arpirobot::Action Class Reference

#include <arpirobot/core/action/Action.hpp>

Inheritance diagram for arpirobot::Action:

Public Member Functions
	Action (int32_t processRateMs=-1)
bool	isRunning ()
int32_t	getProcessPeriodMs ()
void	setProcessPeriodMs (int32_t processPeriodMs)

Protected Member Functions
virtual LockedDeviceList	lockedDevices ()
virtual void	begin ()=0
virtual void	process ()=0
virtual void	finish (bool wasInterrupted)=0
virtual bool	shouldContinue ()=0

Friends
class	ActionManager
class	ActionSeries

Detailed Description

Generic action class. User actions should inherit this class and implement the four pure virtual methods

Constructor & Destructor Documentation

Action()

arpirobot::Action::Action

(

int32_t

processRateMs = -1

)

Construct an Action

Parameters

processRateMs

Period between calls of the process function. Leave as -1 to use the value from the active robot profile

Member Function Documentation

begin()

virtual void arpirobot::Action::begin ( )

protectedpure virtual

Run when the action is started.

Implemented in arpirobot::ActionSeries.

finish()

virtual void arpirobot::Action::finish ( bool  wasInterrupted )

protectedpure virtual

Run when the action is stopped.

Parameters

wasInterrupted

Will be true if the action did not stop on its own (see Action::shouldContinue)

Implemented in arpirobot::ActionSeries.

getProcessPeriodMs()

int32_t arpirobot::Action::getProcessPeriodMs

(

)

Get the rate process function is configured to be called at

Returns

period between process function calls in milliseconds

isRunning()

bool arpirobot::Action::isRunning

(

)

Returns

true if the action has been started, but has not finished or been stopped.

process()

virtual void arpirobot::Action::process ( )

protectedpure virtual

Run periodically after the action is started, but before it finishes.

Implemented in arpirobot::ActionSeries.

setProcessPeriodMs()

void arpirobot::Action::setProcessPeriodMs

(

int32_t

processPeriodMs

)

Set the rate the process function should run at. Must be configured before an action is started to take effect.

Parameters

processPeriodMs

New process period in milliseconds

shouldContinue()

virtual bool arpirobot::Action::shouldContinue ( )

protectedpure virtual

Called each time after Action::process. When this returns false the action will stop.

Returns

false if the action should stop. Else true.

Implemented in arpirobot::ActionSeries.

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

• include/arpirobot/core/action/Action.hpp