documentation

template<class T >

bool RTT::TaskContext::addAttribute	(	const std::string &	name,
		T &	attr
	)

inline

Adds a variable of any type as read/write attribute to the attribute interface. An Alias is created which causes contents of the attr variable always to be in sync with the contents of the attribute object in the interface.

Parameters

name	The name of this attribute
attr	The variable that will be aliased.

Definition at line 401 of file TaskContext.hpp.

bool RTT::TaskContext::addAttribute ( base::AttributeBase & a )

inline

Add an base::AttributeBase which remains owned by the user. This is a low-level function that can be used if you already created an Attribute object that does not belong yet to a service.

Parameters

a	remains owned by the user, and becomes served by the repository.

Definition at line 427 of file TaskContext.hpp.

template<class T >

bool RTT::TaskContext::addConstant	(	const std::string &	name,
		const T &	attr
	)

inline

Adds a variable of any type as read-only attribute to the attribute interface. An Alias is created which causes contents of the attribute always to be in sync with the contents of attr, but it can only be read through the interface.

Parameters

name	The name of this attribute
attr	The variable that will be aliased.

Definition at line 414 of file TaskContext.hpp.

base::InputPortInterface& RTT::TaskContext::addEventPort	(	const std::string &	name,
		base::InputPortInterface &	port,
		SlotFunction	callback = `SlotFunction()`
	)

inline

Name and add an Event triggering Port to the interface of this task and add a Service with the same name of the port.

Parameters

name	The name to give to the port.
port	The port to add.
callback	(Optional) provide a function which will be called asynchronously when new data arrives on this port. You can add more functions by using the port directly using base::PortInterface::getNewDataOnPort().

Definition at line 537 of file TaskContext.hpp.

base::InputPortInterface& RTT::TaskContext::addEventPort	(	base::InputPortInterface &	port,
		SlotFunction	callback = `SlotFunction()`
	)

inline

Add an Event triggering Port to the interface of this task and add a Service with the same name of the port.

Parameters

port	The port to add.
callback	(Optional) provide a function which will be called asynchronously when new data arrives on this port. You can add more functions by using the port directly using base::PortInterface::getNewDataOnPort().

Definition at line 550 of file TaskContext.hpp.

template<class Signature >

Operation<Signature>& RTT::TaskContext::addOperation ( Operation< Signature > & op )

inline

Add an operation object to the interface. This version of addOperation exports an Operation object to the public interface of this component.

Parameters

op	The operation object to add.

Returns: true if it could be added.

Definition at line 337 of file TaskContext.hpp.

template<class Func , class Service >

Operation< typename internal::GetSignature<Func>::Signature >& RTT::TaskContext::addOperation	(	const std::string	name,
		Func	func,
		Service *	serv,
		ExecutionThread	et = `ClientThread`
	)

inline

Adds a C++ function as an operation.

See also: Service::addOperation

Definition at line 348 of file TaskContext.hpp.

template<class Signature >

Operation< Signature >& RTT::TaskContext::addOperation	(	const std::string	name,
		Signature *	func,
		ExecutionThread	et = `ClientThread`
	)

inline

Adds a C function as an operation.

See also: Service::addOperation

Definition at line 359 of file TaskContext.hpp.

bool RTT::TaskContext::addPeer	(	TaskContext *	peer,
		std::string	alias = `""`
	)

virtual

Add a one-way connection from this task to a peer task.

Parameters

peer	The peer to add.
alias	An optional alias (another name) for the peer. defaults to peer->getName()

Reimplemented in RTT::corba::TaskContextProxy.

Definition at line 249 of file TaskContext.cpp.

base::PortInterface& RTT::TaskContext::addPort	(	const std::string &	name,
		base::PortInterface &	port
	)

inline

Name and add a Port to the interface of this task and add a Service with the same name of the port.

Parameters

name	The name to give to the port.
port	The port to add.

Definition at line 513 of file TaskContext.hpp.

base::PortInterface& RTT::TaskContext::addPort ( base::PortInterface & port )

inline

Add a Port to the interface of this task and add a Service with the same name of the port.

Parameters

port	The port to add.

Definition at line 523 of file TaskContext.hpp.

template<class T >

Property<T>& RTT::TaskContext::addProperty	(	const std::string &	name,
		T &	attr
	)

inline

Adds a variable of any type as a property to the attribute interface. A Property is created which causes contents of the property always to be in sync with the contents of attr.

Parameters

name	The name of this property
attr	The variable that will be aliased.

