CallFunction.hpp

/***************************************************************************
  tag: The SourceWorks  Tue Sep 7 00:55:18 CEST 2010  CallFunction.hpp

                        CallFunction.hpp -  description
                           -------------------
    begin                : Tue September 07 2010
    copyright            : (C) 2010 The SourceWorks
    email                : peter@thesourceworks.com

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

#include "../base/ActionInterface.hpp"
#include "../base/DisposableInterface.hpp"
#include "../internal/DataSources.hpp"
#include "ProgramInterface.hpp"
#include "../internal/DataSource.hpp"
#include "../ExecutionEngine.hpp"
#include <boost/shared_ptr.hpp>
#include <boost/bind.hpp>

namespace RTT
{ namespace scripting {
    using namespace detail;

    class RTT_SCRIPTING_API CallFunction
        : public base::ActionInterface
    {
        base::ActionInterface* minit;
        ExecutionEngine* mrunner;
        ExecutionEngine* mcaller;
        internal::AssignableDataSource<ProgramInterface*>::shared_ptr _v;
        boost::shared_ptr<ProgramInterface> _foo;
        bool isqueued;
        bool maccept;

        bool fooDone() {
            return _foo->inError() || _foo->isStopped();
        }
        public:
        CallFunction( base::ActionInterface* init_com,
                      boost::shared_ptr<ProgramInterface> foo,
                      ExecutionEngine* p, ExecutionEngine* caller,
                      internal::AssignableDataSource<ProgramInterface*>* v = 0 ,
                      internal::AssignableDataSource<bool>* a = 0 )
        : minit(init_com),
        mrunner(p), mcaller(caller),
        _v( v==0 ? new internal::UnboundDataSource< internal::ValueDataSource<ProgramInterface*> >(foo.get()) : v ),
        _foo( foo ), isqueued(false), maccept(false)
        {
        }

        ~CallFunction() {
            this->reset();
        }

        virtual bool execute() {
            // this is asyn behaviour :
            if (isqueued == false ) {
                isqueued = true;
                maccept = minit->execute() && mrunner->runFunction( _foo.get() );
                // we ignore the ret value of start(). It could have been auto-started during loading() of the function.
                if ( _foo->needsStart() ) // _foo might be auto-started in runFunction()
                    _foo->start();
                if ( maccept ) {
                    // block for the result: foo stopped or in error
                    //mcaller->waitForFunctions(boost::bind(&CallFunction::fooDone,this) );
                    mrunner->waitForFunctions(boost::bind(&CallFunction::fooDone,this) );
                    if ( _foo->inError() ) {
                        throw false;
                    }
                    return true;
                }
                return false;
            }
            return true;
        }

        virtual void reset() {
            mrunner->removeFunction( _foo.get() );
            maccept = false;
            isqueued = false;
        }

        virtual bool valid() const {
            return maccept;
        }

        virtual void readArguments() {
            // is called before runFunction is executed.
            minit->readArguments();
        }

        base::ActionInterface* clone() const
        {
            // _v is shared_ptr, so don't clone.
            return new CallFunction( minit->clone(), _foo, mrunner, mcaller, _v.get() );
        }

        base::ActionInterface* copy( std::map<const base::DataSourceBase*, base::DataSourceBase*>& alreadyCloned ) const
        {
            // this may seem strange, but :
            // make a copy of foo (a function), make a copy of _v (a datasource), store pointer to new foo in _v !
            boost::shared_ptr<ProgramInterface> fcpy( _foo->copy(alreadyCloned) );
            internal::AssignableDataSource<ProgramInterface*>* vcpy = _v->copy(alreadyCloned);
            vcpy->set( fcpy.get() ); // since we own _foo, we may manipulate the copy of _v
            return new CallFunction( minit->copy(alreadyCloned), fcpy , mrunner, mcaller, vcpy );
        }

    };

}}

#endif