This class represents a stateMachine as a Service in the Orocos TaskContext system. More...

#include <rtt/scripting/StateMachineService.hpp>

Inheritance diagram for RTT::scripting::StateMachineService:

Public Types
typedef OperationInterface	Factory
typedef boost::shared_ptr < Service >	shared_ptr
typedef std::vector< std::string >	ProviderNames
typedef std::vector < base::DataSourceBase::shared_ptr >	Arguments
	The arguments for an operation.
typedef std::vector < ArgumentDescription >	Descriptions
	The descriptions of an argumentlist.
typedef std::vector< std::string >	AttributeNames
	A vector containing the names of all attribute objects in this repository.
typedef std::vector < base::AttributeBase * >	AttributeObjects
	A vector containing pointers to all attribute objects stored in this repository.
typedef std::vector < base::PortInterface * >	Ports
	A sequence of pointers to ports.
typedef std::vector< std::string >	PortNames
	A sequence of names of ports.
typedef boost::function< void(base::PortInterface *)	SlotFunction )
Public Member Functions
StateMachineServicePtr	copy (ParsedStateMachinePtr newsc, std::map< const base::DataSourceBase , base::DataSourceBase > &replacements, bool instantiate)
	StateMachineService (ParsedStateMachinePtr statemachine, TaskContext *tc=0)
	By constructing this object, a stateMachine is added to a taskcontext as a Service, with its commands and methods.
const std::string &	getName () const
	Returns the name of this service instance.
const std::string &	doc () const
	Returns a descriptive text for this service.
void	doc (const std::string &description)
	Sets the descriptive text for this service.
void	setName (const std::string &name)
	Changes the name of this service.
void	setOwner (TaskContext *new_owner)
	Sets the owning TaskContext that will execute the operations in this service.
void	setParent (shared_ptr new_parent)
	Sets the parent service in case this service is a sub-service.
shared_ptr	getParent () const
	The parent is the direct parent of this service.
virtual ProviderNames	getProviderNames () const
	Return a standard container which contains all the sub-service names of this Service.
TaskContext *	getOwner () const
	The owner is the top-level TaskContext owning this service (indirectly).
ExecutionEngine *	getOwnerExecutionEngine () const
	Return the execution engine of this service owner.
virtual bool	addService (shared_ptr obj)
	Add a new Service to this TaskContext.
virtual void	removeService (std::string const &service_name)
	Remove a previously added sub-service.
Service::shared_ptr	provides ()
	Returns this Service.
Service::shared_ptr	provides (const std::string &service_name)
	Returns a sub-Service which resorts under this Service.
shared_ptr	getService (const std::string &service_name)
	Returns a shared pointer to strictly a sub-service.
Service *	getService () const
	Returns the service this interface belongs to.
bool	hasService (const std::string &service_name)
	Check if this service has the sub-service service_name.
void	clear ()
	Clear all added operations from the repository, saving memory space.
std::vector< std::string >	getOperationNames () const
	Returns the names of all operations added to this interface.
bool	hasOperation (const std::string &name) const
	Query for the existence of a Operation in this interface.
bool	addLocalOperation (base::OperationBase &op)
	Add an Operation object to the operation interface.
boost::shared_ptr < base::DisposableInterface >	getLocalOperation (std::string name)
	Get a locally added operation from this interface.
OperationInterfacePart *	getOperation (std::string name)
	Get a previously added operation for use in a C++ OperationCaller object.
base::DataSourceBase::shared_ptr	getOperation (std::string name, const std::vector< base::DataSourceBase::shared_ptr > &args, ExecutionEngine *caller) const
	For internal use only.
void	removeOperation (const std::string &name)
	Removes a previously added operation.
bool	setOperationThread (std::string const &name, ExecutionThread et)
	Sets the thread of execution of a previously added operation.
template<class Signature >
Operation< Signature > &	addOperation (Operation< Signature > &op)
	Add an operation object to the interface.
template<class Func , class Service >
Operation< typename internal::GetSignature< Func > ::Signature > &	addOperation (const std::string name, Func func, Service *serv, ExecutionThread et=ClientThread)
	Add an operation to the interface by means of a C++ function.
template<class Func >
Operation< Func > &	addOperation (const std::string name, Func *func, ExecutionThread et=ClientThread)
	Add an operation to the interface by means of a C function.
template<class Signature >
Operation< Signature > &	addSynchronousOperation (Operation< Signature > &op)
	Add an operation object to the interface.
template<class Func , class Service >
Operation< typename internal::GetSignature< Func > ::Signature > &	addSynchronousOperation (const std::string name, Func func, Service *serv, ExecutionThread et=ClientThread)
	Add an operation to the synchronous interface by means of a function.
template<class Func , class ObjT >
Operation< typename internal::GetSignatureDS< Func > ::Signature > &	addOperationDS (const std::string &name, Func func, internal::DataSource< boost::shared_ptr< ObjT > > *sp, ExecutionThread et=ClientThread)
	For internal use only.
template<class Signature , class ObjT >
Operation< Signature > &	addOperationDS (internal::DataSource< boost::shared_ptr< ObjT > > *sp, Operation< Signature > &op)
	For internal use only.
internal::OperationCallerC	create (std::string name, ExecutionEngine *caller)
	Create a OperationCallerC object, a template-less operation invocation object.
bool	resetOperation (std::string name, base::OperationBase *impl)
	Reset the implementation of a operation.
std::vector< std::string >	getNames () const
	Get a list of all the names of the added operations.
bool	hasMember (const std::string &name) const
	Query if an operation is present.
int	getArity (const std::string &name) const
	Query the number of arguments of an operation.
int	getCollectArity (const std::string &name) const
	Query the collectable number of arguments of an operation.
bool	isSynchronous (const std::string &name) const
	Query if a given operation is limited to sychronous invocation (own component thread) only.
base::DataSourceBase::shared_ptr	produce (const std::string &name, const Arguments &args, ExecutionEngine *caller) const
	Produce a DataSource that call()s an operation.
base::DataSourceBase::shared_ptr	produceSend (const std::string &name, const Arguments &args, ExecutionEngine *caller) const
	Produce a DataSource that send()s an operation.
