CommandFunctor.hpp

/***************************************************************************
  tag: Peter Soetens  Thu Apr 22 20:40:57 CEST 2004  CommandFunction.hpp

                        CommandFunctor.hpp -  description
                           -------------------
    begin                : Thu April 22 2004
    copyright            : (C) 2004 Peter Soetens
    email                : peter.soetens@mech.kuleuven.ac.be

 ***************************************************************************
 *   This library is free software; you can redistribute it and/or         *
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#ifndef ORO_COMMANDFUNCTOR_HPP
#define ORO_COMMANDFUNCTOR_HPP

#include "CommandInterface.hpp"
#include <boost/function.hpp>

namespace RTT
{
    template< class F >
    class CommandFunctor
        : public CommandInterface
    {
        F f;
    public:
        typedef F Function;

        CommandFunctor(const Function& func) : f(func) {}

        virtual ~CommandFunctor() {}

        virtual void readArguments() {}

        virtual bool execute() { f(); return true; }

        virtual CommandInterface* clone() const
        {
            return new CommandFunctor<F>(f);
        }
    };

    template<>
    class CommandFunctor< boost::function< bool(void) > >
        : public CommandInterface
    {
        boost::function<bool(void)> f;
    public:
        typedef boost::function<bool(void)> Function;

        CommandFunctor(const Function& func) : f(func) {}

        virtual ~CommandFunctor() {}

        virtual void readArguments() {}

        virtual bool execute() { return f(); }

        virtual CommandInterface* clone() const
        {
            return new CommandFunctor<Function>(f);
        }
    };

    template<class F>
    CommandInterface* newCommandFunctor(const F& f )
    {
        return new CommandFunctor<F>(f);
    }
}

#endif