CommandC.hpp

/***************************************************************************
  tag: Peter Soetens  Wed Jan 18 14:11:40 CET 2006  CommandC.hpp

                        CommandC.hpp -  description
                           -------------------
    begin                : Wed January 18 2006
    copyright            : (C) 2006 Peter Soetens
    email                : peter.soetens@mech.kuleuven.be

 ***************************************************************************
 *   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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#ifndef ORO_EXECUTION_COMMANDC_HPP
#define ORO_EXECUTION_COMMANDC_HPP

#include <string>
#include <utility>

#include "DataSourceBase.hpp"
#include "OperationFactory.hpp"

namespace RTT
{
    class ConditionInterface;

    class RTT_API CommandC
    {
        class D;
        D* d;
        DispatchInterface::shared_ptr cc;
    public:
        CommandC();

        CommandC( const CommandFactory* gcf, const std::string& name);

        CommandC(const CommandC& other);

        CommandC(DispatchInterface* di);

        CommandC(DispatchInterface::shared_ptr di);

        CommandC& operator=( const CommandC& other );

        ~CommandC();

        CommandC& arg( DataSourceBase::shared_ptr a );

        template< class ArgT >
        CommandC& argC( const ArgT a );

        template< class ArgT >
        CommandC& arg( ArgT& a );

        bool ready() const;

        bool execute();

        bool sent() const;

        bool accepted() const;

        bool executed() const;

        bool valid() const;

        bool done() const;

        void reset();

    };
}

#include "DataSources.hpp"

namespace RTT
{

        template< class ArgT >
        CommandC& CommandC::argC( const ArgT a )
        {
            return this->arg(DataSourceBase::shared_ptr( new ConstantDataSource<ArgT>( a ) ) );
        }

        template< class ArgT >
        CommandC& CommandC::arg( ArgT& a )
        {
            return this->arg(DataSourceBase::shared_ptr( new ReferenceDataSource<ArgT&>( a ) ) );
        }

}

#endif