Returns: the Property object by reference, which you can further query or document.

Definition at line 469 of file TaskContext.hpp.

bool RTT::TaskContext::addProperty ( base::PropertyBase & pb )

inline

Add an base::PropertyBase as a property.

Returns: false if a property with the same name already exists.

Definition at line 477 of file TaskContext.hpp.

void RTT::TaskContext::addUser ( TaskContext * user )

private

Inform this TaskContext that user is using our services.

Definition at line 236 of file TaskContext.cpp.

ConfigurationInterface* RTT::TaskContext::attributes ( )

inline

Returns the attributes of this TaskContext as an ConfigurationInterface.

Definition at line 448 of file TaskContext.hpp.

void RTT::TaskContext::clear ( )

virtual

Clear the complete interface of this Component. This method removes all objects and all methods, commands, events, properties and ports from the interface of this TaskContext.

Definition at line 397 of file TaskContext.cpp.

bool RTT::TaskContext::connectPeers ( TaskContext * peer )

virtual

Add a two-way connection from this task to a peer task.

Reimplemented in RTT::corba::TaskContextProxy.

Definition at line 279 of file TaskContext.cpp.

bool RTT::TaskContext::connectPorts ( TaskContext * peer )

virtual

Add a data flow connection from this task's ports to a peer's ports.

Reimplemented in RTT::corba::TaskContextProxy.

Definition at line 151 of file TaskContext.cpp.

bool RTT::TaskContext::connectServices ( TaskContext * peer )

virtual

Connects all requires/provides services of this component to these of a peer.

Reimplemented in RTT::corba::TaskContextProxy.

Definition at line 188 of file TaskContext.cpp.

void RTT::TaskContext::dataOnPort ( base::PortInterface * port )

private

This callback is called each time data arrived on an event port.

Definition at line 439 of file TaskContext.cpp.

void RTT::TaskContext::dataOnPortCallback ( base::PortInterface * port )

protectedvirtual

This method implements port callbacks. It will be called once per sample received on the port and is executed in the component's thread.

The default implementation invokes the user callback if one was given in the addEventPort() call. It can be overwritten in a subclass to react on incoming data for all event ports. This is equivalent to adding this function as a user callback on each of the ports individually.

Definition at line 450 of file TaskContext.cpp.

bool RTT::TaskContext::dataOnPortHook ( base::PortInterface * port )

protectedvirtual

Reimplement this method to influence how writing to event ports is handled by the component. This method will be executed in the writer's thread.

The default implementation returns true if and only if the component is running.

Return values

true	to indicate that the user callback should be invoked and trigger the component
false	to ignore the new data and not trigger the component or invoke a user callback

Definition at line 446 of file TaskContext.cpp.

void RTT::TaskContext::disconnect ( )

virtual

Disconnect this TaskContext from it's peers and ports. All its Data Flow Ports are disconnected as well. This method invokes removePeer() as well on the peers listed in this->getPeerList().

Definition at line 289 of file TaskContext.cpp.

void RTT::TaskContext::disconnectPeers ( const std::string & name )

virtual

Remove a two-way connection from this task to a peer task.

Reimplemented in RTT::corba::TaskContextProxy.

Definition at line 310 of file TaskContext.cpp.

void RTT::TaskContext::forceActivity ( base::ActivityInterface * new_act )

protected

Forces the current activity to become new_act, even if this TaskContext is still running.

This can be used to bypass the isRunning() check regular setActivity() does.

Definition at line 377 of file TaskContext.cpp.

ActivityInterface * RTT::TaskContext::getActivity ( )

Get a pointer to the activity running this component.

Returns: Our activity.

Definition at line 390 of file TaskContext.cpp.

template<typename T >

T* RTT::TaskContext::getActivity ( )

inline

Get a pointer to the activity running this component.

Unlike the non-template version, it converts it to the activity type provided.

Example usage in a startHook(): RTT::extras::FileDescriptorActivity* fd_activity = getActivity<RTT::extras::FileDescriptorActivity>(); if (fd_activity) { // do specific setup for FDActivity }

Returns: Our activity if it is of type T, NULL otherwise.

Definition at line 163 of file TaskContext.hpp.

base::AttributeBase* RTT::TaskContext::getAttribute ( const std::string & name ) const

inline

Definition at line 440 of file TaskContext.hpp.

virtual const std::string& RTT::TaskContext::getName ( ) const

inlinevirtual

Returns the name of this TaskContext.

