Task Class Reference

A task is an database record of some experiment that we want to run. More...

#include <taskDispatcher.h>

Inheritance diagram for Task:

[legend]

List of all members.

Public Types
enum	Status { RUNNING, ERROR, DONE }
Public Member Functions
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	start ()=0
	Task (TaskDispatcher *disp, db_planner::DatabaseManager *mgr, db_planner::TaskRecord rec)
virtual	~Task ()
Protected Attributes
db_planner::DatabaseManager *	mDBMgr
	A database mgr that can be used to access the dbase.
TaskDispatcher *	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.

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Detailed Description

A task is an 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 TaskDispatcher.

A Task 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 Task must implement the following interface:

• at the beginning, the TaskDispatcher will call the start() fctn. The Task must start its own event management from there.

• if the Task 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 Task is event based, start() must set up the Task event loop, then leave mStatus = RUNNING, and then surrender control. The Dispatcher will in turn surrender control and let the Task event loop do its thing.

• when the Task is done, it is responsible for setting its own mStatus to DONE. The TaskDispatcher wakes up periodically and checks on this. When it sees that the status of the Task is DONE it will clean up and continue to another task.

Definition at line 73 of file taskDispatcher.h.

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Member Enumeration Documentation

enum Task::Status

Enumerator:

RUNNING
ERROR
DONE

Definition at line 75 of file taskDispatcher.h.

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Constructor & Destructor Documentation

Task::Task	(	TaskDispatcher *	disp,
		db_planner::DatabaseManager *	mgr,
		db_planner::TaskRecord	rec
	)			[inline]

Definition at line 88 of file taskDispatcher.h.

virtual Task::~Task

(

)

[inline, virtual]

Definition at line 90 of file taskDispatcher.h.

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Member Function Documentation

db_planner::TaskRecord Task::getRecord

(

)

[inline]

Returns a copy of the dbase record of this task.

Definition at line 95 of file taskDispatcher.h.

Status Task::getStatus

(

)

[inline]

Returns the current status of this task.

Definition at line 93 of file taskDispatcher.h.

virtual void Task::start

(

)

[pure virtual]

Implemented in CompliantGraspCopyTask, GraspClusteringTask, GraspPlanningTask, GraspTransferCheckTask, PreGraspCheckTask, TableCheckTask, EmptyTask, and EmptyOneShotTask.

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Member Data Documentation

db_planner::DatabaseManager* Task::mDBMgr [protected]

A database mgr that can be used to access the dbase.

Acquired from the TaskDispatcher

Definition at line 83 of file taskDispatcher.h.

TaskDispatcher* Task::mDispatcher [protected]

The Dispatcher that started this task.

Definition at line 80 of file taskDispatcher.h.

db_planner::TaskRecord Task::mRecord [protected]

The dbase record of the task being executed.

Definition at line 85 of file taskDispatcher.h.

Status Task::mStatus [protected]

The current status of this task.

Definition at line 78 of file taskDispatcher.h.

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

• /opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/src/DBase/taskDispatcher.h