Orocos Real-Time Toolkit  2.6.0
OperationBase.hpp
00001 /***************************************************************************
00002   tag: The SourceWorks  Tue Sep 7 00:55:18 CEST 2010  OperationBase.hpp
00003 
00004                         OperationBase.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     *
00029  *   Lesser General Public License for more details.                       *
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_OPERATIONBASE_HPP_
00040 #define ORO_OPERATIONBASE_HPP_
00041 
00042 #include "../rtt-config.h"
00043 #include "../rtt-fwd.hpp"
00044 #include "rtt-base-fwd.hpp"
00045 #include <string>
00046 #include <vector>
00047 #include "DisposableInterface.hpp"
00048 
00049 namespace RTT
00050 {
00051     template<class T>
00052     class Operation;
00053 
00058     enum ExecutionThread { OwnThread, ClientThread };
00059 
00060     namespace base
00061     {
00066         class OperationBase
00067         {
00068         protected:
00069             std::string mname;
00070             std::vector<std::string> descriptions;
00071             ExecutionEngine* mowner;
00072             RTT_API void mdoc(const std::string& description);
00073             RTT_API void marg(const std::string& name, const std::string& description);
00074             virtual void ownerUpdated() = 0;
00075         public:
00076             RTT_API OperationBase(const std::string& name);
00077             RTT_API virtual ~OperationBase();
00078 
00083             const std::string& getName() { return mname; }
00084 
00092             const std::vector<std::string>& getDescriptions() { return descriptions; }
00093 
00098             virtual DisposableInterface::shared_ptr getImplementation() = 0;
00099 
00100             virtual const DisposableInterface::shared_ptr getImplementation() const = 0;
00101 
00107             bool ready() const {
00108                 return mowner && getImplementation();
00109             }
00110 
00115             void setOwner(ExecutionEngine* ee) {
00116                 mowner = ee;
00117                 // inform Operation<T> to update the implementation.
00118                 this->ownerUpdated();
00119             }
00120         };
00121     }
00122 }
00123 
00124 #endif /* ORO_OPERATIONBASE_HPP_ */