Definition at line 117 of file TaskContext.hpp.

OperationInterfacePart* RTT::TaskContext::getOperation ( std::string name )

inline

Get a previously added operation for use in a C++ OperationCaller object. Store the result of this function in a OperationCaller<Signature> object.

Parameters

name	The name of the operation to retrieve.

Returns: true if it could be found, false otherwise.

Definition at line 373 of file TaskContext.hpp.

TaskContext * RTT::TaskContext::getPeer ( const std::string & peer_name ) const

virtual

Get a pointer to a peer of this task.

Returns: null if no such peer.

Reimplemented in RTT::corba::TaskContextProxy.

Definition at line 333 of file TaskContext.cpp.

std::vector< std::string > RTT::TaskContext::getPeerList ( ) const

virtual

Return a standard container which contains all the Peer names of this TaskContext.

Reimplemented in RTT::corba::TaskContextProxy.

Definition at line 319 of file TaskContext.cpp.

base::PortInterface* RTT::TaskContext::getPort ( const std::string & name ) const

inline

Get a port of this Component.

Parameters

name	The port name

Returns: a pointer to a port or null if it does not exist.

Definition at line 559 of file TaskContext.hpp.

base::PropertyBase* RTT::TaskContext::getProperty ( const std::string & name ) const

inline

Get a Property with name name.

Parameters

name	The name of the property to search for.

Returns: The Property with this name, zero if it does not exist

Definition at line 488 of file TaskContext.hpp.

template<class ServiceType >

boost::shared_ptr<ServiceType> RTT::TaskContext::getProvider ( const std::string & name )

inline

Use this method to be able to make OperationCaller calls to services provided by this component. In case the service does not exist in this component, it tries to load the service using the plugin::PluginLoader class. If all fails, a null pointer is returned.

For example: getProvider<Scripting>("scripting")->loadPrograms("file.ops");

Parameters

name	The name of the service to get, must have been added with addService.
ServiceType	the ServiceRequester type to use. Must have a constructor that takes TaskContext* as argument.

Returns: a shared ServiceRequester object which allows to call the operations provided by service name.

Definition at line 299 of file TaskContext.hpp.

bool RTT::TaskContext::hasPeer ( const std::string & peer_name ) const

virtual

Return true if it knows a peer by that name.

Reimplemented in RTT::corba::TaskContextProxy.

Definition at line 328 of file TaskContext.cpp.

bool RTT::TaskContext::loadService ( const std::string & service_name )

Use this method to load a service known to RTT into this component.

Parameters

service_name The name with which the service is registered by in the PluginLoader.

Returns: true if the service was present already or could be loaded.

Definition at line 230 of file TaskContext.cpp.

OperationInterface* RTT::TaskContext::operations ( )

inline

Returns the operations of this TaskContext as an OperationInterface.

Definition at line 381 of file TaskContext.hpp.

DataFlowInterface* RTT::TaskContext::ports ( )

inline

Get the Data flow ports of this task.

Definition at line 567 of file TaskContext.hpp.

const DataFlowInterface* RTT::TaskContext::ports ( ) const

inline

Get the Data flow ports of this task.

Definition at line 574 of file TaskContext.hpp.

bool RTT::TaskContext::prepareProvide ( const std::string & name )

private

Check if this component could provide a given service, either by already providing it (hasService(name)==true), or by loading its service. If this function returns true, getProvider() will return a non-null object given the correct ServiceType.

Definition at line 226 of file TaskContext.cpp.

PropertyBag* RTT::TaskContext::properties ( )

inline

Returns the properties of this TaskContext as a PropertyBag.

Definition at line 496 of file TaskContext.hpp.

Service::shared_ptr RTT::TaskContext::provides ( )

inline

Returns this Service.

Returns: a shared pointer from this.

Definition at line 258 of file TaskContext.hpp.

Service::shared_ptr RTT::TaskContext::provides ( const std::string & service_name )

inline

Returns a sub-Service which resorts under this Service.

Parameters

service_name The name of the sub-service.

Definition at line 265 of file TaskContext.hpp.

bool RTT::TaskContext::ready ( )

virtual

Checks the validity of this TaskContext. When this method returns false, the TaskContext should not be used and various methods may throw exceptions. Use this in case the TaskContext could be a remote object. Will always return true when this TaskContext is local.

Reimplemented in RTT::corba::TaskContextProxy, and OperationCallerComponent.

