#include <rtt/TaskContext.hpp>
Inheritance diagram for TaskContext:
Furthermore, it allows to visit its peer tasks.
Public Types | |
| typedef std::vector< std::string > | PeerList |
| typedef std::vector< std::string > | ObjectList |
Public Member Functions | |
| TaskContext (const std::string &name) | |
| Create a TaskContext visible with name. | |
| TaskContext (const std::string &name, ExecutionEngine *parent) | |
| Create a TaskContext visible with name. | |
| virtual const std::string & | getName () const |
| virtual const std::string & | getDescription () const |
| virtual void | setDescription (const std::string &descr) |
| void | exportPorts () |
| Call this function to force a TaskContext to export its Data Flow ports as scripting objects. | |
| virtual bool | addPeer (TaskContext *peer, std::string alias="") |
| Add a one-way connection from this task to a peer task. | |
| virtual void | removePeer (const std::string &name) |
| Remove a one-way connection from this task to a peer task. | |
| virtual void | removePeer (TaskContext *peer) |
| Remove a one-way connection from this task to a peer task. | |
| virtual bool | connectPeers (TaskContext *peer) |
| Add a two-way connection from this task to a peer task. | |
| virtual bool | connectPorts (TaskContext *peer) |
| Add a data flow connection from this task's ports to a peer's ports. | |
| virtual void | disconnect () |
| Disconnect this TaskContext from it's peers. | |
| virtual void | reconnect () |
| Reconnect the data ports of this task, without removing the peer relationship. | |
| virtual void | disconnectPeers (const std::string &name) |
| Remove a two-way connection from this task to a peer task. | |
| virtual PeerList | getPeerList () const |
| Return a standard container which contains all the Peer names of this TaskContext. | |
| virtual bool | hasPeer (const std::string &peer_name) const |
| Return true if it knows a peer by that name. | |
| virtual TaskContext * | getPeer (const std::string &peer_name) const |
| Get a pointer to a peer of this task. | |
| virtual bool | addObject (OperationInterface *obj) |
| Add a new TaskObject to this TaskContext. | |
| virtual OperationInterface * | getObject (const std::string &obj_name) |
| Get a pointer to a previously added TaskObject. | |
| virtual ObjectList | getObjectList () const |
| Get a list of all the object names of this TaskContext. | |
| virtual bool | removeObject (const std::string &obj_name) |
| Remove and delete a previously added TaskObject. | |
| void | clear () |
| Clear the complete interface of this Component. | |
| ScriptingAccess * | scripting () |
| Get access to high level controls for programs, state machines and scripting statements. | |
| const ScriptingAccess * | scripting () const |
| Get access to high level controls for programs, state machines and scripting statements. | |
| ExecutionAccess * | execution () |
| Get access to high level controls for controlling programs and state machines. | |
| const ExecutionAccess * | execution () const |
| Get access to high level controls for controlling programs and state machines. | |
| MarshallingAccess * | marshalling () |
| Get access to high level controls for (de)serializing properties to/from an XML format. | |
| const MarshallingAccess * | marshalling () const |
| Get access to high level controls for (de)serializing properties to/from an XML format. | |
| CommandRepository * | commands () |
| The command interface of this task context. | |
| const CommandRepository * | commands () const |
| The command interface of this task context. | |
| MethodRepository * | methods () |
| The method interface of this task context. | |
| const MethodRepository * | methods () const |
| The method interface of this task context. | |
| AttributeRepository * | attributes () |
| The task-local values ( attributes and properties ) of this TaskContext. | |
| const AttributeRepository * | attributes () const |
| The task-local values ( attributes and properties ) of this TaskContext. | |
| PropertyBag * | properties () |
| The properties of this TaskContext. | |
| const PropertyBag * | properties () const |
| The properties of this TaskContext. | |
| EventService * | events () |
| The task-local events ( 'signals' ) of this TaskContext. | |
| const EventService * | events () const |
| The task-local events ( 'signals' ) of this TaskContext. | |
| DataFlowInterface * | ports () |
| Get the Data flow ports of this task. | |
| const DataFlowInterface * | ports () const |
| Get the Data flow ports of this task. | |
| virtual bool | startup () |
| Function where the user must insert his 'startup' code. | |
| virtual void | update () |
| Function where the user must insert his 'application' code. | |
| virtual void | shutdown () |
| Function where the user must insert his 'shutdown' code. | |
| void | setName (const std::string &n) |
| Change the name of this TaskCore. | |
| void | setExecutionEngine (ExecutionEngine *engine) |
| Use this method to re-set the execution engine of this task core. | |
| const ExecutionEngine * | engine () const |
| Get a const pointer to the ExecutionEngine of this Task. | |
| ExecutionEngine * | engine () |
| Get a pointer to the ExecutionEngine of this Task. | |
Script Methods | |
The standard script methods of a TaskContext are for starting and stopping its ExecutionEngine.