base::DataSourceBase::shared_ptr	produceHandle (const std::string &name) const
	Produce an AssignableDataSource that contains a SendHandle, fit for the operation.
base::DataSourceBase::shared_ptr	produceCollect (const std::string &name, const Arguments &args, internal::DataSource< bool >::shared_ptr blocking) const
	Produce a DataSource that collects a sent operation, The DataSource will return the SendStatus and store the results in the presented arguments.
Descriptions	getArgumentList (const std::string &name) const
	Get the names and descriptions of all arguments of an operation.
std::string	getResultType (const std::string &name) const
	Get the type name of the result type of an operation.
std::string	getDescription (const std::string &name) const
	Get the description of an operation.
void	add (const std::string &name, OperationInterfacePart *part)
	Add a new operation to the interface or replace an existing one.
void	remove (const std::string &name)
	Remove an added operation from the interface.
OperationInterfacePart *	getPart (const std::string &name)
	Get a previously added part of this factory.
bool	hasAttribute (const std::string &name) const
	Check if an attribute is present in this interface.
template<class T >
bool	addAttribute (const std::string &name, T &attr)
	Adds a variable of any type as read/write attribute to the configuration interface.
template<class T >
Attribute< T > &	addAttribute (const std::string &name, Attribute< T > &attr)
	Adds an existing attribute object to the configuration interface.
bool	addAttribute (base::AttributeBase &a)
	Add an base::AttributeBase which remains owned by the user.
template<class T >
bool	addConstant (const std::string &name, const T &cnst)
	Adds a variable of any type as read-only attribute to the configuration interface.
template<class T >
Constant< T > &	addConstant (const std::string &name, Constant< T > &cnst)
	Adds an existing constant object to the configuration interface.
bool	addConstant (base::AttributeBase &c)
	Add a Constant with a given value.
template<class T >
Property< T > &	addProperty (const std::string &name, T &prop)
	Adds a variable of any type as a property to the configuration interface.
template<class T >
Property< T > &	addProperty (const std::string &name, Property< T > &prop)
	Adds an existing property object to the configuration interface.
bool	addProperty (base::PropertyBase &pb)
	Add an base::PropertyBase as a property.
base::AttributeBase *	getAttribute (const std::string &name) const
void	removeAttribute (const std::string &name)
	Remove an attribute from the repository.
base::AttributeBase *	getConstant (const std::string &name) const
bool	hasProperty (const std::string &name) const
	Check if a property is present.
bool	removeProperty (base::PropertyBase &p)
	Remove a previously added Property and associated attribute.
base::PropertyBase *	getProperty (const std::string &name) const
	Get a Property with name name.
bool	setValue (base::AttributeBase *ab)
	Transfer the ownership of an attribute to the repository.
base::AttributeBase *	getValue (const std::string &name) const
bool	removeValue (const std::string &name)
	Delete a value added with setValue from the repository.
ConfigurationInterface *	copy (std::map< const base::DataSourceBase , base::DataSourceBase > &repl, bool instantiate) const
	Return a new copy of this repository with the copy operation semantics.
void	loadValues (AttributeObjects const &new_values)
	Adds these attributes to this repository.
AttributeObjects const &	getValues () const
	Returns all attributes in this repository.
AttributeNames	getAttributeNames () const
	Return the names of all attributes in this repository.
PropertyBag *	properties ()
	Return a bag of all properties.
base::PortInterface &	addPort (const std::string &name, base::PortInterface &port)
	Name and add a Port to the interface of this task and add a Service with the same name of the port.
base::PortInterface &	addPort (base::PortInterface &port)
	Add a Port to the interface of this task and add a Service with the same name of the port.
base::InputPortInterface &	addEventPort (const std::string &name, base::InputPortInterface &port, SlotFunction callback=SlotFunction())
	Name and add an Event triggering Port to the interface of this task and add a Service with the same name of the port.
base::InputPortInterface &	addEventPort (base::InputPortInterface &port, SlotFunction callback=SlotFunction())
	Add an Event triggering Port to the interface of this task and add a Service with the same name of the port.
void	removePort (const std::string &name)
	Remove a Port from this interface.
Ports	getPorts () const
	Get all ports of this interface.
PortNames	getPortNames () const
	Get all port names of this interface.
base::PortInterface *	getPort (const std::string &name) const
	Get an added port.
std::string	getPortDescription (const std::string &name) const
	Get the description of an added Port.
bool	setPortDescription (const std::string &name, const std::string description)
	Sets the description for the service of an added port.
base::PortInterface &	addLocalPort (base::PortInterface &port)
	Add a Port to this task without registering a service for it.
base::InputPortInterface &	addLocalEventPort (base::InputPortInterface &port, SlotFunction callback=SlotFunction())
	Add an Event triggering Port to this task without registering a service for it.
template<class Type >
Type *	getPortType (const std::string &name)
	Get a port of a specific type.
void	dataOnPort (base::PortInterface *port)
	Used by the input ports to notify this class of new data.
Static Public Member Functions
static Service::shared_ptr	Create (const std::string &name, TaskContext *owner=0)
	Creates a Service with a name and an owner.
Protected Types
typedef std::map< std::string, shared_ptr >	Services
typedef std::map< std::string, base::OperationBase * >	SimpleOperations
typedef std::vector < base::OperationBase * >	OperationList
typedef std::map< std::string, OperationInterfacePart * >	map_t
typedef std::vector < base::AttributeBase * >	map_t
Protected Member Functions
bool	testOperation (base::OperationBase &op)
bool	chkPtr (const std::string &where, const std::string &name, const void *ptr)
bool	chkPtr (const std::string &where, const std::string &name, const void *ptr)
Service *	createPortObject (const std::string &name)
	Create a Service through which one can access a Port.
Protected Attributes
Services	services
	the services we implement.
SimpleOperations	simpleoperations
OperationList	ownedoperations
std::string	mname
std::string	mdescription
TaskContext *	mowner
shared_ptr	parent
map_t	data
map_t	values
PropertyBag	bag
Ports	mports
	All our ports.
Service *	mservice
	The parent Service.

