ScriptingService.hpp

/***************************************************************************
  tag: Peter Soetens  Mon Jun 26 13:25:57 CEST 2006  ScriptingService.hpp

                        ScriptingService.hpp -  description
                           -------------------
    begin                : Mon June 26 2006
    copyright            : (C) 2006 Peter Soetens
    email                : peter.soetens@fmtc.be

 ***************************************************************************
 *   This library is free software; you can redistribute it and/or         *
 *   modify it under the terms of the GNU General Public                   *
 *   License as published by the Free Software Foundation;                 *
 *   version 2 of the License.                                             *
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 *   As a special exception, you may use this file as part of a free       *
 *   software library without restriction.  Specifically, if other files   *
 *   instantiate templates or use macros or inline functions from this     *
 *   file, or you compile this file and link it with other files to        *
 *   produce an executable, this file does not by itself cause the         *
 *   resulting executable to be covered by the GNU General Public          *
 *   License.  This exception does not however invalidate any other        *
 *   reasons why the executable file might be covered by the GNU General   *
 *   Public License.                                                       *
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 ***************************************************************************/


#ifndef ORO_EXECUTION_SCRIPTING_ACCESS
#define ORO_EXECUTION_SCRIPTING_ACCESS

#include <vector>
#include <map>
#include <string>
#include "rtt-scripting-config.h"
#include "ProgramInterface.hpp"
#include "StateMachine.hpp"
#include "../Service.hpp"
#include "ProgramExceptions.hpp"

namespace RTT
{ namespace scripting {

    class RTT_SCRIPTING_API ScriptingService
        : public Service
    {
    public:
        typedef boost::shared_ptr<ScriptingService> shared_ptr;
        static shared_ptr Create(TaskContext* parent);

        ScriptingService( TaskContext* parent );

        virtual ~ScriptingService();

        typedef ProgramInterface::Status ProgramStatus;
        typedef scripting::StateMachine::Status StateMachineStatus;

        bool loadProgram( ProgramInterfacePtr pi );

        bool deleteProgram(const std::string& name);

        bool unloadProgram(const std::string& name);

        void clear();

        ProgramStatus::ProgramStatus getProgramStatus(const std::string& name) const;

        std::string getProgramStatusStr(const std::string& name) const;


        std::vector<std::string> getProgramList() const;

        const ProgramInterfacePtr getProgram(const std::string& name) const;

        ProgramInterfacePtr getProgram(const std::string& name);

        bool loadStateMachine( StateMachinePtr sc );

        bool unloadStateMachine( const std::string& name );

        bool deleteStateMachine( const std::string& name );

        StateMachineStatus::StateMachineStatus getStateMachineStatus(const std::string& name) const;

        std::string getStateMachineStatusStr(const std::string& name) const;

        std::vector<std::string> getStateMachineList() const;

        const StateMachinePtr getStateMachine(const std::string& name) const;

        StateMachinePtr getStateMachine(const std::string& name);

        int execute(const std::string& code );

        bool eval(const std::string& code );

        bool runScript( const std::string& filename);

        typedef std::vector< ProgramInterfacePtr > Functions;

        virtual Functions loadFunctions(const std::string& filename, bool do_throw );

        virtual Functions loadFunctions(const std::string& code, const std::string& filename, bool do_throw );

        virtual bool loadPrograms( const std::string& filename, bool do_throw );

        virtual bool loadPrograms( const std::string& code, const std::string& filename, bool do_throw  );

        virtual bool unloadProgram( const std::string& name, bool do_throw );

        virtual int getProgramLine(const std::string& name) const;

        virtual std::string getProgramText(const std::string& name ) const;

        virtual bool loadStateMachines( const std::string& filename, bool do_throw );

        virtual bool loadStateMachines( const std::string& code, const std::string& filename, bool do_throw );

        virtual bool unloadStateMachine( const std::string& name, bool do_throw );

        virtual std::string getStateMachineText(const std::string& name ) const;

        virtual int getStateMachineLine(const std::string& name ) const;

        bool startProgram(const std::string& name);

        bool stopProgram(const std::string& name);

        bool pauseProgram(const std::string& name);

        bool stepProgram(const std::string& name);
        virtual bool hasProgram(const std::string& name) const;

        bool isProgramRunning(const std::string& name) const;

        bool isProgramPaused(const std::string& name) const;

        bool inProgramError(const std::string& name) const;
        bool activateStateMachine(const std::string& name);

        bool deactivateStateMachine(const std::string& name);

        bool startStateMachine(const std::string& name);

        bool pauseStateMachine(const std::string& name);

        bool stopStateMachine(const std::string& name);

        bool resetStateMachine(const std::string& name);

        bool requestStateMachineState(const std::string& name, const std::string& state);
        virtual bool hasStateMachine(const std::string& name) const;

        bool isStateMachineActive(const std::string& name) const;

        bool isStateMachineRunning(const std::string& name) const;

        bool inStateMachineError(const std::string& name) const;

        bool isStateMachinePaused(const std::string& name) const;

        std::string getStateMachineState(const std::string& name) const;

        bool inStateMachineState(const std::string& name, const std::string& state) const;
    protected:
        StatementProcessor* sproc;
        bool doExecute(const std::string& code);

        bool evalInternal(const std::string& filename, const std::string& code);
        bool doLoadPrograms( const std::string& filename );
        bool doLoadProgramText( const std::string& code );
        bool doUnloadProgram( const std::string& name );

        bool doLoadStateMachines( const std::string& filename );
        bool doLoadStateMachineText( const std::string& code );
        bool doUnloadStateMachine( const std::string& name );

        void createInterface(void);

        void recursiveLoadStateMachine( StateMachinePtr sc );
        bool recursiveCheckLoadStateMachine( StateMachinePtr sc );
        void recursiveUnloadStateMachine( StateMachinePtr sc );
        bool recursiveCheckUnloadStateMachine( StateMachinePtr si );

        typedef std::map<std::string,StateMachinePtr> StateMap;
        StateMap   states;
        typedef StateMap::const_iterator StateMapIt;

        typedef std::map<std::string,ProgramInterfacePtr> ProgMap;
        ProgMap programs;
        typedef ProgMap::const_iterator ProgMapIt;

        bool ZeroPeriodWarning;

    };
}}

#endif