Operation.hpp

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

                        Operation.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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 *   software library without restriction.  Specifically, if other files   *
 *   instantiate templates or use macros or inline functions from this     *
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 *   resulting executable to be covered by the GNU General Public          *
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 *   Public License.                                                       *
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 ***************************************************************************/


#ifndef ORO_RTT_OPERATION_HPP_
#define ORO_RTT_OPERATION_HPP_

#include <vector>
#include <string>
#include <boost/fusion/include/vector.hpp>
#include "base/OperationBase.hpp"
#include "internal/LocalOperationCaller.hpp"
#ifdef ORO_SIGNALLING_OPERATIONS
#include "internal/Signal.hpp"
#endif
#include "internal/OperationCallerBinder.hpp"

namespace RTT
{
    template<class Signature>
    class Operation
    : public base::OperationBase
    {
    public:
        Operation(const std::string& name)
        :OperationBase(name)
        {
            // set null implementation such that we can
            ExecutionEngine* null_e = 0;
            impl = boost::make_shared<internal::LocalOperationCaller<Signature> >( boost::function<Signature>(), this->mowner, null_e, OwnThread);
        }

        Operation(const std::string& name, boost::function<Signature> func, ExecutionThread et = ClientThread, ExecutionEngine* ee = NULL )
        :OperationBase(name)
        {
            this->calls(func, et, ee);
        }

        template<class Function, class Object>
        Operation(const std::string& name, Function func, Object o, ExecutionThread et = ClientThread, ExecutionEngine* ee = NULL )
        :OperationBase(name)
        {
            this->calls(func, o, et, ee);
        }

        ~Operation()
        {
        }

        Operation<Signature>& doc(const std::string& description) { mdoc(description); return *this; }

        Operation<Signature>& arg(const std::string& name, const std::string& description) { marg(name, description); return *this; }

        Operation& calls(boost::function<Signature> func, ExecutionThread et = ClientThread, ExecutionEngine* ownerEngine = NULL ) {
            // creates a Local OperationCaller
            ExecutionEngine* null_e = 0;
            impl = boost::make_shared<internal::LocalOperationCaller<Signature> >(func, this->mowner, null_e, et, ownerEngine);
#ifdef ORO_SIGNALLING_OPERATIONS
            if (signal)
                impl->setSignal(signal);
#endif
            return *this;
        }

        template<class Function, class Object>
        Operation& calls(Function func, Object o, ExecutionThread et = ClientThread, ExecutionEngine* ownerEngine = NULL ) {
            // creates a Local OperationCaller or sets function
            ExecutionEngine* null_e = 0;
            impl = boost::make_shared<internal::LocalOperationCaller<Signature> >(func, o, this->mowner, null_e, et, ownerEngine);
#ifdef ORO_SIGNALLING_OPERATIONS
            if (signal)
                impl->setSignal(signal);
#endif
            return *this;
        }

#ifdef ORO_SIGNALLING_OPERATIONS

        Handle signals(boost::function<Signature> func) {
            // attaches a signal to a Local OperationCaller
            ExecutionEngine* null_e = 0;
            if (!impl)
                impl = boost::make_shared<internal::LocalOperationCaller<Signature> >( boost::function<Signature>(), this->mowner, null_e, OwnThread);
            if (!signal) {
                signal = boost::make_shared<internal::Signal<Signature> >();
                impl->setSignal( signal );
            }
            return signal->connect( func );
        }

        template<class Function, class Object>
        Handle signals(Function func, Object o) {
            return this->signals( internal::OperationCallerBinder<Signature>()(func, o) );
        }
#endif
        virtual base::DisposableInterface::shared_ptr getImplementation() { return impl; }
        virtual const base::DisposableInterface::shared_ptr getImplementation() const { return impl; }

        virtual typename base::OperationCallerBase<Signature>::shared_ptr getOperationCaller() { return impl; }
        virtual const typename base::OperationCallerBase<Signature>::shared_ptr getOperationCaller() const { return impl; }

#ifdef ORO_SIGNALLING_OPERATIONS

        typename internal::Signal<Signature>::shared_ptr signal;
#endif
    private:
        typename internal::LocalOperationCaller<Signature>::shared_ptr impl;
        virtual void ownerUpdated() {
            if (impl)
                impl->setExecutor( this->mowner );
        }
    };

}

#endif /* OPERATION_HPP_ */