Detailed Description

This class represents a stateMachine as a Service in the Orocos TaskContext system.

Definition at line 54 of file StateMachineService.hpp.

Member Function Documentation

void OperationInterface::add	(	const std::string &	name,
		OperationInterfacePart *	part
	)		`[inherited]`

Add a new operation to the interface or replace an existing one.

Parameters:

name	The name of the operation
part	A part which creates the operation.

Definition at line 170 of file OperationInterface.cpp.

template<class T >

bool RTT::ConfigurationInterface::addAttribute	(	const std::string &	name,
		T &	attr
	)		`[inline, inherited]`

Adds a variable of any type as read/write attribute to the configuration interface.

An Alias is created which causes contents of the attr variable always to be in sync with the contents of the attribute object in the interface.

Parameters:

name	The name of this attribute
attr	The variable that will be aliased.

Definition at line 101 of file ConfigurationInterface.hpp.

template<class T >

Attribute<T>& RTT::ConfigurationInterface::addAttribute	(	const std::string &	name,
		Attribute< T > &	attr
	)		`[inline, inherited]`

Adds an existing attribute object to the configuration interface.

Parameters:

name	The name of this attribute. attr will be initialized with this name.
attr	The attribute to add

Returns:: the Attribute object by reference, which you can further query or use.

Postcondition:: attr.ready() == true

Definition at line 115 of file ConfigurationInterface.hpp.

References RTT::base::AttributeBase::ready(), and RTT::base::AttributeBase::setName().

bool RTT::ConfigurationInterface::addAttribute ( base::AttributeBase & a ) [inline, inherited]

Add an base::AttributeBase which remains owned by the user.

This is a low-level function that can be used if you already created an Attribute object that does not belong yet to a service.

Parameters:

a	remains owned by the user, and becomes served by the repository.

Definition at line 204 of file ConfigurationInterface.hpp.

References RTT::base::AttributeBase::clone(), and RTT::base::AttributeBase::getDataSource().

template<class T >

bool RTT::ConfigurationInterface::addConstant	(	const std::string &	name,
		const T &	cnst
	)		`[inline, inherited]`

Adds a variable of any type as read-only attribute to the configuration interface.

An Alias is created which causes contents of the attribute always to be in sync with the contents of cnst, but it can only be read through the interface.

Parameters:

name	The name of this attribute
cnst	The variable that will be aliased.

Definition at line 135 of file ConfigurationInterface.hpp.

template<class T >

Constant<T>& RTT::ConfigurationInterface::addConstant	(	const std::string &	name,
		Constant< T > &	cnst
	)		`[inline, inherited]`

Adds an existing constant object to the configuration interface.

Parameters:

name	The name of this constant. cnst will be initialized with this name.
cnst	The constant to add. If cnst has not been initialized, it will be initialized to T(). You can change it later-on using the Constant's API.

Returns:: the Constant object by reference, which you can further query or use.

Postcondition:: cnst.ready() == true

Definition at line 150 of file ConfigurationInterface.hpp.

References RTT::base::AttributeBase::ready(), and RTT::base::AttributeBase::setName().

bool RTT::ConfigurationInterface::addConstant ( base::AttributeBase & c ) [inline, inherited]

Add a Constant with a given value.

See also:: getConstant

Definition at line 232 of file ConfigurationInterface.hpp.

