ControlTaskProxy Class Reference
[Component IDL and Corba Setup]

#include <rtt/corba/ControlTaskProxy.hpp>

Inheritance diagram for ControlTaskProxy:

Detailed Description

This class manages the access of remote TaskContext Corba Servers and a Corba Object Request Broker (Orb) which connects to these servers.

Definition at line 75 of file ControlTaskProxy.hpp.


Public Types
typedef std::map < ControlTaskProxy *, Corba::ControlTask_ptr >	PMap
typedef std::vector< std::string >	PeerList
	A list of Peer TaskContext names.
typedef std::vector< std::string >	ObjectList
	A list of all child objects of this interface.
enum	TaskState { Init, PreOperational, FatalError, Stopped, Active, Running, RunTimeWarning, RunTimeError }
	Describes the different states a component can have. More...
Public Member Functions
Corba::ControlTask_ptr	server () const
	Get the Corba Object of the ControlTask.
virtual bool	activate ()
	This method starts the execution of this component in order to process events and commands.
virtual bool	start ()
	This method starts the execution engine of this component (if not already running) and executes the updateHook() with each period.
virtual bool	stop ()
	This method stops the execution engine of this component.
virtual bool	isRunning () const
	Inspect if the component is in the Running, RunTimeWarning or RunTimeError state.
virtual bool	configure ()
	This method instructs the component to (re-)read configuration data and try to enter the Stopped state.
virtual bool	cleanup ()
	This method instructs a stopped component to enter the pre-operational state again.
virtual bool	resetError ()
	If the component entered the FatalError state, call this method to recover.
virtual bool	isActive () const
	Inspect if the component is processing events, i.e.
virtual bool	isConfigured () const
	Inspect if the component is configured, i.e.
virtual bool	inFatalError () const
	Inspect if the component is in the FatalError state.
virtual bool	inRunTimeWarning () const
	Inspect if the component is in the RunTimeWarning state.
virtual bool	inRunTimeError () const
	Inspect if the component is in the RunTimeError state.
virtual int	getErrorCount () const
	Returns the number of times the RunTimeError state was entered.
virtual int	getWarningCount () const
	Returns the number of times the RunTimeWarning state was entered.
virtual TaskState	getTaskState () const
	Returns the current state of the TaskContext.
virtual void	setName (const std::string &n)
	Change the name of this TaskCore.
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 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	connectPorts (TaskContext *peer)
	Add a data flow connection from this task's ports to a peer's ports.
virtual bool	ready ()
	Checks the validity of this TaskContext.
virtual const std::string &	getName () const
	Returns the name of this interface.
virtual const std::string &	getDescription () const
	Returns the description of this interface.
virtual void	setDescription (const std::string &descr)
virtual OperationInterface *	getParent ()
	Returns the parent OperationInterface in which this TaskObject lives.
virtual void	setParent (OperationInterface *)
	This method is ignored by the TaskContext.
virtual void	setEngine (ExecutionEngine *)
	This method is ignored by the TaskContext.
void	exportPorts ()
	Call this function to force a TaskContext to export its Data Flow ports as scripting objects.
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 bool	addObject (OperationInterface *obj)
	Add a new TaskObject to this TaskContext.
virtual 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.
PropertyBag *	properties ()
	The properties of this TaskContext.
const PropertyBag *	properties () const
	The properties 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.
CommandRepository *	commands ()
	Returns the commands of this interface.
const CommandRepository *	commands () const
MethodRepository *	methods ()
	Returns the methods of this interface.
const MethodRepository *	methods () const
EventService *	events ()
	The task-local events ( 'signals' ) of this TaskContext.
const EventService *	events () const
	The task-local events ( 'signals' ) of this TaskContext.
AttributeRepository *	attributes ()
