Orocos Real-Time Toolkit  2.9.0
OperationBase.hpp
Go to the documentation of this file.
1 /***************************************************************************
2  tag: The SourceWorks Tue Sep 7 00:55:18 CEST 2010 OperationBase.hpp
3 
4  OperationBase.hpp - description
5  -------------------
6  begin : Tue September 07 2010
7  copyright : (C) 2010 The SourceWorks
8  email : peter@thesourceworks.com
9 
10  ***************************************************************************
11  * This library is free software; you can redistribute it and/or *
12  * modify it under the terms of the GNU General Public *
13  * License as published by the Free Software Foundation; *
14  * version 2 of the License. *
15  * *
16  * As a special exception, you may use this file as part of a free *
17  * software library without restriction. Specifically, if other files *
18  * instantiate templates or use macros or inline functions from this *
19  * file, or you compile this file and link it with other files to *
20  * produce an executable, this file does not by itself cause the *
21  * resulting executable to be covered by the GNU General Public *
22  * License. This exception does not however invalidate any other *
23  * reasons why the executable file might be covered by the GNU General *
24  * Public License. *
25  * *
26  * This library is distributed in the hope that it will be useful, *
27  * but WITHOUT ANY WARRANTY; without even the implied warranty of *
28  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU *
29  * Lesser General Public License for more details. *
30  * *
31  * You should have received a copy of the GNU General Public *
32  * License along with this library; if not, write to the Free Software *
33  * Foundation, Inc., 59 Temple Place, *
34  * Suite 330, Boston, MA 02111-1307 USA *
35  * *
36  ***************************************************************************/
37 
38 
39 #ifndef ORO_OPERATIONBASE_HPP_
40 #define ORO_OPERATIONBASE_HPP_
41 
42 #include "../rtt-config.h"
43 #include "../rtt-fwd.hpp"
44 #include "rtt-base-fwd.hpp"
45 #include <string>
46 #include <vector>
47 #include "DisposableInterface.hpp"
48 
49 namespace RTT
50 {
51  template<class T>
52  class Operation;
53 
60 
61  namespace base
62  {
68  {
69  protected:
70  std::string mname;
71  std::vector<std::string> descriptions;
73  RTT_API void mdoc(const std::string& description);
74  RTT_API void marg(const std::string& name, const std::string& description);
75  virtual void ownerUpdated() = 0;
76  public:
77  RTT_API OperationBase(const std::string& name);
78  RTT_API virtual ~OperationBase();
79 
84  const std::string& getName() { return mname; }
85 
93  const std::vector<std::string>& getDescriptions() { return descriptions; }
94 
100 
101  virtual const DisposableInterface::shared_ptr getImplementation() const = 0;
102 
108  bool ready() const {
109  return mowner && getImplementation();
110  }
111 
117  mowner = ee;
118  // inform Operation<T> to update the implementation.
119  this->ownerUpdated();
120  }
121 
123  return mowner;
124  }
125  };
126  }
127 }
128 
129 #endif /* ORO_OPERATIONBASE_HPP_ */
This base class serves as a template-less handle for operation objects and also stores the name and d...
The operation ties a C or C++ function into a component interface.
virtual void ownerUpdated()=0
#define RTT_API
Definition: rtt-config.h:97
An execution engine serialises (executes one after the other) the execution of all commands...
const std::vector< std::string > & getDescriptions()
Returns all the documented descriptions of this operation, as a single list, starting with the operat...
ExecutionEngine * getOwner() const
RTT_API void mdoc(const std::string &description)
bool ready() const
An operation is ready if it has an implementation and is present in a TaskContext.
virtual DisposableInterface::shared_ptr getImplementation()=0
Returns the implementation object of this operation.
boost::shared_ptr< DisposableInterface > shared_ptr
Use this type for shared pointer storage of an DisposableInterface object.
ExecutionEngine * mowner
std::vector< std::string > descriptions
void setOwner(ExecutionEngine *ee)
Updates the owning ExecutionEngine that might execute this operation.
Contains TaskContext, Activity, OperationCaller, Operation, Property, InputPort, OutputPort, Attribute.
Definition: Activity.cpp:52
const std::string & getName()
Returns the name of this operation.
RTT_API void marg(const std::string &name, const std::string &description)
virtual RTT_API ~OperationBase()
RTT_API OperationBase(const std::string &name)
ExecutionThread
Users can choose if an operation&#39;s function is executed in the component&#39;s thread (OwnThread) or in t...