TryCommand.hpp

/***************************************************************************
  tag: Peter Soetens  Tue Dec 21 22:43:08 CET 2004  TryCommand.hpp

                        TryCommand.hpp -  description
                           -------------------
    begin                : Tue December 21 2004
    copyright            : (C) 2004 Peter Soetens
    email                : peter.soetens@mech.kuleuven.ac.be

 ***************************************************************************
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#ifndef ORO_TRY_COMMAND_HPP
#define ORO_TRY_COMMAND_HPP

#include "CommandInterface.hpp"
#include "ConditionInterface.hpp"
#include "Logger.hpp"
#include "DataSource.hpp"

namespace RTT
{



    class RTT_API TryCommand :
        public CommandInterface
    {
        // we must use a DataSource for correct
        // copy sementics ...
        AssignableDataSource<bool>::shared_ptr _result;
        CommandInterface* c;
    public:
        TryCommand( CommandInterface* command,
                    AssignableDataSource<bool>::shared_ptr storage=0);

        ~TryCommand();

        bool execute();
        void reset();

        bool valid() const;

        void readArguments();

        CommandInterface* theCommand() const;

        AssignableDataSource<bool>::shared_ptr result();

        TryCommand* clone() const;

        TryCommand* copy( std::map<const DataSourceBase*, DataSourceBase*>& alreadyCloned ) const;
    };

    class RTT_API TryCommandResult :
        public ConditionInterface
    {
        DataSource<bool>::shared_ptr c;
        bool _invert;
    public:
        TryCommandResult( DataSource<bool>::shared_ptr ec, bool invert);

        ~TryCommandResult();

        bool evaluate();

        ConditionInterface* clone() const;

        ConditionInterface* copy( std::map<const DataSourceBase*, DataSourceBase*>& alreadyCloned ) const;
    };

    class RTT_API EvalCommand :
        public CommandInterface
    {
        // the result
        AssignableDataSource<bool>::shared_ptr _cache;
        // the data to evaluate in the command.
        DataSource<bool>::shared_ptr _ds;
    public:
        EvalCommand( DataSource<bool>::shared_ptr ds, AssignableDataSource<bool>::shared_ptr cache=0);

        ~EvalCommand();

        void readArguments();

        bool execute();

        void reset();

        AssignableDataSource<bool>::shared_ptr cache();

        CommandInterface* clone() const;

        CommandInterface* copy( std::map<const DataSourceBase*, DataSourceBase*>& alreadyCloned ) const;
    };

    class RTT_API EvalCommandResult :
        public ConditionInterface
    {
        DataSource<bool>::shared_ptr c;
    public:
        EvalCommandResult( DataSource<bool>::shared_ptr ec);

        ~EvalCommandResult();

        bool evaluate();

        ConditionInterface* clone() const;

        ConditionInterface* copy( std::map<const DataSourceBase*, DataSourceBase*>& alreadyCloned ) const;
    };
}

#endif