Morning,
You can "missuse" add_base_implementation_code for you requirement and
completly manually define the method.
Otherwise you would need to extend orogen (in detail the method
add_base_method) but keep backward compatibility.
Best,
Matthias
On 02.04.2015 10:57, Christian Rauch wrote:
The orogen plugin that I have currently in mind is for providing the
state serialization capability to all tasks in general if selected in
the orogen file; not only to tasks were we have no influence on (like
public tasks). The orogen plugin should provide an easy way to create
the operations for the tasks, such that all serializable tasks share a
common interface. This serialization should also work with non typekti
types if the serialization is implemented with e.g. boost-serialize.
Regards,
Christian
Am 02.04.2015 um 10:49 schrieb Janosch Machowinski:
Am 01.04.2015 um 19:09 schrieb Sylvain Joyeux:
Any suggestions?
This is completely unsupported in orogen.
If you describe the complete use-case (i.e. what you are trying to
do), I might be able to suggest another way ...
The complete Use-Case is a full dump of our component network.
We got the scenario, that we have a robot operation with a big
delay in the network communication. To deal with this, the robot
component network, including the INTERNAL state of the Tasks
should be dumped and transmitted. The dump is then used in
the control station, to build up a component network which can
be used for a simulation of the robot.
The dumping of the network itself should be covered by the
introspection ability, which I am working on. The part of Christian
is to find a good way to dump the internal state of the Task.
For our 'own' tasks, this is straight forward, as we can implement
some interface for this. Our problem is with common tasks. For
now we came up with the idea, to subtask them, and dump the
protected / public members out.
To make out life easier we were thinking about an orogen plugin,
that would do the subtasking, and the code for the dumping of
the members (member names given in the orogen file). Note,
we assume, that the typekits for the member types are present.
Greetings
Janosch
Sylvain
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Matthias Goldhoorn
Unterwasserrobotik
Standort Bremen:
DFKI GmbH
Robotics Innovation Center
Robert-Hooke-Straße 5
28359 Bremen, Germany
Phone: +49 (0)421 218-64100
Fax: +49 (0)421 218-64150
E-Mail: [email protected]
Weitere Informationen: http://www.dfki.de/robotik
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