view main/robots/odr/StartupTask.h @ 230:50414c680910 main

Split the IMU reader out to a separate application. Rework the scoreboard accordingly. Also remove all the legacy "odr-controller" logic, and improve the management of "emergency" situations for all nodes.
author Bob Cook <bob@bobcookdev.com>
date Sat, 12 Jul 2014 17:21:10 -0700
parents 153436c2a354
children
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// ----------------------------------------------------------------------------------------
//
//  robots/odr/StartupTask.h
//    
//  Bob Cook Development, Robotics Library
//  http://www.bobcookdev.com/rl/
//
//  Subsumption task to hold operations until a specific program is selected.
//
//  Copyright (c) 2011-2014 Bob Cook
//
//  Permission is hereby granted, free of charge, to any person obtaining a copy
//  of this software and associated documentation files (the "Software"), to deal
//  in the Software without restriction, including without limitation the rights
//  to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
//  copies of the Software, and to permit persons to whom the Software is
//  furnished to do so, subject to the following conditions:
//
//  The above copyright notice and this permission notice shall be included in
//  all copies or substantial portions of the Software.
//
//  THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
//  IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
//  FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
//  AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
//  LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
//  OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
//  THE SOFTWARE.
//
// ----------------------------------------------------------------------------------------

#ifndef BCDRL_ROBOTS_ODR_STARTUPTASK_H
#define BCDRL_ROBOTS_ODR_STARTUPTASK_H

#include "TaskObject.h"

// ----------------------------------------------------------------------------------------

class StartupTask : public TaskObject
{
    public:
        StartupTask( const std::string& loggerName );
        virtual ~StartupTask();
        virtual void update();
        virtual bool wantsControl();
        virtual void takeControl();

    private:
        bool            m_haveStartedProgram;
        Poco::Timestamp m_startRunTime;
};

// ----------------------------------------------------------------------------------------
#endif // #ifndef BCDRL_ROBOTS_ODR_STARTUPTASK_H
// ----------------------------------------------------------------------------------------