References RTT::base::AttributeBase::clone(), and RTT::base::AttributeBase::getDataSource().

base::InputPortInterface& RTT::DataFlowInterface::addEventPort	(	const std::string &	name,
		base::InputPortInterface &	port,
		SlotFunction	callback = `SlotFunction()`
	)		`[inline, inherited]`

Name and add an Event triggering Port to the interface of this task and add a Service with the same name of the port.

Parameters:

name	The name to give to the port.
port	The port to add.
callback	(Optional) provide a function which will be called asynchronously when new data arrives on this port. You can add more functions by using the port directly using base::PortInterface::getNewDataOnPort().

Definition at line 114 of file DataFlowInterface.hpp.

References RTT::base::PortInterface::setName().

InputPortInterface & RTT::DataFlowInterface::addEventPort	(	base::InputPortInterface &	port,
		SlotFunction	callback = `SlotFunction()`
	)		`[inherited]`

Add an Event triggering Port to the interface of this task and add a Service with the same name of the port.

When data arrives on this port your TaskContext will be woken up and updateHook will be executed.

Parameters:

port	The port to add.
callback	(Optional) provide a function which will be called when new data arrives on this port. The callback function will be called in sequence with updateHook(), so asynchronously with regard to the arrival of data on the port.

Returns:: port

Definition at line 93 of file DataFlowInterface.cpp.

References RTT::DataFlowInterface::addLocalEventPort(), RTT::Service::addService(), RTT::DataFlowInterface::createPortObject(), RTT::base::PortInterface::getName(), RTT::Service::hasService(), RTT::DataFlowInterface::mservice, and RTT::Service::removeService().

InputPortInterface & RTT::DataFlowInterface::addLocalEventPort	(	base::InputPortInterface &	port,
		SlotFunction	callback = `SlotFunction()`
	)		`[inherited]`

Add an Event triggering Port to this task without registering a service for it.

When data arrives on this port your TaskContext will be woken up and updateHook will be executed.

Parameters:

port	The port to add.
callback	(Optional) provide a function which will be called when new data arrives on this port. The callback function will be called in sequence with updateHook(), so asynchronously with regard to the arrival of data on the port.

Returns:: port

Definition at line 127 of file DataFlowInterface.cpp.

References RTT::DataFlowInterface::addLocalPort(), RTT::base::PortInterface::getName(), RTT::Service::getName(), RTT::Service::getOwner(), RTT::DataFlowInterface::mservice, and RTT::base::InputPortInterface::signalInterface().

Referenced by RTT::DataFlowInterface::addEventPort().

bool RTT::Service::addLocalOperation ( base::OperationBase & op ) [inherited]

Add an Operation object to the operation interface.

This version of addOperation does not add the Operation object to the remote interface and only to the local, in-process C++ interface.

Note:: Do not use this function unless you know what you're doing.

See also:: addOperation() for adding normal, remotely available operations.

Parameters:

op	The Operation object to add

Returns:: true if it could be added, false otherwise.

Definition at line 177 of file Service.cpp.

References RTT::base::TaskCore::engine(), RTT::base::OperationBase::getImplementation(), RTT::base::OperationBase::getName(), RTT::Service::removeOperation(), and RTT::base::OperationBase::setOwner().

PortInterface & RTT::DataFlowInterface::addLocalPort ( base::PortInterface & port ) [inherited]

Add a Port to this task without registering a service for it.

If a port with the same name already exists, addPort will replace it with port and log a warning.

Returns:: port

Definition at line 78 of file DataFlowInterface.cpp.

References RTT::base::PortInterface::getName(), RTT::DataFlowInterface::mports, RTT::DataFlowInterface::removePort(), and RTT::base::PortInterface::setInterface().

Referenced by RTT::DataFlowInterface::addLocalEventPort(), and RTT::DataFlowInterface::addPort().

template<class Signature >

Operation<Signature>& RTT::Service::addOperation ( Operation< Signature > & op ) [inline, inherited]

Add an operation object to the interface.

This version of addOperation exports an existing Operation object to the public interface of this component.

Parameters:

op	The operation object to add.

Returns:: The given parameter op

Definition at line 303 of file Service.hpp.

References RTT::base::OperationBase::getName().

Referenced by RTT::marsh::MarshallingService::MarshallingService().

template<class Func , class Service >

Operation< typename internal::GetSignature<Func>::Signature >& RTT::Service::addOperation	(	const std::string	name,
		Func	func,
		Service *	serv,
		ExecutionThread	et = `ClientThread`
	)		`[inline, inherited]`

Add an operation to the interface by means of a C++ function.

The function func must be a C++ member function and serv is the object having that function.

Parameters:

name	The name of the new operation
func	A pointer to a function, for example, &Bar::foo (C++ class function).
serv	A pointer to the object that will execute the function.
et	The ExecutionThread choice: will the owning TaskContext of this service execute the function func in its own thread, or will the client's thread (the caller) execute func ?

Returns:: A newly created operation object, which you may further document or query.

Definition at line 343 of file Service.hpp.

template<class Func >

Operation< Func >& RTT::Service::addOperation	(	const std::string	name,
		Func *	func,
		ExecutionThread	et = `ClientThread`
	)		`[inline, inherited]`

Add an operation to the interface by means of a C function.

The function func must be a C function.

