[Rock-dev] [rock] #247: make all oroGen tasks start in the PRE_OPERATIONAL state

[Sylvain Joyeux]

On 03/19/2013 03:11 PM, rock wrote:
> #247: make all oroGen tasks start in the PRE_OPERATIONAL state
> ----------------------------+-----------------------------------
>   Reporter:  sylvain.joyeux  |      Owner:  rock-dev-mailing-list
>       Type:  enhancement     |     Status:  new
>   Priority:  major           |  Milestone:
> Component:  base            |   Keywords:
> ----------------------------+-----------------------------------
>   The distinction between "components that start in STOPPED state" and
>   "components that start in PRE_OPERATIONAL state" makes no sense. We are
>   going to get rid of it altogether, and make every component start in
>   PRE_OPERATIONAL. Worstcase, the component will  do nothing when
>   transitioned between PRE_OPERATIONAL and STOPPED.
>
>   We will try to make the transition as painless as possible, by following
>   this scheme:
>
>   '''First''' make sure that everyone can modify their Ruby scripts to call
>   #configure on all tasks, and warn for scripts that call #start without
>   having called #configure first.
>
>   '''Second''' in tasks where needs_configuration is not added, make the
>   default start state be PRE_OPERATIONAL, and warn the user that he should
>   start using needs_configuration (so that he updates the task's
>   constructors)
>
>   '''Finally''' make needs_configuration a noop and generate all tasks with
>   the constructor that has no third parameter.
>
This is meant as a way to start a discussion. Any thoughts on this ?

-- 
Sylvain Joyeux (Dr.Ing.)
Senior Researcher

Space & Security Robotics
Underwater Robotics

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