LocalCommand.hpp

/***************************************************************************
  tag: FMTC  do nov 2 13:06:10 CET 2006  LocalCommand.hpp

                        LocalCommand.hpp -  description
                           -------------------
    begin                : do november 02 2006
    copyright            : (C) 2006 FMTC
    email                : peter.soetens@fmtc.be

 ***************************************************************************
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 *   version 2 of the License.                                             *
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 *   instantiate templates or use macros or inline functions from this     *
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#ifndef ORO_LOCAL_COMMAND_HPP
#define ORO_LOCAL_COMMAND_HPP

#include <boost/function.hpp>
#include <string>
#include "DispatchInterface.hpp"
#include "CommandProcessor.hpp"
#include "CommandFunctors.hpp"
#include "BindStorage.hpp"
#include "Invoker.hpp"
#include "CommandBase.hpp"

namespace RTT
{
    namespace detail
    {
        template<class CommandT>
        class LocalCommandImpl
            : public CommandBase<CommandT>,
              protected detail::BindStorage<CommandT>
        {
        protected:
            CommandProcessor* mcp;

            bool minvoked, maccept, mvalid, mexec, minvert;
        public:
            LocalCommandImpl()
                : mcp(0),
                  minvoked(false), maccept(false),
                  mvalid(false), mexec(false), minvert(false)
            {}

            CommandProcessor* getCommandProcessor() const { return mcp; }

            bool isInverted() const { return minvert; }

            bool invoke() {
                if (!mcp ||(minvoked && !this->done()) ) // if invoked and not ready.
                    return false;
                this->reset();
                minvoked = true;
                return maccept = (mcp->process( this ) != 0) ;
            }

            template<class T1>
            bool invoke( T1 a1 ) {
                if (!mcp ||(minvoked && !this->done()) ) // if invoked and not ready.
                    return false;
                this->reset();
                // bind types from Storage<Function>
                this->store( a1 );
                minvoked = true;
                return maccept = (mcp->process( this ) != 0);
            }

            template<class T1, class T2>
            bool invoke( T1 a1, T2 a2 ) {
                if (!mcp ||(minvoked && !this->done()) ) // if invoked and not ready.
                    return false;
                this->reset();
                // bind types from Storage<Function>
                this->store( a1, a2 );
                minvoked = true;
                return maccept = (mcp->process( this ) != 0);
            }

            template<class T1, class T2, class T3>
            bool invoke( T1 a1, T2 a2, T3 a3 ) {
                if (!mcp ||(minvoked && !this->done()) ) // if invoked and not ready.
                    return false;
                this->reset();
                // bind types from Storage<Function>
                this->store( a1, a2, a3 );
                minvoked = true;
                return maccept = (mcp->process( this ) != 0);
            }

            template<class T1, class T2, class T3, class T4>
            bool invoke( T1 a1, T2 a2, T3 a3, T4 a4 ) {
                if (!mcp ||(minvoked && !this->done()) ) // if invoked and not ready.
                    return false;
                this->reset();
                // bind types from Storage<Function>
                this->store( a1, a2, a3, a4 );
                minvoked = true;
                return maccept = (mcp->process( this ) != 0);
            }
        };


        template<class CommandT>
        class LocalCommand
            : public Invoker<CommandT,LocalCommandImpl<CommandT> >
        {
        public:
            typedef CommandT Signature;

            template<class CommandF, class ConditionF, class ObjectT>
            LocalCommand(CommandF com, ConditionF con, ObjectT t, bool invert = false)
            {
                this->setup(com,con,t);
                this->minvert = invert;
                this->mcp = t->engine()->commands();
            }

            template<class CommandF, class ConditionF, class ObjectT>
            LocalCommand(CommandF com, ConditionF con, ObjectT t, CommandProcessor* commandp, bool invert = false)
            {
                this->setup(com,con,t);
                this->minvert = invert;
                this->mcp = commandp;
            }

            template<class CommandF, class ConditionF>
            LocalCommand(CommandF com, ConditionF con, CommandProcessor* commandp, bool invert = false)
            {
                this->setup(com,con);
                this->minvert = invert;
                this->mcp = commandp;
            }

            virtual void readArguments() {}

            virtual bool ready() const {
                return ( !this->minvoked || this->done() );
            }

            virtual bool dispatch() {
                if (this->minvoked && !this->done() ) // if invoked and not ready.
                    return false;
                this->reset();
                // race: maccepted may become true only after process+step ran.
                this->maccept = (this->mcp->process( this ) != 0);
                this->minvoked = true;
                return this->maccept;
            }

            virtual bool execute() {
                // do not allow to execute twice
                if ( this->mexec )
                    return false;
                this->mvalid = this->exec();
                this->mexec = true;
                return this->mvalid;
            }

            virtual bool done() const {
                if (this->mexec && this->mvalid )
                    return this->check() != this->minvert;
                return false;
            }

            virtual void reset() {
                this->minvoked = (false);
                this->maccept = (false);
                this->mvalid = (false);
                this->mexec = (false);
            }

            virtual bool sent() const {
                return this->minvoked;
            }

            virtual bool accepted() const {
                return this->maccept;
            }

            virtual bool executed() const {
                return this->mexec;
            }

            virtual bool valid() const {
                return this->mvalid;
            }

            virtual ConditionInterface* createCondition() const
            {
                // LocalCommands are not used by the Parser, so this method is actually
                // not used within Orocos.
                return new detail::ConditionFunctor<bool(void)>( boost::bind<bool>( boost::mem_fn(&LocalCommand::done), this) );
            }

            virtual DispatchInterface* clone() const {
                return new LocalCommand(*this);
            }

            virtual CommandBase<CommandT>* cloneI() const {
                return new LocalCommand(*this);
            }

            boost::function<CommandT> getCommandFunction() const {
                return this->command();
            }

            boost::function<CommandT> getConditionFunction() const {
                return this->condition();
            }

        };
    }
}
#endif