Parameters:

name	The name of the new operation
func	A pointer to a C function, for example, &foo (or a static C++ class function).
et	The ExecutionThread choice: will the owning TaskContext of this service execute the function func in its own thread, or will the client's thread (the caller) execute func ?

Returns:: A newly created operation object, which you may further document or query.

Definition at line 364 of file Service.hpp.

template<class Func , class ObjT >

Operation< typename internal::GetSignatureDS<Func>::Signature>& RTT::Service::addOperationDS	(	const std::string &	name,
		Func	func,
		internal::DataSource< boost::shared_ptr< ObjT > > *	sp,
		ExecutionThread	et = `ClientThread`
	)		`[inline, inherited]`

For internal use only.

The pointer of the object of which a member function must be invoked is stored in a internal::DataSource such that the pointer can change during program execution. Required in scripting for state machines.

Definition at line 401 of file Service.hpp.

Referenced by RTT::scripting::ProgramService::ProgramService().

template<class Signature , class ObjT >

Operation<Signature>& RTT::Service::addOperationDS	(	internal::DataSource< boost::shared_ptr< ObjT > > *	sp,
		Operation< Signature > &	op
	)		`[inline, inherited]`

For internal use only.

The pointer of the object of which a member function must be invoked is stored in a internal::DataSource such that the pointer can change during program execution. Required in scripting for state machines.

Definition at line 416 of file Service.hpp.

References RTT::base::OperationBase::getName().

base::PortInterface& RTT::DataFlowInterface::addPort	(	const std::string &	name,
		base::PortInterface &	port
	)		`[inline, inherited]`

Name and add a Port to the interface of this task and add a Service with the same name of the port.

Parameters:

name	The name to give to the port.
port	The port to add.

Definition at line 89 of file DataFlowInterface.hpp.

References RTT::base::PortInterface::setName().

PortInterface & RTT::DataFlowInterface::addPort ( base::PortInterface & port ) [inherited]

Add a Port to the interface of this task and add a Service with the same name of the port.

If a port or service with the name already exists, addPort will replace them with port and log a warning.

Parameters:

port	The port to add.

Returns:: port

Definition at line 59 of file DataFlowInterface.cpp.

References RTT::DataFlowInterface::addLocalPort(), RTT::Service::addService(), RTT::DataFlowInterface::createPortObject(), RTT::base::PortInterface::getName(), RTT::Service::hasService(), RTT::DataFlowInterface::mservice, and RTT::Service::removeService().

template<class T >

Property<T>& RTT::ConfigurationInterface::addProperty	(	const std::string &	name,
		T &	prop
	)		`[inline, inherited]`

Adds a variable of any type as a property to the configuration interface.

A Property is created which causes contents of the property always to be in sync with the contents of prop.

Parameters:

name	The name of this property
prop	The variable that will be aliased.

Returns:: the Property object by reference, which you can further query or document.

Definition at line 171 of file ConfigurationInterface.hpp.

Referenced by RTT::scripting::ScriptingService::ScriptingService().

template<class T >

Property<T>& RTT::ConfigurationInterface::addProperty	(	const std::string &	name,
		Property< T > &	prop
	)		`[inline, inherited]`

Adds an existing property object to the configuration interface.

Parameters:

name	The name of this property. prop will be initialized with this name.
prop	The property to add

Returns:: the Property object by reference, which you can further query or document.

Postcondition:: prop.ready() == true

Definition at line 184 of file ConfigurationInterface.hpp.

References RTT::base::PropertyBase::ready(), and RTT::base::PropertyBase::setName().

bool RTT::ConfigurationInterface::addProperty ( base::PropertyBase & pb ) [inherited]

Add an base::PropertyBase as a property.

Returns:: false if a property with the same name already exists.

See also:: removeProperty

Definition at line 90 of file ConfigurationInterface.cpp.

References RTT::base::PropertyBase::getName().

bool RTT::Service::addService ( Service::shared_ptr obj ) [virtual, inherited]

Add a new Service to this TaskContext.

Parameters:

obj	This object becomes owned by this TaskContext.

Returns:: true if it could be added, false if such service already exists.

Definition at line 87 of file Service.cpp.

References RTT::Service::services.

Referenced by RTT::DataFlowInterface::addEventPort(), and RTT::DataFlowInterface::addPort().

template<class Signature >

Operation<Signature>& RTT::Service::addSynchronousOperation ( Operation< Signature > & op ) [inline, inherited]

Add an operation object to the interface.

This version exports an existing Operation object to the synchronous interface of the component

Parameters:

op	The operation object to add.

Returns:: The given parameter op

Definition at line 320 of file Service.hpp.

References RTT::base::OperationBase::getName().

Referenced by RTT::base::PortInterface::createPortObject().

template<class Func , class Service >

Operation< typename internal::GetSignature<Func>::Signature >& RTT::Service::addSynchronousOperation	(	const std::string	name,
		Func	func,
		Service *	serv,
		ExecutionThread	et = `ClientThread`
	)		`[inline, inherited]`

Add an operation to the synchronous interface by means of a function.

The function func must be a C++ function.