	Returns the attributes of this interface.
const AttributeRepository *	attributes () const
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 interface.
virtual bool	removeObject (const std::string &obj_name)
	Remove and delete a previously added TaskObject.
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
These TaskCore functions are exported in a TaskContext as script methods and are for configuration, starting and stopping its ExecutionEngine.
virtual double	getPeriod () const
	Get the configured execution period of this component.
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.
Static Public Member Functions
static bool	InitOrb (int argc, char *argv[])
	Invoke this method once to initialise the Orb which will connect to the task servers.
static void	DestroyOrb ()
	Invoke this method once to cleanup the orb.
static ControlTaskProxy *	Create (std::string name, bool is_ior=false)
	Factory method: create a CORBA Proxy for an existing ControlTaskServer.
static TaskContext *	Create (::RTT::Corba::ControlTask_ptr task)
	Factory method: create a CORBA Proxy for an existing ControlTaskServer.
static PortableServer::POA_ptr	ProxyPOA ()
	Returns the default POA for all proxies.
Static Public Attributes
static PMap	proxies
static CORBA::ORB_var	orb
	The orb of this process.
static PortableServer::POA_var	rootPOA
	The root POA of this process.
Protected Types
typedef std::map< std::string, TaskContext * >	PeerMap
typedef std::vector < TaskContext * >	Users
typedef std::vector < OperationInterface * >	Objects
Protected Member Functions
	ControlTaskProxy (std::string location, bool is_ior)
	Private constructor which creates a new connection to a stringified ior or taskname in NameServer.
	ControlTaskProxy (::RTT::Corba::ControlTask_ptr t)
	Private constructor which creates a new connection to a corba object.
void	synchronizeOnce ()
void	synchronize ()
void	fetchObjects (OperationInterface *parent, ControlObject_ptr mtask)
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 ()
virtual bool	configureHook ()
	Implement this method such that it contains the code which will be executed when configure() is called.
virtual void	cleanupHook ()
	Implement this method such that it contains the code which will be executed when cleanup() is called.
virtual bool	activateHook ()
	Implement this method such that it contains the code which will be executed when activate() is called.
virtual bool	startHook ()
	Implement this method such that it contains the code which will be executed when start() is called.
virtual bool	startup ()
	Function where the user must insert his 'startup' code.
virtual void	updateHook ()
	Function where the user must insert his 'application' code.
virtual void	errorHook ()
	Implement this method to contain code that must be executed in the RunTimeError state, instead of updateHook().
virtual void	update ()
	Function where the user must insert his 'application' code.
virtual void	stopHook ()
	Implement this method such that it contains the code which will be executed when stop() is called.
virtual void	shutdown ()
	Function where the user must insert his 'shutdown' code.
virtual bool	resetHook ()
	Implement this method to recover from the FatalError state.
virtual void	warning ()
	Call this method in a Running state to indicate a run-time warning condition.
virtual void	error ()
	Call this method in a Running state to indicate a run-time error condition.
virtual void	fatal ()
	Call this method from any place to indicate that this component encountered a fatal error.
virtual void	recovered ()
	Call this method in a Running state to indicate that the run-time warning or error conditions are gone and nominal operation is resumed.
Protected Attributes
Corba::ControlTask_var	mtask
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
CommandRepository	mcommands
MethodRepository	mmethods
AttributeRepository	mattributes
std::string	mtask_name
ExecutionEngine *	ee
	The execution engine which calls update() and processes our commands, events etc.
TaskState	mTaskState
int	runtime_warnings
int	runtime_errors
Static Protected Attributes
static PortableServer::POA_var	proxy_poa
	For now one POA handles all proxies.
Friends
class	ExecutionEngine

