VertexNode.hpp

/***************************************************************************
  tag: Peter Soetens  Mon Jan 19 14:11:21 CET 2004  VertexNode.hpp

                        VertexNode.hpp -  description
                           -------------------
    begin                : Mon January 19 2004
    copyright            : (C) 2004 Peter Soetens
    email                : peter.soetens@mech.kuleuven.ac.be

 ***************************************************************************
 *   This library is free software; you can redistribute it and/or         *
 *   modify it under the terms of the GNU General Public                   *
 *   License as published by the Free Software Foundation;                 *
 *   version 2 of the License.                                             *
 *                                                                         *
 *   As a special exception, you may use this file as part of a free       *
 *   software library without restriction.  Specifically, if other files   *
 *   instantiate templates or use macros or inline functions from this     *
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 *   resulting executable to be covered by the GNU General Public          *
 *   License.  This exception does not however invalidate any other        *
 *   reasons why the executable file might be covered by the GNU General   *
 *   Public License.                                                       *
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 ***************************************************************************/

#ifndef VERTEXNODE_HPP
#define VERTEXNODE_HPP

#include <map>
#include "CommandInterface.hpp"

namespace RTT
{
    class DataSourceBase;
}


// adjacency_list has some very short template parameter names,
// which may be defined as macros on some OS's. So undef here.
#undef DS
#undef OEL
#undef VL
#undef VP
#undef EP
#undef GP
#undef EL

#define BOOST_NO_HASH
#include <boost/graph/adjacency_list.hpp>

namespace RTT {
    enum vertex_command_t { vertex_command };
    enum vertex_exec_t { vertex_exec };
}

namespace boost {
    using RTT::vertex_exec_t;
    using RTT::vertex_command_t;
    BOOST_INSTALL_PROPERTY(vertex, command);
    BOOST_INSTALL_PROPERTY(vertex, exec);
}

namespace RTT
{
    class ProcessorControlInterface;
    class ProcessorInterface;
    class StateDescription;

  class RTT_API VertexNode
  {
  public:
      enum NodeTypes { normal_node, prog_start_node, prog_exit_node, func_start_node, func_exit_node };
      typedef boost::property<vertex_command_t, VertexNode,
                       boost::property<vertex_exec_t, int,
                                boost::property<boost::vertex_index_t, int> > > VertProperty;

      VertexNode();

      explicit VertexNode(CommandInterface* cmd);

      VertexNode( const VertexNode& orig );

      VertexNode copy( std::map<const DataSourceBase*, DataSourceBase*>& rdss ) const;

      VertexNode& operator=( const VertexNode& orig );

  public:
//         static VertexNode* leafNode( ProcessorInterface* proc)
//         {
//             CommandStopExecution* cmd = new CommandStopExecution( proc );
//             return new VertexNode( cmd );
//         }

      ~VertexNode();

         void startExecution();

         bool execute();

         bool isValid() const;
         CommandInterface* setCommand(CommandInterface* c);

         void setLineNumber(int ln);

         CommandInterface* getCommand() const;

         int getLineNumber() const;
    private:

        CommandInterface* command;

        int lineNumber;

    };
}

#endif