Parameters:

name	The name of the new operation
func	A pointer to a function, for example &Bar::foo (C++ class function).
serv	A pointer to the object that will execute the function in case of a C++ class function,
et	The ExecutionThread choice: will the owning TaskContext of this service execute the function func in its own thread, or will the client's thread (the caller) execute func ?

Returns:: A newly created operation object, which you may further document or query.

Definition at line 387 of file Service.hpp.

ConfigurationInterface * RTT::ConfigurationInterface::copy	(	std::map< const base::DataSourceBase , base::DataSourceBase > &	repl,
		bool	instantiate
	)		const `[inherited]`

Return a new copy of this repository with the copy operation semantics.

Parameters:

instantiate set to true if you want a copy which will upon any future copy return the same DataSources, thus 'fixating' or 'instantiating' the DataSources.

See also:: base::ActionInterface

Note:: this does not copy the properties() within this repository.

Definition at line 60 of file ConfigurationInterface.cpp.

References RTT::ConfigurationInterface::setValue().

Referenced by RTT::scripting::ScriptingService::loadFunctions(), RTT::scripting::ScriptingService::loadPrograms(), RTT::scripting::ScriptingService::loadStateMachines(), and RTT::scripting::ScriptingService::runScript().

Service::shared_ptr RTT::Service::Create	(	const std::string &	name,
		TaskContext *	owner = `0`
	)		`[static, inherited]`

Creates a Service with a name and an owner.

Each service must be owned by a TaskContext and the owner can be set afterwards with setOwner.

Parameters:

name	The name of this service.
owner	The TaskContext that will execute the operations of this service.

Warning:: When using boost < 1.40, the owner is not stored in the Service, until the Service object is effectively added to the TaskContext.

See also:: getOwner()

Definition at line 52 of file Service.cpp.

References RTT::TaskContext::provides().

internal::OperationCallerC RTT::Service::create	(	std::string	name,
		ExecutionEngine *	caller
	)		`[inherited]`

Create a OperationCallerC object, a template-less operation invocation object.

This function is inferior to getOperation(std::string name).

Parameters:

name	The name of the operation

Returns:: An object which can invoke a operation.

Definition at line 265 of file Service.cpp.

References RTT::OperationInterface::getPart().

Service * RTT::DataFlowInterface::createPortObject ( const std::string & name ) [protected, inherited]

Create a Service through which one can access a Port.

Parameters:

name	The port name

Definition at line 211 of file DataFlowInterface.cpp.

References RTT::base::PortInterface::createPortObject(), RTT::Service::doc(), RTT::DataFlowInterface::getPort(), and RTT::DataFlowInterface::getPortDescription().

Referenced by RTT::DataFlowInterface::addEventPort(), and RTT::DataFlowInterface::addPort().

OperationInterface::Descriptions OperationInterface::getArgumentList ( const std::string & name ) const [inherited]

Get the names and descriptions of all arguments of an operation.

Parameters:

name	The name of the operation

Returns:: A list of descriptions.

Exceptions:

name_not_found_exception

Definition at line 146 of file OperationInterface.cpp.

int OperationInterface::getArity ( const std::string & name ) const [inherited]

Query the number of arguments of an operation.

These are the number of function arguments, not counting the return value.

Parameters:

name	The name of the operation

Returns:: The arity, or -1 if name is not found.

Definition at line 77 of file OperationInterface.cpp.

int OperationInterface::getCollectArity ( const std::string & name ) const [inherited]

Query the collectable number of arguments of an operation.

These are the return value (if non void) and each non-const reference argument of the operation.

Parameters:

name	The name of the operation

Returns:: The arity, or -1 if name is not found.

Definition at line 85 of file OperationInterface.cpp.

std::string OperationInterface::getDescription ( const std::string & name ) const [inherited]

Get the description of an operation.

Parameters:

name	The name of the operation

Returns:: A user readable description.

Exceptions:

name_not_found_exception

Definition at line 162 of file OperationInterface.cpp.

boost::shared_ptr< base::DisposableInterface > RTT::Service::getLocalOperation ( std::string name ) [inherited]

Get a locally added operation from this interface.

Note:: Do not use this function unless you know what you're doing.

See also:: getOperation() for getting normal, remotely available operations.

Definition at line 200 of file Service.cpp.

References RTT::Service::hasOperation().

OperationInterfacePart * RTT::Service::getOperation ( std::string name ) [inherited]

Get a previously added operation for use in a C++ OperationCaller object.

Store the result of this function in a OperationCaller<Signature> object.

Parameters:

name	The name of the operation to retrieve.

Returns:: A pointer to an operation interface part or a null pointer if name was not found.

Definition at line 141 of file Service.cpp.

References RTT::Service::getName(), RTT::OperationInterface::getPart(), and RTT::OperationInterface::hasMember().

Referenced by RTT::Service::setOperationThread().

base::DataSourceBase::shared_ptr RTT::Service::getOperation	(	std::string	name,
		const std::vector< base::DataSourceBase::shared_ptr > &	args,
		ExecutionEngine *	caller
	)		const `[inline, inherited]`

For internal use only.

Get a previously added operation as a DataSource. This function is inferior to getOperation(std::string name)

Parameters:

name	The name of the operation
args	The arguments of the operation as Data Sources.

Returns:: A internal::DataSource which, when evaluated, invokes the operation.