Member Enumeration Documentation

enum TaskState [inherited]

Describes the different states a component can have.

When a TaskContext is being constructed, it is in the Init state. After the construction ends, the component arrives in the PreOperational (additional configuration required) or the Stopped (ready to run) state. Invoking start() will make a transition to the Running state and stop() back to the Stopped state. The Running state executes the updateHook() and processes events and commands. Invoking activate() will make a transition to the Active state in which only events and commands are processed. Within the Active state: start() will continue to the Running state, and a stop() will go back to the Stopped state. Finally, there is an FatalError state, in which the component can enter by calling the protected method fatalError(). In this state, the ExecutionEngine is stopped and updateHook() is no longer called. The public resetError() method allows one to leave the FatalError state and enter the Stopped state, or if the error is unrecoverable, the PreOperational state.

Next to the fatal error, two run-time error levels are available in the Running state as well. These levels allow 'automatic' recovery by the component in case the problem is temporal. When the task is Running, it may call the protected warning() method in order to signal a possible problem. In this RunTimeWarning substate, the updateHook() is still called. One can leave this substate by calling the protected recovered() method. In case of more severe problems, one may call the protected method error() when the component is Running. The component will enter the RunTimeError state and will cause the errorHook() to be called instead of updateHook(). When recovered() is called, this run-time error state is left and the nominal Running state is entered again.

In order to keep track of these run-time errors, a counter is provided for each sub-state indicating how many times it was entered. See getWarningCount() and getErrorCount().

In order to check if these transitions are allowed, hook functions are executed, which can be filled in by the component builder.

A transition from PreOperational to Stopped is checked by calling the configureHook() method. If this method returns true, the transition is made, otherwise, the state remains PreOperational.
A transition from Stopped to Running is checked by calling the startHook() method. If this method returns true, the transition is made, otherwise, the state remains Stopped.
A transition from Stopped to Active is checked by calling the activateHook() method. If this method returns true, the transition is made, otherwise, the state remains Stopped.
A transition from Active to Running is checked by calling the startHook() method. If this method returns true, the transition is made, otherwise, the state remains Active.
A transition from Running to Stopped is always allowed and the stopHook() method is called to inform the component of this transtion.
A transition from Active to Stopped is always allowed and the stopHook() method is called to inform the component of this transtion.
A transition from Stopped to PreOperational is always allowed and the cleanupHook() method is called to inform the component of this transtion.
A transition from the FatalError state to the Stopped state is checked by calling the resetHook(): If it returns true, the Stopped state is entered, if it returns false, the PreOperational state is entered, and the user is as such forced to call configure() in order to enter the Stopped state again.

Enumerator:

PreOperational	The state during component construction.
FatalError	The state indicating additional configuration is required.
Stopped	The state indicating the component encountered a fatal error and is unable to execute.
Active	The state indicating the component is ready to run.
Running	The state indicating the component is processing events and commands.
RunTimeWarning	The state indicating the component is running [green].
RunTimeError	The state indicating that a run-time warning has occured [yellow] and needs attention. The state indicating that a run-time error has occured [red] and needs attention.

Definition at line 131 of file TaskCore.hpp.

Member Function Documentation

ControlTaskProxy * Create	(	std::string	name,
		bool	is_ior = `false`
	)			`[static]`

Factory method: create a CORBA Proxy for an existing ControlTaskServer.

Parameters:

	name	The name of the ControlTaskServer to connect to or the Object Reference of the object to connect to
	is_ior	set to true if name is an IOR. Defaults to false.

Return values:

0

if the ORB is not initialised

Returns:: A new or previously created CORBA proxy for name.

Definition at line 448 of file ControlTaskProxy.cpp.

References ControlTaskProxy::ControlTaskProxy(), ApplicationServer::orb, and IllegalServer::what().

Referenced by ControlTaskProxy::getPeer().

TaskContext * Create ( ::RTT::Corba::ControlTask_ptr task ) [static]

Factory method: create a CORBA Proxy for an existing ControlTaskServer.

This method may in fact return the real TaskContext in case the servant of task is in the same process.

Parameters:

task

The Object to create a proxy for.

Return values:

0

if the ORB is not initialised

Returns:: A new or previously created CORBA proxy for task, or the TaskContext itself.

Definition at line 463 of file ControlTaskProxy.cpp.

References ControlTaskProxy::ControlTaskProxy(), ApplicationServer::orb, and IllegalServer::what().

Corba::ControlTask_ptr server ( ) const

Get the Corba Object of the ControlTask.

This object universally identifies the remote ControlTaskServer and can be used to tell other (remote) objects where to find it.

Definition at line 824 of file ControlTaskProxy.cpp.

