Orocos Real-Time Toolkit  2.9.0
CommandFunctors.hpp
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1 /***************************************************************************
2  tag: FMTC do nov 2 13:06:11 CET 2006 CommandFunctors.hpp
3 
4  CommandFunctors.hpp - description
5  -------------------
6  begin : do november 02 2006
7  copyright : (C) 2006 FMTC
8  email : peter.soetens@fmtc.be
9 
10  ***************************************************************************
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37 
38 
39 #ifndef ORO_COMMANDFUNCTORS_HPP
40 #define ORO_COMMANDFUNCTORS_HPP
41 
42 #include <boost/bind.hpp>
43 #include <boost/function.hpp>
44 #include <boost/type_traits/function_traits.hpp>
45 
46 #include "../base/ActionInterface.hpp"
47 #include "ConditionInterface.hpp"
48 
49 namespace RTT
50 {
51  namespace scripting {
52 
58  :public base::ActionInterface
59  {
60  public:
61  typedef boost::function<bool(void)> Function;
62 
63  Function com;
64 
68  CommandFunction(Function impl)
69  : com(impl)
70  {
71  }
72 
73  virtual void readArguments() { }
74 
75  virtual bool execute() { return com(); }
76 
77  virtual CommandFunction* clone() const
78  {
79  return new CommandFunction( com );
80  }
81  };
82 
88  :public ConditionInterface
89  {
90  public:
91  typedef boost::function<bool(void)> Function;
92 
93  Function con;
94  bool minvert;
95 
99  ConditionFunction(Function impl, bool invert=false)
100  : con(impl), minvert(invert)
101  {
102  }
103 
104  virtual bool evaluate() { return con() != minvert; }
105 
106  virtual ConditionFunction* clone() const
107  {
108  return new ConditionFunction( con, minvert );
109  }
110  };
111  }
112 }
113 
114 #endif
virtual void readArguments()
This is invoked some time before execute() at a time when the action may read its function arguments...
virtual ConditionFunction * clone() const
The Clone Software Pattern.
ConditionFunction(Function impl, bool invert=false)
virtual CommandFunction * clone() const
The Clone Software Pattern.
This interface represents the concept of a condition which can be evaluated and return true or false...
virtual bool execute()
Execute the functionality of this action.
boost::function< bool(void)> Function
Based on the software pattern &#39;command&#39;, this interface allows execution of action objects...
A functor with the ConditionInterface, for the case where the functor is a bool(void).
boost::function< bool(void)> Function
Contains TaskContext, Activity, OperationCaller, Operation, Property, InputPort, OutputPort, Attribute.
Definition: Activity.cpp:52
A functor with the base::ActionInterface, for the case where the functor is a bool(void).
virtual bool evaluate()
Evaluate the Condition and return the outcome.