This class represents a function. More...

#include <rtt/scripting/FunctionGraph.hpp>

Inheritance diagram for RTT::scripting::FunctionGraph:

Public Types
typedef EdgeCondition::EdgeProperty	EdgeProperty
typedef VertexNode::VertProperty	VertProperty
typedef boost::adjacency_list < boost::vecS, boost::listS, boost::directedS, VertProperty, EdgeProperty >	Graph
typedef boost::graph_traits < Graph >::vertex_descriptor	Vertex
typedef boost::graph_traits < Graph >::edge_descriptor	Edge
Public Member Functions
	FunctionGraph (const std::string &name, bool unload_on_stop)
	Create a FunctionGraph with a given name.
	FunctionGraph (const FunctionGraph &orig)
	Copy a FunctionGraph.
void	setProgramService (ServicePtr myservice)
	Set a service that manages this script.
void	setUnloadOnStop (bool unload_on_stop)
	Sets the unloading policy on stop or error.
virtual bool	needsStart () const
	Returns true if a start() is necessary when this function is loaded with ExecutionEngine::runFunction().
void	finish ()
	To be called after a function is constructed.
virtual bool	start ()
	Start the execution of this program.
virtual bool	execute ()
	Execute as much actions until the program needs to wait on a condition to become true.
virtual void	loading ()
	Informs this object that it got loaded in an ExecutionEngine.
virtual void	unloading ()
	Informs this object that it got unloaded from an ExecutionEngine.
virtual bool	stop ()
	Stop the execution of this program.
virtual bool	pause ()
	Pause or start-and-pause the execution of this program.
virtual bool	step ()
	Execute a single action when paused.
virtual bool	stepDone () const
virtual void	reset ()
	Identical to stop();.
virtual int	getLineNumber () const
	Return the current 'line number' of the program.
virtual const std::string &	getName () const
	Programs can be refered to by name.
virtual FunctionGraph *	copy (std::map< const base::DataSourceBase , base::DataSourceBase > &replacementdss) const
	Clone this Program.
virtual FunctionGraph *	clone () const
void	setName (const std::string &_name)
	Set the name of this program.
void	setText (const std::string &t)
	Set the program text.
std::string	getText () const
	Return the program text to which getLineNumber() refers.
void	debugPrintout () const
Vertex	startNode () const
Vertex	currentNode () const
Vertex	previousNode () const
Vertex	exitNode () const
const Graph &	getGraph () const
Graph &	getGraph ()
std::vector < base::AttributeBase * >	getArguments () const
	Return an ordered list of this funcion's arguments.
base::AttributeBase *	getResult () const
	Get the return value of this program.
void	addArgument (base::AttributeBase *a)
void	setResult (base::AttributeBase *r)
	Will store the result in this attribute.
void	clearArguments ()
	Clear the arguments vector and release all base::AttributeBase resources.
bool	isRunning () const
	Returns true if the program is running.
bool	isPaused () const
	Returns true if the program is paused.
bool	isStopped () const
	Returns true if the program is not executing (stopped) or not loaded.
bool	inError () const
	Returns true if the program is in error.
Status::ProgramStatus	getStatus () const
	Return the current status of the program.
void	loaded (ExecutionEngine *ee)
	Called by the ExecutionEngine ee to tell this object it is being loaded.
void	unloaded ()
	Called by the ExecutionEngine ee to tell this object it is being unloaded.
bool	isLoaded ()
	Returns true if this object is loaded in an ExecutionEngine.
ExecutionEngine *	getEngine ()
	Returns the ExecutionEngine this object is loaded into or null otherwise.
Protected Member Functions
bool	executeUntil ()
bool	executeStep ()
Protected Attributes
Graph	program
	The graph containing this function.
Vertex	startv
Vertex	exitv
std::string	myName
	The (unique) name of this program.
std::string	_text
	Program text.
std::vector < base::AttributeBase * >	args
	Ordered arguments (are also in the repository).
base::AttributeBase *	retn
bool	pausing
bool	mstep
bool	munload_on_stop
ServicePtr	context
Status::ProgramStatus	pStatus
ExecutionEngine *	engine

Detailed Description

This class represents a function.

It has much in common with a program but is only used for storing a Graph.

Definition at line 59 of file FunctionGraph.hpp.

Constructor & Destructor Documentation

RTT::FunctionGraph::FunctionGraph	(	const std::string &	name,
		bool	unload_on_stop
	)

Create a FunctionGraph with a given name.

Parameters:

name The name of this script.

unload_on_stop Set to true to force an unload when the script stops or an error is encountered. The unload is forced by returning false in execute(), as defined in the ExecutableInterface. This flag should only be set to true for scripts that don't have a service associated (see setProgramService() ), since the service is destroyed when the function is unloaded. You can override this behavior after construction by using setUnloadOnStop().

Definition at line 59 of file FunctionGraph.cpp.

References program.

Referenced by copy().

Member Function Documentation

FunctionGraph * RTT::FunctionGraph::copy ( std::map< const base::DataSourceBase *, base::DataSourceBase * > & replacementdss ) const [virtual]

Clone this Program.

This will produce a completely new instance, that has nothing in common with this one. It takes care to properly map identical DataSources to identical DataSources.

Parameters:

alreadyMappedData A map of some DataSources used in this program to new DataSources that should replace them in the new Program. This is provided, because in some cases the outside world also keeps references to datasources used somewhere in this programgraph. It is then important that when this Program is copied, the outside world has a way to get a reference to the corresponding datasources in the new program. We do this by allowing it to map some datasources itself, and simply provide us a list of its mappings.

Implements RTT::scripting::ProgramInterface.

Definition at line 383 of file FunctionGraph.cpp.

References args, RTT::base::AttributeBase::copy(), finish(), FunctionGraph(), getName(), program, and setResult().

bool RTT::FunctionGraph::execute ( ) [virtual]

Execute as much actions until the program needs to wait on a condition to become true.

When paused, only execute one action.