Definition at line 403 of file TaskContext.cpp.

void RTT::TaskContext::removeDataOnPortCallback ( base::PortInterface * port )

private

Inform that a given port will no longer raise dataOnPort() events.

Definition at line 462 of file TaskContext.cpp.

void RTT::TaskContext::removePeer ( const std::string & name )

virtual

Remove a one-way connection from this task to a peer task.

Reimplemented in RTT::corba::TaskContextProxy.

Definition at line 260 of file TaskContext.cpp.

void RTT::TaskContext::removePeer ( TaskContext * peer )

virtual

Remove a one-way connection from this task to a peer task.

Reimplemented in RTT::corba::TaskContextProxy.

Definition at line 269 of file TaskContext.cpp.

void RTT::TaskContext::removeUser ( TaskContext * user )

private

Inform this TaskContext that user is no longer using our services.

Definition at line 242 of file TaskContext.cpp.

ServiceRequester::shared_ptr RTT::TaskContext::requires ( )

inline

Returns the object that manages which methods this Task requires to be implemented by another task.

Definition at line 271 of file TaskContext.hpp.

ServiceRequester::shared_ptr RTT::TaskContext::requires ( const std::string & service_name )

inline

Returns the object that manages which methods this Task requires to be implemented by another service.

Definition at line 277 of file TaskContext.hpp.

bool RTT::TaskContext::setActivity ( base::ActivityInterface * new_act )

Sets the activity of this TaskContext. The activity is owned by the TaskContext and you should not hold a pointer to it after this call. Use getActivity() lateron to retrieve a safe pointer to it.

Parameters

new_act The new activity for this TaskContext, which becomes owned by this TaskContext, in case this method returns true.

Returns: false if this->isRunning() or if called by the thread that currently executes this activity and that would need to be stopped. You cannot change the activity of a TaskContext once it is running. In that case, new_act is not destroyed.

Note: This function may not be called from the current ExecutionEngine thread (OwnThread), another thread (ClientThread) must call this function.

Definition at line 340 of file TaskContext.cpp.

void RTT::TaskContext::setDataOnPortCallback	(	base::InputPortInterface *	port,
		TaskContext::SlotFunction	callback
	)

private

Function to call in the thread of this component if data on the given port arrives.

Definition at line 456 of file TaskContext.cpp.

void RTT::TaskContext::setup ( )

private

Internal function to setup the 'this' service and activity.

Definition at line 82 of file TaskContext.cpp.

bool RTT::TaskContext::start ( )

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.

Return values

false	if startHook() returned false if the component was not Stopped
true	if the Running state was entered.

Reimplemented from RTT::base::TaskCore.

Reimplemented in RTT::corba::TaskContextProxy.

Definition at line 416 of file TaskContext.cpp.

bool RTT::TaskContext::stop ( )

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.

Returns: false if the component was not Running or not Active.

Reimplemented from RTT::base::TaskCore.

Reimplemented in RTT::corba::TaskContextProxy.

Definition at line 426 of file TaskContext.cpp.

Friends And Related Function Documentation

friend class DataFlowInterface

friend

Definition at line 651 of file TaskContext.hpp.

friend class ExecutionEngine

friend

Definition at line 623 of file TaskContext.hpp.

Member Data Documentation

PeerMap RTT::TaskContext::_task_map

private

map of the tasks we are using

Definition at line 630 of file TaskContext.hpp.

LocalServices RTT::TaskContext::localservs

private

Definition at line 681 of file TaskContext.hpp.

os::Mutex RTT::TaskContext::mportlock

private

Definition at line 685 of file TaskContext.hpp.

Users RTT::TaskContext::musers

private

map of the tasks that are using us.

Definition at line 632 of file TaskContext.hpp.

base::ActivityInterface::shared_ptr RTT::TaskContext::our_act

private

This pointer tracks our activity which is set by setActivity. By default, a extras::SequentialActivity is assigned.

Definition at line 694 of file TaskContext.hpp.

ServiceRequester::shared_ptr RTT::TaskContext::tcrequests

private

Definition at line 684 of file TaskContext.hpp.

Service::shared_ptr RTT::TaskContext::tcservice

private

Definition at line 683 of file TaskContext.hpp.

UserCallbacks RTT::TaskContext::user_callbacks

private

Definition at line 653 of file TaskContext.hpp.

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

Public Types

Public Member Functions

Protected Member Functions

Private Types

Private Member Functions

Private Attributes

Friends

Ports

Additional Inherited Members

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation