arpirobot::BaseRobot Class Reference

#include <arpirobot/core/robot/BaseRobot.hpp>

Public Member Functions
	BaseRobot (const BaseRobot &other)=delete
BaseRobot &	operator= (const BaseRobot &other)=delete
void	feedWatchdog ()
void	start ()
virtual void	robotStarted ()=0
virtual void	robotEnabled ()=0
virtual void	robotDisabled ()=0
virtual void	enabledPeriodic ()=0
virtual void	disabledPeriodic ()=0
virtual void	periodic ()=0

Static Public Member Functions
static std::shared_ptr< Task >	scheduleRepeatedFunction (const std::function< void()> &&func, sched_clk::duration rate)
static void	runOnceSoon (const std::function< void()> &&func)
static void	removeTaskFromScheduler (std::shared_ptr< Task > task)
static void	beginWhenReady (BaseDevice *device)
static void	deviceDestroyed (BaseDevice *device)

Static Public Attributes
static bool	exists

Detailed Description

Base class to facilitate general robot code structure/flow Each robot program should have a single class that inherits from this class and implements the pure virtual functions.

Member Function Documentation

beginWhenReady()

static void arpirobot::BaseRobot::beginWhenReady ( BaseDevice *  device )

static

Initialize a device to run once the robot is started. If this is called before a robot is started this will not run the device's BaseDevice::begin immediately, but when BaseRobot::start() is called. If the robot is already started, BaseDevice::begin will be called.

Parameters

device

The device to begin once the robot is instantiated

deviceDestroyed()

static void arpirobot::BaseRobot::deviceDestroyed ( BaseDevice *  device )

static

Run when a device is destructed. Removes device from managed list.

disabledPeriodic()

virtual void arpirobot::BaseRobot::disabledPeriodic ( )

pure virtual

Run periodically while the robot is disabled

enabledPeriodic()

virtual void arpirobot::BaseRobot::enabledPeriodic ( )

pure virtual

Run periodically while the robot is enabled

feedWatchdog()

void arpirobot::BaseRobot::feedWatchdog

(

)

Feed the watchdog so devices don't become disabled

periodic()

virtual void arpirobot::BaseRobot::periodic ( )

pure virtual

Run periodically regardless of robot state

removeTaskFromScheduler()

static void arpirobot::BaseRobot::removeTaskFromScheduler ( std::shared_ptr< Task >  task )

static

Remove the given task (repeated task) from the scheduler

Parameters

task	The task to remove

robotDisabled()

virtual void arpirobot::BaseRobot::robotDisabled ( )

pure virtual

Run each time the robot is disabled

robotEnabled()

virtual void arpirobot::BaseRobot::robotEnabled ( )

pure virtual

Run each time the robot is enabled

robotStarted()

virtual void arpirobot::BaseRobot::robotStarted ( )

pure virtual

Run once when the robot is started

runOnceSoon()

static void arpirobot::BaseRobot::runOnceSoon ( const std::function< void()> &&  func )

static

Run a function on the scheduler as soon as possible (no delay). The given function will only run once This method will return immediately (will not wait for the target function to run)

Parameters

func	The function to run

scheduleRepeatedFunction()

static std::shared_ptr<Task> arpirobot::BaseRobot::scheduleRepeatedFunction ( const std::function< void()> &&  func, sched_clk::duration  rate  )

static

Schedule a function to be run at a given rate.

Parameters

func	The function to run
rate	The rate to run at

Returns

The task on the scheduler. Can be used to stop the task later

start()

void arpirobot::BaseRobot::start

(

)

Start the robot. Only one robot instance my run at a time

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

• include/arpirobot/core/robot/BaseRobot.hpp