Referenced by ControlTaskProxy::addPeer().

bool activate ( ) [virtual]

This method starts the execution of this component in order to process events and commands.

This function calls activateHook() which must return true in order to allow this processing. You can override this method to do something else or in addition to starting the ExecutionEngine.

Return values:

	false	if activateHook() returned false if the engine was not assigned to an ActivityInterface if the component was already active.
	true	if the Active state was entered.

Reimplemented from TaskCore.

Definition at line 526 of file ControlTaskProxy.cpp.

References TaskContext::clear(), and ControlTaskProxy::setName().

bool start ( ) [virtual]

This method starts the execution engine of this component (if not already running) and executes the updateHook() with each 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 engine was not assigned to an ActivityInterface if the component was already running.
	true	if the Running state was entered.

Reimplemented from TaskCore.

Definition at line 502 of file ControlTaskProxy.cpp.

References TaskContext::clear(), and ControlTaskProxy::setName().

bool stop ( ) [virtual]

This method stops the execution engine of this component.

You can override this method to do something else or in addition to stopping the engine. This function calls cleanupHook() as well.

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

Reimplemented from TaskCore.

Definition at line 514 of file ControlTaskProxy.cpp.

References TaskContext::clear(), and ControlTaskProxy::setName().

bool isRunning ( ) const [virtual]

Inspect if the component is in the Running, RunTimeWarning or RunTimeError state.

As RunTimeWarning and RunTimeError are substates of Running, this method also returns true when the component is in one of these states. See inRunTimeError() and inRunTimeWarning() for testing these error conditions.

Reimplemented from TaskCore.

Definition at line 560 of file ControlTaskProxy.cpp.

bool configure ( ) [virtual]

This method instructs the component to (re-)read configuration data and try to enter the Stopped state.

This can only succeed if the component is not running and configureHook() returns true.

Reimplemented from TaskCore.

Definition at line 570 of file ControlTaskProxy.cpp.

References TaskContext::clear(), and ControlTaskProxy::setName().

bool cleanup ( ) [virtual]

This method instructs a stopped component to enter the pre-operational state again.

It calls cleanupHook(). The run-time error and warning counters are reset to zero as well.

Returns:: true if the component was in the Stopped state.

Reimplemented from TaskCore.

Definition at line 582 of file ControlTaskProxy.cpp.

References TaskContext::clear(), and ControlTaskProxy::setName().

bool resetError ( ) [virtual]

If the component entered the FatalError state, call this method to recover.

It will call the user function resetHook(): if it returns false, the PreOperational state is entered, if it returns true, the Stopped state is entered. You can not use this method to recover from the RunTimeWarning or RunTimeError states, use recover() instead.

Return values:

	true	if the component is in the Stopped or PreOperational state.
	false	if the component was not in the FatalError state.

Reimplemented from TaskCore.

Definition at line 538 of file ControlTaskProxy.cpp.

References TaskContext::clear(), and ControlTaskProxy::setName().

bool isActive ( ) const [virtual]

Inspect if the component is processing events, i.e.

in the Active or Running state.

Reimplemented from TaskCore.

Definition at line 550 of file ControlTaskProxy.cpp.

bool isConfigured ( ) const [virtual]

Inspect if the component is configured, i.e.

in the Stopped, Active or Running state.

Reimplemented from TaskCore.

Definition at line 594 of file ControlTaskProxy.cpp.

bool 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 from TaskContext.

Definition at line 669 of file ControlTaskProxy.cpp.

References TaskContext::clear(), ControlTaskServer::Create(), ControlTaskServer::server(), ControlTaskProxy::server(), and ControlTaskProxy::setName().

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 from TaskContext.

Definition at line 777 of file ControlTaskProxy.cpp.

References ControlTaskProxy::Create(), and TaskContext::getPeer().

bool 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 from TaskContext.

Definition at line 807 of file ControlTaskProxy.cpp.

References TaskContext::clear().

virtual OperationInterface* getParent ( ) [inline, virtual, inherited]

Returns the parent OperationInterface in which this TaskObject lives.

A TaskObject can have only one parent.

