StateMachineTask.hpp

00001 /***************************************************************************
00002   tag: Peter Soetens  Wed Jan 18 14:11:40 CET 2006  StateMachineTask.hpp
00003 
00004                         StateMachineTask.hpp -  description
00005                            -------------------
00006     begin                : Wed January 18 2006
00007     copyright            : (C) 2006 Peter Soetens
00008     email                : peter.soetens@mech.kuleuven.be
00009 
00010  ***************************************************************************
00011  *   This library is free software; you can redistribute it and/or         *
00012  *   modify it under the terms of the GNU General Public                   *
00013  *   License as published by the Free Software Foundation;                 *
00014  *   version 2 of the License.                                             *
00015  *                                                                         *
00016  *   As a special exception, you may use this file as part of a free       *
00017  *   software library without restriction.  Specifically, if other files   *
00018  *   instantiate templates or use macros or inline functions from this     *
00019  *   file, or you compile this file and link it with other files to        *
00020  *   produce an executable, this file does not by itself cause the         *
00021  *   resulting executable to be covered by the GNU General Public          *
00022  *   License.  This exception does not however invalidate any other        *
00023  *   reasons why the executable file might be covered by the GNU General   *
00024  *   Public License.                                                       *
00025  *                                                                         *
00026  *   This library is distributed in the hope that it will be useful,       *
00027  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
00028  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU     *
00029  *   Lesser General Public License for more details.                       *
00030  *                                                                         *
00031  *   You should have received a copy of the GNU General Public             *
00032  *   License along with this library; if not, write to the Free Software   *
00033  *   Foundation, Inc., 59 Temple Place,                                    *
00034  *   Suite 330, Boston, MA  02111-1307  USA                                *
00035  *                                                                         *
00036  ***************************************************************************/
00037 
00038 
00039 
00040 #ifndef STATEMACHINE_TASK_HPP
00041 #define STATEMACHINE_TASK_HPP
00042 
00043 #include "../TaskObject.hpp"
00044 #include "ParsedStateMachine.hpp"
00045 
00046 namespace RTT
00047 {
00048     class StateMachineTask;
00049     class ExecutionEngine;
00050     typedef boost::shared_ptr<StateMachineTask> StateMachineTaskPtr;
00051 
00056     class StateMachineTask
00057         : public TaskObject
00058     {
00059         //boost::weak_ptr<StateMachine> sm;
00060         // used when state machines are copied.
00061         // functions have a similar mechanism
00062         ValueDataSource< StateMachineWPtr >::shared_ptr _this;
00063         ParsedStateMachineWPtr statemachine;
00064         ExecutionEngine* mengine;
00065 
00066         bool true_gen() const;
00067 
00068         void createCommandFactory();
00069         void createMethodFactory();
00070 
00071     public:
00072         StateMachineTask* copy(ParsedStateMachinePtr newsc, std::map<const DataSourceBase*, DataSourceBase*>& replacements, bool instantiate );
00073 
00078         StateMachineTask(ParsedStateMachinePtr statemachine, ExecutionEngine* ee=0);
00079 
00080         ~StateMachineTask();
00081 
00085         StateMachinePtr getStateMachine() const { return _this->get().lock(); }
00086 
00087         ExecutionEngine* engine() const { return mengine; }
00088     };
00089 }
00090 
00091 #endif
Generated on Thu Dec 23 13:22:38 2010 for Orocos Real-Time Toolkit by  doxygen 1.6.3