The methods map to the ActivityInterface which executes the ExecutionEngine. | |
| virtual bool | start () |
| Start is a method which starts the execution engine's task. | |
| virtual bool | stop () |
| Stop is a method which stops the execution engine's task. | |
| virtual bool | isRunning () const |
| DataSource to inspect if this Task is running. | |
| virtual bool | doUpdate () |
| Invoke this method to execute the ExecutionEngine and the update() method. | |
| virtual bool | doTrigger () |
| Invoke this method to trigger the thread of this TaskContext to execute its ExecutionEngine and the update() method. | |
Protected Types | |
|
typedef std::map< std::string, TaskContext * > | PeerMap |
| typedef std::vector< TaskContext * > | Users |
| typedef std::vector< OperationInterface * > | Objects |
Protected Member Functions | |
| void | addUser (TaskContext *user) |
| Inform this TaskContext that user is using our services. | |
| void | removeUser (TaskContext *user) |
| Inform this TaskContext that user is no longer using our services. | |
| void | setup () |
Protected Attributes | |
| std::string | mdescription |
| PeerMap | _task_map |
| map of the tasks we are using | |
| Users | musers |
| map of the tasks that are using us. | |
| Objects | mobjects |
| the TaskObjects. | |
| ScriptingAccess * | mscriptAcc |
| ExecutionAccess * | mengAcc |
| MarshallingAccess * | marshAcc |
| std::string | mtask_name |
| ExecutionEngine * | ee |
| The execution engine which calls update() and processes our commands, events etc. | |
| TaskContext | ( | const std::string & | name | ) |
Create a TaskContext visible with name.
It's ExecutionEngine will be newly constructed with private ExecutionEngine processing its commands, events, programs and state machines.
| TaskContext | ( | const std::string & | name, | |
| ExecutionEngine * | parent | |||
| ) |
Create a TaskContext visible with name.
Its commands programs and state machines are processed by parent. Use this constructor to share execution engines among task contexts, such that the execution of their functionality is serialised (executed in the same thread).
| void exportPorts | ( | ) |
Call this function to force a TaskContext to export its Data Flow ports as scripting objects.
This is done by the component itself when a peer connection is made, but in case you want to access the Data Flow ports of a stand-alone component from the scripting interface, you need to call this function.
| virtual bool start | ( | ) | [virtual] |
Start is a method which starts the execution engine's task.
It can not be a command because if the engine is not running, it does not accept commands. Also, RunnableInterface::initialize() is then called in the context of the caller. You can override this method to do something else or in addition to starting the Processor.
Reimplemented in ControlTaskProxy.
| virtual bool stop | ( | ) | [virtual] |
Stop is a method which stops the execution engine's task.
RunnableInterface::finalize() is called in the context of the caller. You can override this method to do something else or in addition to stopping the engine.
Reimplemented in ControlTaskProxy.
| virtual bool isRunning | ( | ) | const [virtual] |
DataSource to inspect if this Task is running.
Defaults to this->getProcessor()->getActivity() && this->getProcessor()->getActivity()->isRunning()
Reimplemented in ControlTaskProxy.
| virtual bool doUpdate | ( | ) | [virtual] |
Invoke this method to execute the ExecutionEngine and the update() method.
This method maps to the 'update()' method in the scripting language.
| false | if this->engine()->getActivity()->execute() == false | |
| true | otherwise. |
| virtual bool doTrigger | ( | ) | [virtual] |
Invoke this method to trigger the thread of this TaskContext to execute its ExecutionEngine and the update() method.
This method maps to the 'trigger()' method in the scripting language.
| false | if this->engine()->getActivity()->trigger() == false | |
| true | otherwise. |
| virtual bool addPeer | ( | TaskContext * | peer, | |
| std::string | alias = "" | |||
| ) | [virtual] |
Add a one-way connection from this task to a peer task.
| peer | The peer to add. | |
| alias | An optional alias (another name) for the peer. defaults to peer->getName() |
Reimplemented in ControlTaskProxy.
| virtual void disconnect | ( | ) | [virtual] |
Disconnect this TaskContext from it's peers.
All its Data Flow Ports are disconnected from the connections but the connections themselves may continue to exist to serve other TaskContexts. This method invokes removePeer() as well on the peers listed in this->getPeerList().
| virtual void reconnect | ( | ) | [virtual] |
Reconnect the data ports of this task, without removing the peer relationship.
Use this if you changed a port name of an already connected task.
| virtual TaskContext* getPeer | ( | const std::string & | peer_name | ) | const [virtual] |
Get a pointer to a peer of this task.
Reimplemented in ControlTaskProxy.
| virtual bool addObject | ( | OperationInterface * | obj | ) | [virtual] |
Add a new TaskObject to this TaskContext.
| obj | This object becomes owned by this TaskContext. |
| virtual OperationInterface* getObject | ( | const std::string & | obj_name | ) | [virtual] |
Get a pointer to a previously added TaskObject.
| obj_name | The name of the TaskObject |
| virtual ObjectList getObjectList | ( | ) | const [virtual] |
| virtual bool removeObject | ( | const std::string & | obj_name | ) | [virtual] |
Remove and delete a previously added TaskObject.
| obj_name | The name of the TaskObject |
| void clear | ( | ) |
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.
| ExecutionAccess* execution | ( | ) | [inline] |
Get access to high level controls for controlling programs and state machines.
It is the implementation of the 'engine' TaskObject.
| const ExecutionAccess* execution | ( | ) | const [inline] |
Get access to high level controls for controlling programs and state machines.
It is the implementation of the 'engine' TaskObject.
| virtual bool startup | ( | ) | [virtual, inherited] |
Function where the user must insert his 'startup' code.
This function is called by the ExecutionEngine before it starts its processors. If it returns false, the startup of the TaskCore is aborted. The default implementation is an empty function which returns true.
| virtual void update | ( | ) | [virtual, inherited] |
Function where the user must insert his 'application' code.
When the ExecutionEngine's Activity is a PeriodicActivity, this function is called by the ExecutionEngine in each periodic step after all command, event,... processors. When it's Task is a NonPeriodicActivity, this function is called after an Event or Command is received and executed. It should not loop forever, since no commands or events are processed when this function executes. The default implementation is an empty function.
| virtual void shutdown | ( | ) | [virtual, inherited] |
Function where the user must insert his 'shutdown' code.
This function is called by the ExecutionEngine after it stops its processors. The default implementation is an empty function.
| void setExecutionEngine | ( | ExecutionEngine * | engine | ) | [inherited] |
Use this method to re-set the execution engine of this task core.
| engine | The new execution engine which will execute this TaskCore or null if a new execution engine must be created (the old is deleted in that case). |
1.5.1