Comprehensive list of services

[neckutrek]

Could a comprehensive list of services for hiqp be:

• set_task

• remove_task

• remove_all_tasks

• list_all_tasks

• activate_task/deactivate_task

• monitor_task/demonitor_task

• set_primitive

• remove_primitive

• remove_primitives_with_priority (removes primitives with dependencies to tasks with a certain priority)

• remove_all_primitives

• list_all_primitives

• remove_priority_level

• activate_priority_level/deactivate_priority_level

• monitor_priority_level/demonitor_priority_level

• list_priority_level (lists tasks and primitives?)

Regarding implementation, all services should be kept in its own class with a pure-virtual interface for implementing the effect of such calls. A ROS/HiQP controller would then inherit from both BaseController and this new HiQPServices class/interface. Or HiQPServices gets a pointer to task manager and sends all service calls to the manager.

[rtkg]

Looks good, one question: with (de)activating/(de)monitoring priority levels you mean (de)activating/(de)monitoring all tasks at a given priority, right?

[neckutrek]

Yes

Le 17 déc. 2016 13:38, "Robert Krug" notifications@github.com a écrit :

Looks good, one question: with (de)activating/(de)monitoring priority levels you mean (de)activating/(de)monitoring all tasks at a given priority, right?

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[neckutrek]

The service add_primitive has changed name to set_primitive.

[neckutrek]

All have been implemented except for remove_primitives_with_priority (which doesn't make sense as all those primitives have dependencies to tasks), and list_priority_level (which is achievable instead by using list_all_primitives and list_all_tasks). Latest on devel.