Returns:: null in case no parent is set, the parent otherwise.

Implements OperationInterface.

Definition at line 140 of file TaskContext.hpp.

virtual void setEngine ( ExecutionEngine * ) [inline, virtual, inherited]

This method is ignored by the TaskContext.

See also:: TaskCore::setExecutionEngine for (re-)setting a new ExecutionEngine, which is a base class of TaskContext.

Implements OperationInterface.

Definition at line 152 of file TaskContext.hpp.

void exportPorts ( ) [inherited]

Call this function to force a TaskContext to export its Data Flow ports as scripting objects.

Deprecated:: Do not use this function, it is no longer required.

Definition at line 197 of file TaskContext.cpp.

References TaskContext::addObject(), OperationInterface::getObject(), DataFlowInterface::getPorts(), and TaskContext::ports().

void disconnect ( ) [virtual, inherited]

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().

Definition at line 370 of file TaskContext.cpp.

References TaskContext::_task_map, TaskContext::getName(), DataFlowInterface::getPorts(), TaskContext::musers, and TaskContext::ports().

void reconnect ( ) [virtual, inherited]

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.

Definition at line 352 of file TaskContext.cpp.

References TaskContext::_task_map, TaskContext::connectPorts(), TaskContext::getName(), DataFlowInterface::getPorts(), and TaskContext::ports().

bool addObject ( OperationInterface * obj ) [virtual, inherited]

Add a new TaskObject to this TaskContext.

Parameters:

obj

This object becomes owned by this TaskContext.

Returns:: true if it cuold be added, false if such object already exists.

Reimplemented from OperationInterface.

Definition at line 421 of file TaskContext.cpp.

References OperationInterface::addObject(), TaskCore::engine(), and OperationInterface::setEngine().

Referenced by TaskContext::exportPorts(), and MarshallingAccess::MarshallingAccess().

void clear ( ) [virtual, inherited]

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.

Reimplemented from OperationInterface.

Definition at line 428 of file TaskContext.cpp.

References PropertyBag::clear(), TaskContext::ports(), TaskContext::properties(), and OperationInterface::removeObject().

Referenced by ControlTaskProxy::activate(), ControlTaskProxy::addPeer(), ControlTaskProxy::cleanup(), ControlTaskProxy::configure(), ControlTaskProxy::connectPeers(), ControlTaskProxy::connectPorts(), ControlTaskProxy::ControlTaskProxy(), ControlTaskProxy::disconnectPeers(), ControlTaskProxy::ready(), ControlTaskProxy::removePeer(), ControlTaskProxy::resetError(), ControlTaskProxy::start(), and ControlTaskProxy::stop().

ExecutionAccess* execution ( ) [inline, inherited]

Get access to high level controls for controlling programs and state machines.

It is the implementation of the 'engine' TaskObject.

Definition at line 280 of file TaskContext.hpp.

const ExecutionAccess* execution ( ) const [inline, inherited]

Get access to high level controls for controlling programs and state machines.

It is the implementation of the 'engine' TaskObject.

Definition at line 291 of file TaskContext.hpp.

OperationInterface * getObject ( const std::string & obj_name ) [virtual, inherited]

Get a pointer to a previously added TaskObject.

Parameters:

obj_name

The name of the TaskObject

Returns:: the pointer

Definition at line 86 of file OperationInterface.cpp.

References OperationInterface::mobjects.

Referenced by OperationInterface::addObject(), TaskContext::exportPorts(), MarshallingAccess::MarshallingAccess(), and OperationInterface::removeObject().

std::vector< std::string > getObjectList ( ) const [virtual, inherited]

Get a list of all the object names of this interface.

Returns:: a list of string names.

Definition at line 99 of file OperationInterface.cpp.

References OperationInterface::getName(), and OperationInterface::mobjects.

bool removeObject ( const std::string & obj_name ) [virtual, inherited]

Remove and delete a previously added TaskObject.

Deletion will only occur if obj_name's parent is this. You can avoid deletion by first calling

 this->getObject( obj_name )->setParent(0);

Parameters:

obj_name

The name of the TaskObject to remove

Returns:: true if found and removed, false otherwise.

