Orocos Real-Time Toolkit  2.9.0
CommandComposite.hpp
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1 /***************************************************************************
2  tag: Peter Soetens Mon Jan 19 14:11:21 CET 2004 CommandComposite.hpp
3 
4  CommandComposite.hpp - description
5  -------------------
6  begin : Mon January 19 2004
7  copyright : (C) 2004 Peter Soetens
8  email : peter.soetens@mech.kuleuven.ac.be
9 
10  ***************************************************************************
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37 
38 
39 #include "../base/ActionInterface.hpp"
40 #include <vector>
41 #include "rtt-scripting-config.h"
42 
43 namespace RTT
44 { namespace scripting {
45 
51  : public base::ActionInterface
52  {
53  public:
55 
56  CommandComposite(std::vector<base::ActionInterface*> cv )
57  : vect( cv )
58  {}
59 
65  {
66  for (std::vector<base::ActionInterface*>::const_iterator it=orig.vect.begin();it!=orig.vect.end();it++)
67  this->add( (*it)->clone() );
68  }
69 
70  virtual ~CommandComposite() {
71  for (std::vector<base::ActionInterface*>::iterator it=vect.begin();it!=vect.end();it++) {
72  base::ActionInterface * cif=*it;
73  delete cif;
74  }
75  }
76 
81  virtual bool execute() {
82  for (std::vector<base::ActionInterface*>::iterator it=vect.begin();it!=vect.end();it++) {
83  if ( !(*it)->execute() )
84  return false;
85  }
86  return true;
87  }
88 
89  void readArguments() {
90  for (std::vector<base::ActionInterface*>::iterator it=vect.begin();it!=vect.end();it++)
91  (*it)->readArguments();
92  }
93 
94  bool valid() const {
95  // valid if all are valid.
96  bool v = true;
97  for (std::vector<base::ActionInterface*>::const_iterator it=vect.begin();it!=vect.end();it++)
98  v = v && (*it)->valid();
99  return v;
100  }
101 
106  virtual void add(base::ActionInterface * com) {
107  vect.push_back(com);
108  }
109 
110  virtual base::ActionInterface* clone() const
111  {
112  return new CommandComposite( *this );
113  }
114 
115  virtual base::ActionInterface* copy( std::map<const base::DataSourceBase*, base::DataSourceBase*>& alreadyCloned ) const
116  {
117  CommandComposite* res = new CommandComposite();
118  for (std::vector<base::ActionInterface*>::const_iterator it=vect.begin();it!=vect.end();it++)
119  res->add( (*it)->copy(alreadyCloned) );
120  return res;
121  }
122 
123  private:
124  std::vector<base::ActionInterface*> vect;
125  };
126 
127 }}
#define RTT_SCRIPTING_API
virtual base::ActionInterface * clone() const
The Clone Software Pattern.
CommandComposite(std::vector< base::ActionInterface * > cv)
virtual bool execute()
Execute the functionality of all commands.
Based on the software pattern &#39;command&#39;, this interface allows execution of action objects...
CommandComposite(const CommandComposite &orig)
Copy-Construct a clone() of all commands.
virtual base::ActionInterface * copy(std::map< const base::DataSourceBase *, base::DataSourceBase * > &alreadyCloned) const
When copying an Orocos program, we want identical internal::DataSource&#39;s to be mapped to identical Da...
virtual void add(base::ActionInterface *com)
add a command to the vect
bool valid() const
Inspect if this action was executed and valid.
Contains TaskContext, Activity, OperationCaller, Operation, Property, InputPort, OutputPort, Attribute.
Definition: Activity.cpp:52
Based on the software pattern &#39;composite&#39;, this class RTT_SCRIPTING_API allows composing command obje...
void readArguments()
This is invoked some time before execute() at a time when the action may read its function arguments...