wbc::LoopBackDriver Class Reference

The task context provides and requires services. It uses an ExecutionEngine to perform its functions. Essential interfaces are operations, data flow ports and properties. These interfaces have been defined using the oroGen specification. In order to modify the interfaces you should (re)use oroGen and rely on the associated workflow. More...

#include <LoopBackDriver.hpp>

Inheritance diagram for wbc::LoopBackDriver:

Public Member Functions
	LoopBackDriver (std::string const &name="wbc::LoopBackDriver")
	~LoopBackDriver ()
bool	configureHook ()
bool	startHook ()
void	updateHook ()
void	errorHook ()
void	stopHook ()
void	cleanupHook ()

Protected Attributes
base::samples::Joints	joint_state
base::commands::Joints	command
double	noise_std_dev

Friends
class	LoopBackDriverBase

Detailed Description

The task context provides and requires services. It uses an ExecutionEngine to perform its functions. Essential interfaces are operations, data flow ports and properties. These interfaces have been defined using the oroGen specification. In order to modify the interfaces you should (re)use oroGen and rely on the associated workflow.

Simple fake joint position interface required for the tutorials

   \details
   The name of a TaskContext is primarily defined via:
 \verbatim
 deployment 'deployment_name'
     task('custom_task_name','wbc::LoopBackDriver')
 end
 \endverbatim
    It can be dynamically adapted when the deployment is called with a prefix argument.

Constructor & Destructor Documentation

LoopBackDriver()

LoopBackDriver::LoopBackDriver

(

std::string const &

name = "wbc::LoopBackDriver"

)

TaskContext constructor for LoopBackDriver

Parameters

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.

~LoopBackDriver()

LoopBackDriver::~LoopBackDriver

(

)

Default deconstructor of LoopBackDriver

Member Function Documentation

cleanupHook()

void LoopBackDriver::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.

configureHook()

bool LoopBackDriver::configureHook

(

)

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

errorHook()

void LoopBackDriver::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.

startHook()

bool LoopBackDriver::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.

stopHook()

void LoopBackDriver::stopHook

(

)

This hook is called by Orocos when the state machine transitions from Running to Stopped after stop() has been called.

updateHook()

void LoopBackDriver::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.

Friends And Related Symbol Documentation

LoopBackDriverBase

friend class LoopBackDriverBase

friend

Member Data Documentation

command

base::commands::Joints wbc::LoopBackDriver::command

protected

joint_state

base::samples::Joints wbc::LoopBackDriver::joint_state

protected

noise_std_dev

double wbc::LoopBackDriver::noise_std_dev

protected

---

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

• tasks/LoopBackDriver.hpp
• tasks/LoopBackDriver.cpp