Definition at line 435 of file Service.hpp.

std::vector< std::string > RTT::Service::getOperationNames ( ) const [inherited]

Returns the names of all operations added to this interface.

See also:: getNames() to get a list of all operations available to scripting.

Definition at line 224 of file Service.cpp.

TaskContext* RTT::Service::getOwner ( ) const [inline, inherited]

The owner is the top-level TaskContext owning this service (indirectly).

A Service can only belong to one TaskContext.

Note:: This function will only return the owner after the Service has been added to the TaskContext.

Reimplemented from RTT::DataFlowInterface.

Definition at line 171 of file Service.hpp.

Referenced by RTT::DataFlowInterface::addLocalEventPort(), RTT::DataFlowInterface::dataOnPort(), RTT::DataFlowInterface::getOwner(), RTT::Service::getOwnerExecutionEngine(), RTT::scripting::ScriptingService::loadProgram(), RTT::scripting::ScriptingService::loadStateMachine(), RTT::DataFlowInterface::removePort(), and RTT::Service::setOperationThread().

ExecutionEngine * RTT::Service::getOwnerExecutionEngine ( ) const [inherited]

Return the execution engine of this service owner.

See also:: getOwner

Definition at line 81 of file Service.cpp.

References RTT::base::TaskCore::engine(), and RTT::Service::getOwner().

OperationInterfacePart * OperationInterface::getPart ( const std::string & name ) [inherited]

Get a previously added part of this factory.

Parameters:

name

Returns:

Definition at line 188 of file OperationInterface.cpp.

Referenced by RTT::Service::create(), and RTT::Service::getOperation().

PortInterface * RTT::DataFlowInterface::getPort ( const std::string & name ) const [inherited]

Get an added port.

Parameters:

name	The port name

Returns:: a pointer to a port or null if it does not exist.

Definition at line 184 of file DataFlowInterface.cpp.

References RTT::DataFlowInterface::mports.

Referenced by RTT::TaskContext::connectPorts(), and RTT::DataFlowInterface::createPortObject().

std::string RTT::DataFlowInterface::getPortDescription ( const std::string & name ) const [inherited]

Get the description of an added Port.

Parameters:

name	The port name

Returns:: The description or "" if it does not exist.

Definition at line 193 of file DataFlowInterface.cpp.

References RTT::DataFlowInterface::mports.

Referenced by RTT::DataFlowInterface::createPortObject().

DataFlowInterface::PortNames RTT::DataFlowInterface::getPortNames ( ) const [inherited]

Get all port names of this interface.

Returns:: A sequence of strings containing the port names.

Deprecated:: by getNames()

Definition at line 175 of file DataFlowInterface.cpp.

References RTT::DataFlowInterface::mports.

DataFlowInterface::Ports RTT::DataFlowInterface::getPorts ( ) const [inherited]

Get all ports of this interface.

Returns:: A sequence of pointers to ports.

Definition at line 171 of file DataFlowInterface.cpp.

References RTT::DataFlowInterface::mports.

Referenced by RTT::TaskContext::connectPorts(), and RTT::TaskContext::disconnect().

base::PropertyBase* RTT::ConfigurationInterface::getProperty ( const std::string & name ) const [inline, inherited]

Get a Property with name name.

Parameters:

name	The name of the property to search for.

Returns:: The PropertyBase with this name, zero if it does not exist.

Definition at line 275 of file ConfigurationInterface.hpp.

std::string OperationInterface::getResultType ( const std::string & name ) const [inherited]

Get the type name of the result type of an operation.

Parameters:

name	The name of the operation

Returns:: A name of a data type.

Exceptions:

name_not_found_exception

Definition at line 154 of file OperationInterface.cpp.

Service* RTT::DataFlowInterface::getService ( ) const [inline, inherited]

Returns the service this interface belongs to.

The returned service is a service living in the component returned by getOwner() or in one of its sub-services.

Definition at line 193 of file DataFlowInterface.hpp.

Service::shared_ptr RTT::Service::getService ( const std::string & service_name ) [inherited]

Returns a shared pointer to strictly a sub-service.

This method will not return the this pointer when service_name equals "this".

Definition at line 134 of file Service.cpp.

References RTT::Service::services.

Referenced by RTT::DataFlowInterface::setPortDescription().

bool RTT::Service::hasOperation ( const std::string & name ) const [inherited]

Query for the existence of a Operation in this interface.

See also:: hasMember() to verify if a operation is available to scripting as well.

Definition at line 230 of file Service.cpp.

Referenced by RTT::Service::getLocalOperation(), RTT::Service::removeOperation(), RTT::Service::resetOperation(), and RTT::Service::setOperationThread().

bool OperationInterface::isSynchronous ( const std::string & name ) const [inherited]

Query if a given operation is limited to sychronous invocation (own component thread) only.

Returns:: false if name not found or a normal operation, true if name exists but is synchronous.

Definition at line 93 of file OperationInterface.cpp.

base::DataSourceBase::shared_ptr OperationInterface::produce	(	const std::string &	name,
		const Arguments &	args,
		ExecutionEngine *	caller
	)		const `[inherited]`

Produce a DataSource that call()s an operation.

The DataSource will return the result of call().

Parameters:

name	The name of the operation
args	The arguments filled in as data sources.

