StateMachineTask.hpp

/***************************************************************************
  tag: Peter Soetens  Wed Jan 18 14:11:40 CET 2006  StateMachineTask.hpp

                        StateMachineTask.hpp -  description
                           -------------------
    begin                : Wed January 18 2006
    copyright            : (C) 2006 Peter Soetens
    email                : peter.soetens@mech.kuleuven.be

 ***************************************************************************
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#ifndef STATEMACHINE_TASK_HPP
#define STATEMACHINE_TASK_HPP

#include "../TaskObject.hpp"
#include "ParsedStateMachine.hpp"

namespace RTT
{
    class StateMachineTask;
    class ExecutionEngine;
    typedef boost::shared_ptr<StateMachineTask> StateMachineTaskPtr;

    class StateMachineTask
        : public TaskObject
    {
        //boost::weak_ptr<StateMachine> sm;
        // used when state machines are copied.
        // functions have a similar mechanism
        ValueDataSource< StateMachineWPtr >::shared_ptr _this;
        ParsedStateMachineWPtr statemachine;
        ExecutionEngine* mengine;

        bool true_gen() const;

        void createCommandFactory();
        void createMethodFactory();

    public:
        StateMachineTask* copy(ParsedStateMachinePtr newsc, std::map<const DataSourceBase*, DataSourceBase*>& replacements, bool instantiate );

        StateMachineTask(ParsedStateMachinePtr statemachine, ExecutionEngine* ee=0);

        ~StateMachineTask();

        StateMachinePtr getStateMachine() const { return _this->get().lock(); }

        ExecutionEngine* engine() const { return mengine; }
    };
}

#endif