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Commit 01f89f3d authored by Raphael Grimm's avatar Raphael Grimm
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Add doxygen

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source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleBase.h
+ 161
− 35
View file @ 01f89f3d
......@@ -260,34 +260,78 @@ namespace armarx
// //////////////////////////////////////////////////////////////////////////////////////// //
protected:
//ManagedIceObject life cycle
/// @see \ref ManagedIceObject::onInitComponent
/**
* @brief \note This function is protected with \ref getGuard()
* @see \ref ManagedIceObject::onInitComponent
*/
virtual void onInitComponent() final;
/// @see \ref ManagedIceObject::onConnectComponent
/**
* @brief \warning This function is not protected with \ref getGuard()
* @see \ref ManagedIceObject::onConnectComponent
*/
virtual void onConnectComponent() final;
/// @see \ref ManagedIceObject::onDisconnectComponent
/**
* @brief \warning This function is not protected with \ref getGuard()
* @see \ref ManagedIceObject::onDisconnectComponent
*/
virtual void onDisconnectComponent() final;
/// @see \ref ManagedIceObject::onExitComponent
/**
* @brief \note This function is protected with \ref getGuard()
* @see \ref ManagedIceObject::onExitComponent
*/
virtual void onExitComponent() final;
//ManagedIceObject life cycle module hooks
/// @brief Hook for deriving RobotUnitModules called in \ref onInitComponent (called before \ref onInitRobotUnit was called)
/**
* @brief Hook for deriving RobotUnitModules called in \ref onInitComponent (called before \ref onInitRobotUnit was called)
* \note This function is protected with \ref getGuard()
* @see onInitComponent
*/
void _preOnInitRobotUnit(){}
/// @brief Hook for deriving RobotUnitModules called in \ref onInitComponent (called after \ref onInitRobotUnit was called)
/**
* @brief Hook for deriving RobotUnitModules called in \ref onInitComponent (called after \ref onInitRobotUnit was called)
* \note This function is protected with \ref getGuard()
* @see onInitComponent
*/
void _postOnInitRobotUnit(){}
/// @brief Hook for deriving RobotUnitModules called in \ref onInitComponent (called before \ref onConnectRobotUnit was called)
/**
* @brief Hook for deriving RobotUnitModules called in \ref onConnectComponent (called before \ref onConnectRobotUnit was called)
* \warning This function is not protected with \ref getGuard()
* @see onConnectComponent
*/
void _preOnConnectRobotUnit(){}
/// @brief Hook for deriving RobotUnitModules called in \ref onInitComponent (called after \ref onConnectRobotUnit was called)
/**
* @brief Hook for deriving RobotUnitModules called in \ref onConnectComponent (called after \ref onConnectRobotUnit was called)
* \warning This function is not protected with \ref getGuard()
* @see onConnectComponent
*/
void _postOnConnectRobotUnit(){}
/// @brief Hook for deriving RobotUnitModules called in \ref onInitComponent (called before \ref onDisconnectRobotUnit was called)
/**
* @brief Hook for deriving RobotUnitModules called in \ref onDisconnectComponent (called before \ref onDisconnectRobotUnit was called)
* \warning This function is not protected with \ref getGuard()
* @see onDisconnectComponent
*/
void _preOnDisconnectRobotUnit(){}
/// @brief Hook for deriving RobotUnitModules called in \ref onInitComponent (called after \ref onDisconnectRobotUnit was called)
/**
* @brief Hook for deriving RobotUnitModules called in \ref onDisconnectComponent (called after \ref onDisconnectRobotUnit was called)
* \warning This function is not protected with \ref getGuard()
* @see onDisconnectComponent
*/
void _postOnDisconnectRobotUnit(){}
/// @brief Hook for deriving RobotUnitModules called in \ref onInitComponent (called before \ref onExitRobotUnit was called)
/**
* @brief Hook for deriving RobotUnitModules called in \ref onExitComponent (called before \ref onExitRobotUnit was called)
* \note This function is protected with \ref getGuard()
* @see onExitComponent
*/
void _preOnExitRobotUnit(){}
/// @brief Hook for deriving RobotUnitModules called in \ref onInitComponent (called after \ref onExitRobotUnit was called)
/**
* @brief Hook for deriving RobotUnitModules called in \ref onExitComponent (called after \ref onExitRobotUnit was called)
* \note This function is protected with \ref getGuard()
* @see onExitComponent
*/
void _postOnExitRobotUnit(){}
// //////////////////////////////////////////////////////////////////////////////////////// //
// ////////////////////// other ManagedIceObject / Component methods ////////////////////// //
......@@ -319,41 +363,106 @@ namespace armarx
void setRobotUnitState(RobotUnitState s);
protected:
//state transitions
/// @brief Transition \ref RobotUnitState::InitializingComponent -> \ref RobotUnitState::InitializingDevices
/**
* @brief Transition \ref RobotUnitState::InitializingComponent -> \ref RobotUnitState::InitializingDevices
* \note This function is protected with \ref getGuard()
* @see _preFinishComponentInitialization
* @see _postFinishComponentInitialization
*/
virtual void finishComponentInitialization();
/// @brief Transition \ref RobotUnitState::InitializingDevices -> \ref RobotUnitState::InitializingUnits
/**
* @brief Transition \ref RobotUnitState::InitializingDevices -> \ref RobotUnitState::InitializingUnits
* \note This function is protected with \ref getGuard()
* @see _preFinishDeviceInitialization
* @see _postFinishDeviceInitialization
*/
virtual void finishDeviceInitialization();
/// @brief Transition \ref RobotUnitState::InitializingUnits -> \ref RobotUnitState::WaitingForRTThreadInitialization
/**
* @brief Transition \ref RobotUnitState::InitializingUnits -> \ref RobotUnitState::WaitingForRTThreadInitialization
* \note This function is protected with \ref getGuard()
* @see _preFinishUnitInitialization
* @see _postFinishUnitInitialization
*/
virtual void finishUnitInitialization();
/// @brief Transition \ref RobotUnitState::InitializingControlThread -> \ref RobotUnitState::Running
/**
* @brief Transition \ref RobotUnitState::InitializingControlThread -> \ref RobotUnitState::Running
* \note This function is protected with \ref getGuard()
* @see _preFinishControlThreadInitialization
* @see _postFinishControlThreadInitialization
*/
virtual void finishControlThreadInitialization();
/// @brief Transition \ref RobotUnitState::Running -> \ref RobotUnitState::Exiting
/**
* @brief Transition \ref RobotUnitState::Running -> \ref RobotUnitState::Exiting
* \note This function is protected with \ref getGuard()
* @see _preFinishRunning
* @see _postFinishRunning
*/
virtual void finishRunning();
//state transition module hooks
/// @brief Hook for deriving RobotUnitModules called in \ref finishComponentInitialization (called before the state has changed)
/**
* @brief Hook for deriving RobotUnitModules called in \ref finishComponentInitialization (called before the state has changed)
* \note This function is protected with \ref getGuard()
* @see finishComponentInitialization
*/
void _preFinishComponentInitialization(){}
/// @brief Hook for deriving RobotUnitModules called in \ref finishComponentInitialization (called after the state has changed)
/**
* @brief Hook for deriving RobotUnitModules called in \ref finishComponentInitialization (called after the state has changed)
* \note This function is protected with \ref getGuard()
* @see finishComponentInitialization
*/
void _postFinishComponentInitialization(){}
/// @brief Hook for deriving RobotUnitModules called in \ref finishDeviceInitialization (called before the state has changed)
/**
* @brief Hook for deriving RobotUnitModules called in \ref finishDeviceInitialization (called before the state has changed)
* \note This function is protected with \ref getGuard()
* @see finishDeviceInitialization
*/
void _preFinishDeviceInitialization(){}
/// @brief Hook for deriving RobotUnitModules called in \ref finishDeviceInitialization (called after the state has changed)
/**
* @brief Hook for deriving RobotUnitModules called in \ref finishDeviceInitialization (called after the state has changed)
* \note This function is protected with \ref getGuard()
* @see finishDeviceInitialization
*/
void _postFinishDeviceInitialization(){}
/// @brief Hook for deriving RobotUnitModules called in \ref finishUnitInitialization (called before the state has changed)
/**
* @brief Hook for deriving RobotUnitModules called in \ref finishUnitInitialization (called before the state has changed)
* \note This function is protected with \ref getGuard()
* @see finishUnitInitialization
*/
void _preFinishUnitInitialization(){}
/// @brief Hook for deriving RobotUnitModules called in \ref finishUnitInitialization (called after the state has changed)
/**
* @brief Hook for deriving RobotUnitModules called in \ref finishUnitInitialization (called after the state has changed)
* \note This function is protected with \ref getGuard()
* @see finishUnitInitialization
*/
void _postFinishUnitInitialization(){}
/// @brief Hook for deriving RobotUnitModules called in \ref finishControlThreadInitialization (called before the state has changed)
/**
* @brief Hook for deriving RobotUnitModules called in \ref finishControlThreadInitialization (called before the state has changed)
* \note This function is protected with \ref getGuard()
* @see finishControlThreadInitialization
*/
void _preFinishControlThreadInitialization(){}
/// @brief Hook for deriving RobotUnitModules called in \ref finishControlThreadInitialization (called after the state has changed)
/**
* @brief Hook for deriving RobotUnitModules called in \ref finishControlThreadInitialization (called after the state has changed)
* \note This function is protected with \ref getGuard()
* @see finishControlThreadInitialization
*/
void _postFinishControlThreadInitialization(){}
/// @brief Hook for deriving RobotUnitModules called in \ref finishRunning (called before the state has changed)
/**
* @brief Hook for deriving RobotUnitModules called in \ref finishRunning (called before the state has changed)
* \note This function is protected with \ref getGuard()
* @see finishRunning
*/
void _preFinishRunning(){}
/// @brief Hook for deriving RobotUnitModules called in \ref finishRunning (called after the state has changed)
/**
* @brief Hook for deriving RobotUnitModules called in \ref finishRunning (called after the state has changed)
* \note This function is protected with \ref getGuard()
* @see finishRunning
*/
void _postFinishRunning(){}
// //////////////////////////////////////////////////////////////////////////////////////// //
// /////////////////////////////////////// utility //////////////////////////////////////// //
......@@ -439,14 +548,31 @@ namespace armarx
// //////////////////////////////////////////////////////////////////////////// //
// /////////////////////////// robot unit impl hooks ////////////////////////// //
// //////////////////////////////////////////////////////////////////////////// //
/// @brief called in RobotUnit::onInitComponent()
virtual void onInitRobotUnit(){}
/// @brief called in RobotUnit::onConnectComponent()
virtual void onConnectRobotUnit(){}
/// @brief called in RobotUnit::onDisconnecComponent()
virtual void onDisconnectRobotUnit(){}
/// @brief called in RobotUnit::onExitComponent() before calling RobotUnit::finishRunning
virtual void onExitRobotUnit(){}
/**
* @brief called in onInitComponent
* \note This function is protected with \ref getGuard()
* @see onInitComponent
*/
virtual void onInitRobotUnit() {}
/**
* @brief called in onConnectComponent
* \warning This function is not protected with \ref getGuard()
* @see onConnectComponent
*/
virtual void onConnectRobotUnit() {}
/**
* @brief called in onDisconnecComponent
* \warning This function is not protected with \ref getGuard()
* @see onDisconnecComponent
*/
virtual void onDisconnectRobotUnit() {}
/**
* @brief called in onExitComponent before calling finishRunning
* \note This function is protected with \ref getGuard()
* @see finishRunning
* @see onExitComponent
*/
virtual void onExitRobotUnit() {}
/// @brief Implementations have to join their \ref ControlThread in this hook. (used by RobotUnit::finishRunning())
virtual void joinControlThread() = 0;
......
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