Dear Rock users,
I hope some of you can help me get the operations feature working. My aim
is to set a camera attribute in one task A from a different task B using
the provided operation "bool setAttrib(camera::int_attrib::CamAttrib, int)"
in camera base (drivers/orogen/camera_base/camera_base.orogen).
In my attempt to achieve this, I include OperationCaller in B, get the
TaskContext of A, and try to instantiate an OperationCaller:
Task.cpp:
TaskContext* a_task = getPeer("ATask");
OperatonCaller<bool(camera::int_attrib::CamAttrib, int)> mySetAttrib =
a_task->getOperation("setAttrib");
However, this already yields a linker error
[100%] Building CXX object
CMakeFiles/orogen_default_shutter_controller__Task.dir/.orogen/main-orogen_default_shutter_controller__Task.cpp.o
Linking CXX executable orogen_default_shutter_controller__Task
tasks/libshutter_controller-task-gnulinux.so: undefined reference to
`RTT::internal::ValueDataSource<camera::int_attrib::CamAttrib>::ValueDataSource()'
collect2: error: ld returned exit status
while it finishes building when I replace the enum
camera::int_attrib::CamAttrib by double for example.
Is there maybe just an include missing or is the Orocos OperationCaller
template not allowing Rock's Enums (although they are present in
camera_interface/CamTypes.h and the operations are declared in the
camera_base.orogen)?
Best regards,
Levin
P.S.:
The shutter_controller.orogen looks as follows:
name "shutter_controller"
import_types_from "shutter_controllerTypes.hpp"
import_types_from "base"
using_task_library "camera_firewire"
using_task_library "camera_base"
using_library "shutter_controller"
using_library "camera_interface"
import_types_from "shutter_controller/Config.hpp"
import_types_from "camera_interface/CamTypes.h"
task_context "Task" do
needs_configuration
...
input_port("frame", ro_ptr('base::samples::frame::Frame'))
port_driven "frame"
end
Task.hpp:
#include "shutter_controller/TaskBase.hpp"
#include <rtt/OperationCaller.hpp> // to call operations
#include "camera_firewire/CameraTask.hpp" // for CamAttrib
...
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