Definition at line 108 of file OperationInterface.cpp.

References OperationInterface::attributes(), AttributeRepository::clear(), EventService::clear(), CommandRepository::clear(), MethodRepository::clear(), OperationInterface::commands(), OperationInterface::events(), OperationInterface::getObject(), OperationInterface::getParent(), OperationInterface::methods(), and OperationInterface::mobjects.

Referenced by TaskContext::clear().

double getPeriod ( ) const [virtual, inherited]

Get the configured execution period of this component.

Note that this value only is used when the component isActive() or isRunning().

Return values:

	0.0	if the component is non-periodic (event based).
	a	negative number when the component is not executable.
	a	positive value when the component is periodic. The period is expressed in seconds.

Todo:: : add a bool setPeriod(double) function to allow changing the period at run-time.

Definition at line 208 of file TaskCore.cpp.

References TaskCore::engine().

bool doUpdate ( ) [virtual, inherited]

Invoke this method to execute the ExecutionEngine and the update() method.

This method maps to the 'update()' method in the scripting language.

Return values:

	false	if this->engine()->getActivity()->execute() == false
	true	otherwise.

Definition at line 85 of file TaskCore.cpp.

References TaskCore::engine().

bool doTrigger ( ) [virtual, inherited]

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.

Return values:

	false	if this->engine()->getActivity()->trigger() == false
	true	otherwise.

Definition at line 92 of file TaskCore.cpp.

References TaskCore::engine().

void setExecutionEngine ( ExecutionEngine * engine ) [inherited]

Use this method to re-set the execution engine of this task core.

Parameters:

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).

Postcondition:: The TaskCore is being run by engine or a new execution engine.

Definition at line 254 of file TaskCore.cpp.

References ExecutionEngine::addChild(), TaskCore::ee, ExecutionEngine::getParent(), and ExecutionEngine::removeChild().

bool configureHook ( ) [protected, virtual, inherited]

Implement this method such that it contains the code which will be executed when configure() is called.

The default implementation is an empty function which returns true.

Return values:

	true	to indicate that configuration succeeded and the Stopped state may be entered.
	false	to indicate that configuration failed and the Preoperational state is entered.

Definition at line 213 of file TaskCore.cpp.

Referenced by TaskCore::configure().

void cleanupHook ( ) [protected, virtual, inherited]

Implement this method such that it contains the code which will be executed when cleanup() is called.

The default implementation is an empty function.

Definition at line 180 of file TaskCore.cpp.

Referenced by TaskCore::cleanup().

bool activateHook ( ) [protected, virtual, inherited]

Implement this method such that it contains the code which will be executed when activate() is called.

Return false if the component may not be activated.

Definition at line 239 of file TaskCore.cpp.

Referenced by ExecutionEngine::startContexts().

bool startHook ( ) [protected, virtual, inherited]

Implement this method such that it contains the code which will be executed when start() is called.

The default implementation is an empty function which returns true.

Return values:

	true	to indicate that the component may run and the Running state may be entered.
	false	to indicate that the component may not run and the Stopped state is entered.

Definition at line 229 of file TaskCore.cpp.

References TaskCore::startup().

Referenced by ExecutionEngine::startContexts().

bool startup ( ) [protected, 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.

Deprecated:: Use the startHook() function instead.

Definition at line 220 of file TaskCore.cpp.

Referenced by TaskCore::startHook().

void updateHook ( ) [protected, 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,... are processed. When it is executed by 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.

Definition at line 244 of file TaskCore.cpp.

References TaskCore::update().

Referenced by ExecutionEngine::step().

void errorHook ( ) [protected, virtual, inherited]

Implement this method to contain code that must be executed in the RunTimeError state, instead of updateHook().

This allows you to specify the behaviour in an erroneous component. errorHook() is called as long as the component is not recovered(). After recovered(), the updateHook() is called again.

Definition at line 217 of file TaskCore.cpp.

Referenced by ExecutionEngine::step().

void update ( ) [protected, 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.