Returns:: a new object

Exceptions:

wrong_number_of_args_exception
wrong_types_of_args_exception
name_not_found_exception

Definition at line 105 of file OperationInterface.cpp.

base::DataSourceBase::shared_ptr OperationInterface::produceCollect	(	const std::string &	name,
		const Arguments &	args,
		internal::DataSource< bool >::shared_ptr	blocking
	)		const `[inherited]`

Produce a DataSource that collects a sent operation, The DataSource will return the SendStatus and store the results in the presented arguments.

Note that this function takes most of the time less arguments than its companions.

Parameters:

name	The name of the operation
args	The arguments filled in as data sources.
blocking	Set to true to block on the result.

Returns:: a new object

Exceptions:

wrong_number_of_args_exception
wrong_types_of_args_exception
name_not_found_exception
no_asynchronous_operation_exception

Definition at line 129 of file OperationInterface.cpp.

base::DataSourceBase::shared_ptr OperationInterface::produceHandle ( const std::string & name ) const [inherited]

Produce an AssignableDataSource that contains a SendHandle, fit for the operation.

The DataSource will return the SendHandle.

Parameters:

name	The name of the operation
args	The arguments filled in as data sources.

Returns:: a new object

Exceptions:

wrong_number_of_args_exception
wrong_types_of_args_exception
name_not_found_exception
no_asynchronous_operation_exception

Definition at line 121 of file OperationInterface.cpp.

base::DataSourceBase::shared_ptr OperationInterface::produceSend	(	const std::string &	name,
		const Arguments &	args,
		ExecutionEngine *	caller
	)		const `[inherited]`

Produce a DataSource that send()s an operation.

The DataSource will return the SendHandle of that operation.

Parameters:

name	The name of the operation
args	The arguments filled in as data sources.

Returns:: a new object

Exceptions:

wrong_number_of_args_exception
wrong_types_of_args_exception
name_not_found_exception
no_asynchronous_operation_exception

Definition at line 113 of file OperationInterface.cpp.

Service::shared_ptr RTT::Service::provides ( ) [inherited]

Returns this Service.

Returns:: a shared pointer from this.

Definition at line 111 of file Service.cpp.

Referenced by RTT::Service::provides().

Service::shared_ptr RTT::Service::provides ( const std::string & service_name ) [inherited]

Returns a sub-Service which resorts under this Service.

Parameters:

service_name The name of the sub-service.

Definition at line 121 of file Service.cpp.

References RTT::Service::provides(), and RTT::Service::services.

void OperationInterface::remove ( const std::string & name ) [inherited]

Remove an added operation from the interface.

Parameters:

name	The name of the operation

Definition at line 178 of file OperationInterface.cpp.

Referenced by RTT::Service::removeOperation().

void RTT::DataFlowInterface::removePort ( const std::string & name ) [inherited]

Remove a Port from this interface.

This will remove all connections and callbacks assosiated with this port.

Parameters:

port	The port to remove.

Definition at line 155 of file DataFlowInterface.cpp.

References RTT::Service::getOwner(), RTT::DataFlowInterface::mports, RTT::DataFlowInterface::mservice, and RTT::Service::removeService().

Referenced by RTT::DataFlowInterface::addLocalPort().

bool RTT::ConfigurationInterface::removeProperty ( base::PropertyBase & p ) [inherited]

Remove a previously added Property and associated attribute.

Returns:: false if no such property exists.

Definition at line 129 of file ConfigurationInterface.cpp.

References RTT::base::PropertyBase::getName().

void RTT::Service::removeService ( std::string const & service_name ) [virtual, inherited]

Remove a previously added sub-service.

Parameters:

the	name of the service to remove.

Definition at line 102 of file Service.cpp.

References RTT::Service::services.

Referenced by RTT::DataFlowInterface::addEventPort(), RTT::DataFlowInterface::addPort(), RTT::Service::clear(), RTT::DataFlowInterface::clear(), and RTT::DataFlowInterface::removePort().

bool RTT::Service::setOperationThread	(	std::string const &	name,
		ExecutionThread	et
	)		`[inherited]`

Sets the thread of execution of a previously added operation.

Only the component itself should modify this property. Don't call this function from outside the component, it has unspecified behaviour when not called from within one of the member functions or a service of the current component.

This function is typically used to change the ExecutionThread of the standard component hooks such as startHook(), configureHook() etc. which all have the ClientThread policy by default.

Parameters:

name	The name of the operation to modify. For example, "start".
et	The ExecutionThread type in which the function of the operation will be executed, being OwnThread or ClientThread.

Returns:: true if name was a local, present operation, false otherwise.

Definition at line 159 of file Service.cpp.

References RTT::OperationInterfacePart::getLocalOperation(), RTT::Service::getOperation(), RTT::Service::getOwner(), RTT::Service::hasOperation(), and RTT::base::OperationCallerInterface::setThread().

bool RTT::DataFlowInterface::setPortDescription	(	const std::string &	name,
		const std::string	description
	)		`[inherited]`

Sets the description for the service of an added port.

It's prefered to use getPort(name)->doc(description) instead of this method, since this function only updates the documentation of the service representing this port, and not the documentation stored in the port.

Parameters: