Orocos Real-Time Toolkit  2.5.0
Operation.hpp
00001 /***************************************************************************
00002   tag: The SourceWorks  Tue Sep 7 00:55:18 CEST 2010  Operation.hpp
00003 
00004                         Operation.hpp -  description
00005                            -------------------
00006     begin                : Tue September 07 2010
00007     copyright            : (C) 2010 The SourceWorks
00008     email                : peter@thesourceworks.com
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             *
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00035  *                                                                         *
00036  ***************************************************************************/
00037 
00038 
00039 #ifndef ORO_RTT_OPERATION_HPP_
00040 #define ORO_RTT_OPERATION_HPP_
00041 
00042 #include <vector>
00043 #include <string>
00044 #include <boost/fusion/include/vector.hpp>
00045 #include "base/OperationBase.hpp"
00046 #include "internal/LocalOperationCaller.hpp"
00047 #ifdef ORO_SIGNALLING_OPERATIONS
00048 #include "internal/Signal.hpp"
00049 #endif
00050 #include "internal/OperationCallerBinder.hpp"
00051 
00052 namespace RTT
00053 {
00070     template<class Signature>
00071     class Operation
00072     : public base::OperationBase
00073     {
00074     public:
00082         Operation(const std::string& name)
00083         :OperationBase(name)
00084         {
00085             // set null implementation such that we can
00086             ExecutionEngine* null_e = 0;
00087             impl = boost::make_shared<internal::LocalOperationCaller<Signature> >( boost::function<Signature>(), this->mowner, null_e, OwnThread);
00088         }
00089 
00096         Operation(const std::string& name, boost::function<Signature> func, ExecutionThread et = ClientThread )
00097         :OperationBase(name)
00098         {
00099             this->calls(func,et);
00100         }
00101 
00109         template<class Function, class Object>
00110         Operation(const std::string& name, Function func, Object o, ExecutionThread et = ClientThread )
00111         :OperationBase(name)
00112         {
00113             this->calls(func, o, et);
00114         }
00115 
00116         ~Operation()
00117         {
00118         }
00119 
00125         Operation<Signature>& doc(const std::string& description) { mdoc(description); return *this; }
00126 
00134         Operation<Signature>& arg(const std::string& name, const std::string& description) { marg(name, description); return *this; }
00135 
00143         Operation& calls(boost::function<Signature> func, ExecutionThread et = ClientThread ) {
00144             // creates a Local OperationCaller
00145             ExecutionEngine* null_e = 0;
00146             impl = boost::make_shared<internal::LocalOperationCaller<Signature> >(func, this->mowner, null_e, et);
00147 #ifdef ORO_SIGNALLING_OPERATIONS
00148             if (signal)
00149                 impl->setSignal(signal);
00150 #endif
00151             return *this;
00152         }
00153 
00162         template<class Function, class Object>
00163         Operation& calls(Function func, Object o, ExecutionThread et = ClientThread ) {
00164             // creates a Local OperationCaller or sets function
00165             ExecutionEngine* null_e = 0;
00166             impl = boost::make_shared<internal::LocalOperationCaller<Signature> >(func, o, this->mowner, null_e, et);
00167 #ifdef ORO_SIGNALLING_OPERATIONS
00168             if (signal)
00169                 impl->setSignal(signal);
00170 #endif
00171             return *this;
00172         }
00173 
00174 #ifdef ORO_SIGNALLING_OPERATIONS
00175 
00180         Handle signals(boost::function<Signature> func) {
00181             // attaches a signal to a Local OperationCaller
00182             ExecutionEngine* null_e = 0;
00183             if (!impl)
00184                 impl = boost::make_shared<internal::LocalOperationCaller<Signature> >( boost::function<Signature>(), this->mowner, null_e, OwnThread);
00185             if (!signal) {
00186                 signal = boost::make_shared<internal::Signal<Signature> >();
00187                 impl->setSignal( signal );
00188             }
00189             return signal->connect( func );
00190         }
00191 
00198         template<class Function, class Object>
00199         Handle signals(Function func, Object o) {
00200             return this->signals( internal::OperationCallerBinder<Signature>()(func, o) );
00201         }
00202 #endif
00203         virtual base::DisposableInterface::shared_ptr getImplementation() { return impl; }
00204         virtual const base::DisposableInterface::shared_ptr getImplementation() const { return impl; }
00205 
00206         virtual typename base::OperationCallerBase<Signature>::shared_ptr getOperationCaller() { return impl; }
00207         virtual const typename base::OperationCallerBase<Signature>::shared_ptr getOperationCaller() const { return impl; }
00208 
00209 #ifdef ORO_SIGNALLING_OPERATIONS
00210 
00216         typename internal::Signal<Signature>::shared_ptr signal;
00217 #endif
00218     private:
00219         typename internal::LocalOperationCaller<Signature>::shared_ptr impl;
00220         virtual void ownerUpdated() {
00221             if (impl)
00222                 impl->setExecutor( this->mowner );
00223         }
00224     };
00225 
00226 }
00227 
00228 #endif /* OPERATION_HPP_ */