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Kernel Process Components:
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* The Process has access to all Data objects 
* Kinematics Process is one example.
Also adopt to Execution Engine of TaskContext.


git-svn-id: https://svn.mech.kuleuven.be/repos/orocos/orocos-trunk@4155 ce417995-dfc9-0310-95a0-acdaff106893
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psoetens committed Dec 13, 2005
1 parent f283f07 commit 128671a
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Showing 19 changed files with 1,094 additions and 479 deletions.
225 changes: 213 additions & 12 deletions packages/control_framework/control_kernel/current/include/BaseComponents.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -47,6 +47,7 @@ namespace ORO_ControlKernel
/**
* @brief A SupportComponent does not 'run' actually in the control loop,
* but it gets the same functionality as any other control component.
* @deprecated by ProcessComponent
* @ingroup kcomps kcomp_support
*/
template < class _Facet = DefaultBase >
Expand All @@ -61,7 +62,16 @@ namespace ORO_ControlKernel
*/
SupportComponent(const std::string& name )
: Facet( name )
{}
{
Facet::component(this);
}

/**
* @brief update() contains (optionally) execution flow activity of this Component.
*/
virtual void update()
{
}

template< class KernelT >
bool enableFacets(KernelT* k) {
Expand All @@ -83,7 +93,7 @@ namespace ORO_ControlKernel

template< class KernelT >
bool select(KernelT* ) {
return true;
return false;
}

template< class KernelT >
Expand All @@ -92,6 +102,112 @@ namespace ORO_ControlKernel

};

/**
* @defgroup kcomp_process All Available ControlKernel Process Components
*/

/**
* @brief A Process Component does not 'run' actually in the control loop,
* but has read access to all Data Objects. Furthermore, it may control
* Data Flow Components and provide services (like Kinematics)
* to Data Flow Components.
* @ingroup kcomps kcomp_process
*/
template <class _CommandType, class _InputType, class _ModelType, class _SetPointType, class _OutputType, class _Facet = DefaultBase >
class Process
: public _Facet
{
public:
typedef typename _CommandType::DataType CommandType;
typedef typename _InputType::DataType InputType;
typedef typename _ModelType::DataType ModelType;
typedef typename _SetPointType::DataType SetPointType;
typedef typename _OutputType::DataType OutputType;
typedef _Facet Facet;

typedef typename _CommandType::ReadPort CommandPort;
typedef typename _InputType::ReadPort InputPort;
typedef typename _ModelType::ReadPort ModelPort;
typedef typename _SetPointType::ReadPort SetPointPort;
typedef typename _OutputType::ReadPort OutputPort;

/**
* A Process Component.
* The name is used for scripting and NameServer lookups.
*/
Process(const std::string& name )
: Facet( name ),
Command( new CommandPort() ),
SetPoint( new SetPointPort() ),
Input( new InputPort() ),
Model( new ModelPort() ),
Output( new OutputPort() )
{
Facet::component(this);
}

~Process() {
delete Command;
delete SetPoint;
delete Input;
delete Model;
delete Output;
}

/**
* @brief update() contains (optionally) execution flow activity of this Component.
*/
virtual void update()
{
}


template< class KernelT >
bool enableFacets(KernelT* k) {
return k->processes.registerObject( this, this->getName() ) && ( _Facet::enableFacet(k) || (k->processes.unregisterObject( this ), false) );
}

template< class KernelT >
void disableFacets(KernelT* k) {
_Facet::disableFacet();
k->processes.unregisterObject( this );
}

template< class KernelT >
void createDataObject( KernelT* k) {
// The ProcessComponent does not write to any Data Objects
}

template< class KernelT >
void createPorts(KernelT* k ) {
// This Component reads all Data Objects.
Input->createPort( k->getKernelName()+"::Inputs", k->getInputPrefix() );
Model->createPort( k->getKernelName()+"::Models", k->getModelPrefix() );
Command->createPort( k->getKernelName()+"::Commands", k->getCommandPrefix() );
SetPoint->createPort( k->getKernelName()+"::SetPoints", k->getSetPointPrefix() );
Output->createPort( k->getKernelName()+"::Outputs", k->getOutputPrefix() );
}

void erasePorts() {
Input->erasePort();
Model->erasePort();
Command->erasePort();
SetPoint->erasePort();
Output->erasePort();
}

template< class KernelT >
bool select(KernelT* ) {
return false;
}

CommandPort* Command;
SetPointPort* SetPoint;
InputPort* Input;
ModelPort* Model;
OutputPort* Output;
};

/**
* @defgroup kcomp_controller All Available ControlKernel Controller Components
*/
Expand All @@ -103,7 +219,7 @@ namespace ORO_ControlKernel
*/
template <class _InputType, class _ModelType, class _SetPointType, class _OutputType, class _Facet = DefaultBase >
class Controller
: public _Facet
: public DataFlowInterface, public _Facet
{
public:
typedef typename _SetPointType::DataType SetPointType;
Expand All @@ -123,7 +239,24 @@ namespace ORO_ControlKernel
Input( new InputPort() ),
Model( new ModelPort() ),
Output( new OutputPort() )
{}
{
Facet::component(this);
}

/**
* @brief update() calls pull(), calculate(), push()
* sequentially and can be overriden by the user to change this behaviour.
*
* It will pull
* new data, do the required calculations and push them
* to the output data object.
*/
virtual void update()
{
pull();
calculate();
push();
}

~Controller() {
delete SetPoint;
Expand Down Expand Up @@ -189,7 +322,7 @@ namespace ORO_ControlKernel
*/
template <class _InputType, class _ModelType, class _CommandType, class _SetPointType, class _Facet = DefaultBase >
class Generator
: public _Facet
: public DataFlowInterface, public _Facet
{
public:
typedef typename _CommandType::DataType CommandType;
Expand All @@ -209,7 +342,9 @@ namespace ORO_ControlKernel
Input( new InputPort() ),
Model( new ModelPort() ),
SetPoint( new SetPointPort() )
{}
{
Facet::component(this);
}

~Generator() {
delete SetPoint;
Expand All @@ -218,6 +353,21 @@ namespace ORO_ControlKernel
delete Command;
}

/**
* @brief update() calls pull(), calculate(), push()
* sequentially and can be overriden by the user to change this behaviour.
*
* It will pull
* new data, do the required calculations and push them
* to the output data object.
*/
virtual void update()
{
pull();
calculate();
push();
}

template< class KernelT >
bool enableFacets(KernelT* k) {
return k->generators.registerObject( this, this->getName() ) && ( _Facet::enableFacet(k) || (k->generators.unregisterObject( this ), false) );
Expand Down Expand Up @@ -276,7 +426,7 @@ namespace ORO_ControlKernel
*/
template <class _InputType, class _OutputType, class _ModelType, class _Facet = DefaultBase >
class Estimator
: public _Facet
: public DataFlowInterface, public _Facet
{
public:
typedef typename _InputType::DataType InputType;
Expand All @@ -293,14 +443,31 @@ namespace ORO_ControlKernel
Input( new InputPort() ),
Output( new OutputPort() ),
Model( new ModelPort() )
{}
{
Facet::component(this);
}

~Estimator() {
delete Input;
delete Model;
delete Output;
}

/**
* @brief update() calls pull(), calculate(), push()
* sequentially and can be overriden by the user to change this behaviour.
*
* It will pull
* new data, do the required calculations and push them
* to the output data object.
*/
virtual void update()
{
pull();
calculate();
push();
}

template< class KernelT >
bool enableFacets(KernelT* k) {
return k->estimators.registerObject( this, this->getName() ) && ( _Facet::enableFacet(k) || (k->estimators.unregisterObject( this ), false) );
Expand Down Expand Up @@ -356,7 +523,7 @@ namespace ORO_ControlKernel
*/
template <class _InputType, class _ModelType, class _OutputType, class _Facet = DefaultBase >
class Effector
: public _Facet
: public DataFlowInterface, public _Facet
{
public:
typedef typename _InputType::DataType InputType;
Expand All @@ -373,7 +540,9 @@ namespace ORO_ControlKernel
Input( new InputPort() ),
Model( new ModelPort() ),
Output( new OutputPort() )
{}
{
Facet::component(this);
}

~Effector()
{
Expand All @@ -382,6 +551,21 @@ namespace ORO_ControlKernel
delete Output;
}

/**
* @brief update() calls pull(), calculate(), push()
* sequentially and can be overriden by the user to change this behaviour.
*
* It will pull
* new data, do the required calculations and push them
* to the output data object.
*/
virtual void update()
{
pull();
calculate();
push();
}

template< class KernelT >
bool enableFacets(KernelT* k) {
return k->effectors.registerObject( this, this->getName() ) && ( _Facet::enableFacet(k) || (k->effectors.unregisterObject( this ), false) );
Expand Down Expand Up @@ -439,7 +623,7 @@ namespace ORO_ControlKernel
*/
template <class _InputType, class _Facet = DefaultBase >
class Sensor
: public _Facet
: public DataFlowInterface, public _Facet
{
public:
typedef typename _InputType::DataType InputType;
Expand All @@ -450,12 +634,29 @@ namespace ORO_ControlKernel
Sensor(const std::string& name )
: Facet( name ),
Input ( new InputPort() )
{}
{
Facet::component(this);
}

~Sensor() {
delete Input;
}

/**
* @brief update() calls pull(), calculate(), push()
* sequentially and can be overriden by the user to change this behaviour.
*
* It will pull
* new data, do the required calculations and push them
* to the output data object.
*/
virtual void update()
{
pull();
calculate();
push();
}

template< class KernelT >
bool enableFacets(KernelT* k) {
return k->sensors.registerObject( this, this->getName() ) && ( _Facet::enableFacet(k) || (k->sensors.unregisterObject( this ), false) );
Expand Down
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