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xpcc::AbstractComponent Class Reference
Communication Protocols » Cross Platform Component Communication (XPCC)

Abstract base class for a component. More...

#include <modm/communication/xpcc/abstract_component.hpp>

Inheritance diagram for xpcc::AbstractComponent:
xpcc::Communicatable TestingComponent1 TestingComponent2

Public Member Functions

 AbstractComponent (const uint8_t ownIdentifier, Dispatcher &communication)
 Constructor. More...
 
void update (...)
 Update method. More...
 
xpcc::Communicator * getCommunicator ()
 

Protected Member Functions

void callAction (uint8_t receiver, uint8_t actionIdentifier)
 
void callAction (uint8_t receiver, uint8_t actionIdentifier, ResponseCallback &responseCallback)
 
template<typename T >
void callAction (uint8_t receiver, uint8_t actionIdentifier, const T &data)
 
template<typename T >
void callAction (uint8_t receiver, uint8_t actionIdentifier, const T &data, ResponseCallback &responseCallback)
 
void publishEvent (uint8_t eventIdentifier)
 
template<typename T >
void publishEvent (uint8_t eventIdentifier, const T &data)
 
void sendResponse (const ResponseHandle &handle)
 
template<typename T >
void sendResponse (const ResponseHandle &handle, const T &data)
 
template<typename T >
void sendNegativeResponse (const ResponseHandle &handle, const T &data)
 
void sendNegativeResponse (const ResponseHandle &handle)
 

Detailed Description

Abstract base class for a component.

This class give to components an interface to xpcc communication, but effectively it forwards all requests to the internal created Communicator, which is bound to this AbstractComponent.

TODO why do we use the communicator here?

It is a good convention to give to a component which extends xpcc::AbstractComponent an update() method which is to be called during the main loop.

The programmer is always encouraged to bundle special functionality in separate classes called Tasks. These Tasks will usually not be complete components but want send messages in the name of a parent component. Use xpcc::CommunicatableTask for such type of Tasks.

See also
modm::Task
xpcc::Communicatable

Constructor & Destructor Documentation

xpcc::AbstractComponent::AbstractComponent ( const uint8_t  ownIdentifier,
Dispatcher &  communication 
)
inline

Constructor.

Parameters
ownIdentifierIdentifier of the component, must be unique within the network.
communicationCommunication class used to send messages

Member Function Documentation

void xpcc::AbstractComponent::update (   ...)

Update method.

A component can feature an update method which might be called on every cycle of the main loop.

This method is used in our robot to implement the behaviour of the component. All other methods set some flags which are then evaluated by a statemachine here.

The documentation for this class was generated from the following file: