Orocos Real-Time Toolkit  2.5.0
Public Types | Public Member Functions | Protected Member Functions | Protected Attributes
RTT::scripting::FunctionGraph Class Reference

This class represents a function. More...

#include <rtt/scripting/FunctionGraph.hpp>

Inheritance diagram for RTT::scripting::FunctionGraph:
RTT::scripting::ProgramInterface RTT::base::ExecutableInterface

List of all members.

Public Types

typedef EdgeCondition::EdgeProperty EdgeProperty
typedef VertexNode::VertProperty VertProperty
typedef boost::adjacency_list
< boost::vecS, boost::listS,
boost::directedS, VertProperty,
EdgeProperty > 
Graph
typedef boost::graph_traits
< Graph >::vertex_descriptor 
Vertex
typedef boost::graph_traits
< Graph >::edge_descriptor 
Edge

Public Member Functions

 FunctionGraph (const std::string &name, bool unload_on_stop)
 Create a FunctionGraph with a given name.
 FunctionGraph (const FunctionGraph &orig)
 Copy a FunctionGraph.
void setProgramService (ServicePtr myservice)
 Set a service that manages this script.
void setUnloadOnStop (bool unload_on_stop)
 Sets the unloading policy on stop or error.
virtual bool needsStart () const
 Returns true if a start() is necessary when this function is loaded with ExecutionEngine::runFunction().
void finish ()
 To be called after a function is constructed.
virtual bool start ()
 Start the execution of this program.
virtual bool execute ()
 Execute as much actions until the program needs to wait on a condition to become true.
virtual void loading ()
 Informs this object that it got loaded in an ExecutionEngine.
virtual void unloading ()
 Informs this object that it got unloaded from an ExecutionEngine.
virtual bool stop ()
 Stop the execution of this program.
virtual bool pause ()
 Pause or start-and-pause the execution of this program.
virtual bool step ()
 Execute a single action when paused.
virtual bool stepDone () const
virtual void reset ()
 Identical to stop();.
virtual int getLineNumber () const
 Return the current 'line number' of the program.
virtual const std::string & getName () const
 Programs can be refered to by name.
virtual FunctionGraphcopy (std::map< const base::DataSourceBase *, base::DataSourceBase * > &replacementdss) const
 Clone this Program.
virtual FunctionGraphclone () const
void setName (const std::string &_name)
 Set the name of this program.
void setText (const std::string &t)
 Set the program text.
std::string getText () const
 Return the program text to which getLineNumber() refers.
void debugPrintout () const
Vertex startNode () const
Vertex currentNode () const
Vertex previousNode () const
Vertex exitNode () const
const Graph & getGraph () const
Graph & getGraph ()
std::vector
< base::AttributeBase * > 
getArguments () const
 Return an ordered list of this funcion's arguments.
base::AttributeBasegetResult () const
 Get the return value of this program.
void addArgument (base::AttributeBase *a)
void setResult (base::AttributeBase *r)
 Will store the result in this attribute.
void clearArguments ()
 Clear the arguments vector and release all base::AttributeBase resources.
bool isRunning () const
 Returns true if the program is running.
bool isPaused () const
 Returns true if the program is paused.
bool isStopped () const
 Returns true if the program is not executing (stopped) or not loaded.
bool inError () const
 Returns true if the program is in error.
Status::ProgramStatus getStatus () const
 Return the current status of the program.
void loaded (ExecutionEngine *ee)
 Called by the ExecutionEngine ee to tell this object it is being loaded.
void unloaded ()
 Called by the ExecutionEngine ee to tell this object it is being unloaded.
bool isLoaded ()
 Returns true if this object is loaded in an ExecutionEngine.
ExecutionEnginegetEngine ()
 Returns the ExecutionEngine this object is loaded into or null otherwise.

Protected Member Functions

bool executeUntil ()
bool executeStep ()

Protected Attributes

Graph program
 The graph containing this function.
Vertex startv
Vertex exitv
std::string myName
 The (unique) name of this program.
std::string _text
 Program text.
std::vector
< base::AttributeBase * > 
args
 Ordered arguments (are also in the repository).
base::AttributeBaseretn
bool pausing
bool mstep
bool munload_on_stop
ServicePtr context
Status::ProgramStatus pStatus
ExecutionEngineengine

Detailed Description

This class represents a function.

It has much in common with a program but is only used for storing a Graph.

Definition at line 59 of file FunctionGraph.hpp.


Constructor & Destructor Documentation

RTT::FunctionGraph::FunctionGraph ( const std::string &  name,
bool  unload_on_stop 
)

Create a FunctionGraph with a given name.

Parameters:
nameThe name of this script.
unload_on_stopSet to true to force an unload when the script stops or an error is encountered. The unload is forced by returning false in execute(), as defined in the ExecutableInterface. This flag should only be set to true for scripts that don't have a service associated (see setProgramService() ), since the service is destroyed when the function is unloaded. You can override this behavior after construction by using setUnloadOnStop().

Definition at line 59 of file FunctionGraph.cpp.

References program.

Referenced by copy().


Member Function Documentation

FunctionGraph * RTT::FunctionGraph::copy ( std::map< const base::DataSourceBase *, base::DataSourceBase * > &  replacementdss) const [virtual]

Clone this Program.

This will produce a completely new instance, that has nothing in common with this one. It takes care to properly map identical DataSources to identical DataSources.

Parameters:
alreadyMappedDataA map of some DataSources used in this program to new DataSources that should replace them in the new Program. This is provided, because in some cases the outside world also keeps references to datasources used somewhere in this programgraph. It is then important that when this Program is copied, the outside world has a way to get a reference to the corresponding datasources in the new program. We do this by allowing it to map some datasources itself, and simply provide us a list of its mappings.

Implements RTT::scripting::ProgramInterface.

Definition at line 383 of file FunctionGraph.cpp.

References args, RTT::base::AttributeBase::copy(), finish(), FunctionGraph(), getName(), program, and setResult().

bool RTT::FunctionGraph::execute ( ) [virtual]

Execute as much actions until the program needs to wait on a condition to become true.

When paused, only execute one action.

Returns:
false if a program error occured.

Implements RTT::scripting::ProgramInterface.

Definition at line 199 of file FunctionGraph.cpp.

References RTT::scripting::ProgramInterface::Status::error, RTT::scripting::ProgramInterface::Status::paused, RTT::scripting::ProgramInterface::Status::running, and RTT::scripting::ProgramInterface::Status::stopped.

Returns the ExecutionEngine this object is loaded into or null otherwise.

Returns:

Definition at line 102 of file ExecutableInterface.hpp.

Referenced by RTT::scripting::StateMachine::loading(), and RTT::scripting::StateMachine::~StateMachine().

bool RTT::base::ExecutableInterface::isLoaded ( ) [inline, inherited]

Returns true if this object is loaded in an ExecutionEngine.

Returns:
true if so.

Definition at line 95 of file ExecutableInterface.hpp.

Referenced by pause(), RTT::ExecutionEngine::removeFunction(), start(), step(), and RTT::scripting::StateMachine::~StateMachine().

void RTT::base::ExecutableInterface::loaded ( ExecutionEngine ee) [inline, inherited]

Called by the ExecutionEngine ee to tell this object it is being loaded.

The engine pointer is set first and the user's loading() function is called next.

Parameters:
eeThe pointer to the engine calling us.

Definition at line 70 of file ExecutableInterface.hpp.

Referenced by RTT::ExecutionEngine::runFunction().

void RTT::FunctionGraph::loading ( ) [virtual]

Informs this object that it got loaded in an ExecutionEngine.

Called by load() after the engine pointer is set.

Reimplemented from RTT::base::ExecutableInterface.

Definition at line 136 of file FunctionGraph.cpp.

References start().

virtual bool RTT::scripting::FunctionGraph::needsStart ( ) const [inline, virtual]

Returns true if a start() is necessary when this function is loaded with ExecutionEngine::runFunction().

Functions that unload_on_stop == true don't need to be started since they will start themselves when loaded in the EE.

Implements RTT::scripting::ProgramInterface.

Definition at line 156 of file FunctionGraph.hpp.

void RTT::FunctionGraph::setName ( const std::string &  _name)

Set the name of this program.

Only valid before endProgram() is called.

Definition at line 363 of file FunctionGraph.cpp.

References myName.

void RTT::FunctionGraph::setProgramService ( ServicePtr  myservice)

Set a service that manages this script.

The service will be destroyed when this function is unloaded.

Definition at line 126 of file FunctionGraph.cpp.

void RTT::FunctionGraph::setUnloadOnStop ( bool  unload_on_stop)

Sets the unloading policy on stop or error.

Parameters:
unload_on_stopSee the description of the constructor of this class.

Definition at line 131 of file FunctionGraph.cpp.

void RTT::base::ExecutableInterface::unloaded ( ) [inline, inherited]

Called by the ExecutionEngine ee to tell this object it is being unloaded.

The user's loading() function is called first and the engine pointer is cleared next.

Definition at line 78 of file ExecutableInterface.hpp.

Referenced by RTT::ExecutionEngine::removeFunction().

void RTT::FunctionGraph::unloading ( ) [virtual]

Informs this object that it got unloaded from an ExecutionEngine.

Called by unload() before the engine pointer is cleared.

Reimplemented from RTT::base::ExecutableInterface.

Definition at line 143 of file FunctionGraph.cpp.


The documentation for this class was generated from the following files: