Orocos Real-Time Toolkit  2.6.0
CallFunction.hpp
00001 /***************************************************************************
00002   tag: The SourceWorks  Tue Sep 7 00:55:18 CEST 2010  CallFunction.hpp
00003 
00004                         CallFunction.hpp -  description
00005                            -------------------
00006     begin                : Tue September 07 2010
00007     copyright            : (C) 2010 The SourceWorks
00008     email                : peter@thesourceworks.com
00009 
00010  ***************************************************************************
00011  *   This library is free software; you can redistribute it and/or         *
00012  *   modify it under the terms of the GNU General Public                   *
00013  *   License as published by the Free Software Foundation;                 *
00014  *   version 2 of the License.                                             *
00015  *                                                                         *
00016  *   As a special exception, you may use this file as part of a free       *
00017  *   software library without restriction.  Specifically, if other files   *
00018  *   instantiate templates or use macros or inline functions from this     *
00019  *   file, or you compile this file and link it with other files to        *
00020  *   produce an executable, this file does not by itself cause the         *
00021  *   resulting executable to be covered by the GNU General Public          *
00022  *   License.  This exception does not however invalidate any other        *
00023  *   reasons why the executable file might be covered by the GNU General   *
00024  *   Public License.                                                       *
00025  *                                                                         *
00026  *   This library is distributed in the hope that it will be useful,       *
00027  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
00028  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU     *
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00030  *                                                                         *
00031  *   You should have received a copy of the GNU General Public             *
00032  *   License along with this library; if not, write to the Free Software   *
00033  *   Foundation, Inc., 59 Temple Place,                                    *
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00035  *                                                                         *
00036  ***************************************************************************/
00037 
00038 
00039 #ifndef ORO_CALL_FUNCTION_HPP
00040 #define ORO_CALL_FUNCTION_HPP
00041 
00042 #include "../base/ActionInterface.hpp"
00043 #include "../base/DisposableInterface.hpp"
00044 #include "../internal/DataSources.hpp"
00045 #include "ProgramInterface.hpp"
00046 #include "../internal/DataSource.hpp"
00047 #include "../ExecutionEngine.hpp"
00048 #include <boost/shared_ptr.hpp>
00049 #include <boost/bind.hpp>
00050 
00051 namespace RTT
00052 { namespace scripting {
00053     using namespace detail;
00054 
00062     class RTT_SCRIPTING_API CallFunction
00063         : public base::ActionInterface
00064     {
00065         base::ActionInterface* minit;
00066         ExecutionEngine* mrunner;
00067         ExecutionEngine* mcaller;
00071         internal::AssignableDataSource<ProgramInterface*>::shared_ptr _v;
00076         boost::shared_ptr<ProgramInterface> _foo;
00077         bool isqueued;
00078         bool maccept;
00079 
00080         bool fooDone() {
00081             return _foo->inError() || _foo->isStopped();
00082         }
00083         public:
00092         CallFunction( base::ActionInterface* init_com,
00093                       boost::shared_ptr<ProgramInterface> foo,
00094                       ExecutionEngine* p, ExecutionEngine* caller,
00095                       internal::AssignableDataSource<ProgramInterface*>* v = 0 ,
00096                       internal::AssignableDataSource<bool>* a = 0 )
00097         : minit(init_com),
00098         mrunner(p), mcaller(caller),
00099         _v( v==0 ? new internal::UnboundDataSource< internal::ValueDataSource<ProgramInterface*> >(foo.get()) : v ),
00100         _foo( foo ), isqueued(false), maccept(false)
00101         {
00102         }
00103 
00104         ~CallFunction() {
00105             this->reset();
00106         }
00107 
00108         virtual bool execute() {
00109             // this is asyn behaviour :
00110             if (isqueued == false ) {
00111                 isqueued = true;
00112                 maccept = minit->execute() && mrunner->runFunction( _foo.get() );
00113                 // we ignore the ret value of start(). It could have been auto-started during loading() of the function.
00114                 if ( _foo->needsStart() ) // _foo might be auto-started in runFunction()
00115                     _foo->start();
00116                 if ( maccept ) {
00117                     // block for the result: foo stopped or in error
00118                     //mcaller->waitForFunctions(boost::bind(&CallFunction::fooDone,this) );
00119                     mrunner->waitForFunctions(boost::bind(&CallFunction::fooDone,this) );
00120                     if ( _foo->inError() ) {
00121                         throw false;
00122                     }
00123                     return true;
00124                 }
00125                 return false;
00126             }
00127             return true;
00128         }
00129 
00130         virtual void reset() {
00131             mrunner->removeFunction( _foo.get() );
00132             maccept = false;
00133             isqueued = false;
00134         }
00135 
00136         virtual bool valid() const {
00137             return maccept;
00138         }
00139 
00140         virtual void readArguments() {
00141             // is called before runFunction is executed.
00142             minit->readArguments();
00143         }
00144 
00145         base::ActionInterface* clone() const
00146         {
00147             // _v is shared_ptr, so don't clone.
00148             return new CallFunction( minit->clone(), _foo, mrunner, mcaller, _v.get() );
00149         }
00150 
00151         base::ActionInterface* copy( std::map<const base::DataSourceBase*, base::DataSourceBase*>& alreadyCloned ) const
00152         {
00153             // this may seem strange, but :
00154             // make a copy of foo (a function), make a copy of _v (a datasource), store pointer to new foo in _v !
00155             boost::shared_ptr<ProgramInterface> fcpy( _foo->copy(alreadyCloned) );
00156             internal::AssignableDataSource<ProgramInterface*>* vcpy = _v->copy(alreadyCloned);
00157             vcpy->set( fcpy.get() ); // since we own _foo, we may manipulate the copy of _v
00158             return new CallFunction( minit->copy(alreadyCloned), fcpy , mrunner, mcaller, vcpy );
00159         }
00160 
00161     };
00162 
00163 }}
00164 
00165 #endif