Orocos Real-Time Toolkit  2.6.0
OperationCaller.hpp
00001 /***************************************************************************
00002   tag: FMTC  do nov 2 13:06:07 CET 2006  OperationCaller.hpp
00003 
00004                         OperationCaller.hpp -  description
00005                            -------------------
00006     begin                : do november 02 2006
00007     copyright            : (C) 2006 FMTC
00008     email                : peter.soetens@fmtc.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,       *
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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_TASK_OPERATION_CALLER_HPP
00040 #define ORO_TASK_OPERATION_CALLER_HPP
00041 
00042 #include <string>
00043 #include <boost/function.hpp>
00044 #include "base/OperationCallerBase.hpp"
00045 #ifdef ORO_TEST_OPERATION_CALLER
00046 #include "internal/UnMember.hpp"
00047 #include "internal/LocalOperationCaller.hpp"
00048 #endif
00049 #include "internal/InvokerSignature.hpp"
00050 #include "base/OperationCallerBaseInvoker.hpp"
00051 #include "Logger.hpp"
00052 #include "Service.hpp"
00053 #ifdef ORO_REMOTING
00054 #include "OperationInterface.hpp"
00055 #include "internal/RemoteOperationCaller.hpp"
00056 #endif
00057 
00058 namespace RTT
00059 {
00081     template<class SignatureT>
00082     class OperationCaller
00083         : public internal::InvokerSignature<boost::function_traits<SignatureT>::arity,
00084                                           SignatureT,
00085                                           boost::shared_ptr< base::OperationCallerBase<SignatureT> > >,
00086           public base::OperationCallerBaseInvoker
00087     {
00088         std::string mname;
00089         ExecutionEngine* mcaller;
00090     public:
00091         typedef SignatureT Signature;
00092         typedef internal::InvokerSignature<boost::function_traits<Signature>::arity,
00093                                          Signature,
00094                                          boost::shared_ptr< base::OperationCallerBase<Signature> > > Base;
00095         typedef typename boost::function_traits<Signature>::result_type result_type;
00096         typedef boost::function_traits<Signature> traits;
00097         typedef boost::shared_ptr< base::OperationCallerBase<Signature> > OperationCallerBasePtr;
00098 
00103         OperationCaller()
00104             : Base(), mname()
00105         {}
00106 
00111         OperationCaller(std::string name, ExecutionEngine* caller = 0)
00112             : Base(), mname(name), mcaller(caller)
00113         {}
00114 
00122         OperationCaller(const OperationCaller& m)
00123             : Base(m.impl ? boost::shared_ptr< base::OperationCallerBase<Signature> >(m.impl->cloneI(m.mcaller)) : m.impl ),
00124               mname(m.mname), mcaller(m.mcaller)
00125         {}
00126 
00136         OperationCaller& operator=(const OperationCaller& m)
00137         {
00138             if ( this == &m )
00139                 return *this;
00140             mname = m.mname;
00141             mcaller = m.mcaller;
00142             if (m.impl)
00143                 this->impl.reset( m.impl->cloneI(mcaller) );
00144             else
00145                 this->impl.reset();
00146             return *this;
00147         }
00148 
00158         OperationCaller(boost::shared_ptr<base::DisposableInterface> implementation, ExecutionEngine* caller = 0)
00159             : Base( boost::dynamic_pointer_cast< base::OperationCallerBase<Signature> >(implementation) ),
00160               mname(), mcaller(caller)
00161         {
00162             if ( !this->impl && implementation ) {
00163                 log(Error) << "Tried to construct OperationCaller from incompatible local operation."<< endlog();
00164             } else {
00165                 if (this->impl) {
00166                     this->impl.reset( this->impl->cloneI(mcaller) );
00167                 }
00168             }
00169         }
00170 
00179         OperationCaller(OperationInterfacePart* part, ExecutionEngine* caller = 0)
00180             : Base(),
00181               mname(), mcaller(caller)
00182         {
00183             if (part) {
00184                  mname = part->getName();
00185                  this->impl = boost::dynamic_pointer_cast< base::OperationCallerBase<Signature> >( part->getLocalOperation() );
00186                  setupOperationCaller( part );
00187             }
00188         }
00189 
00198         OperationCaller(const std::string& name, ServicePtr service, ExecutionEngine* caller = 0)
00199             : Base(),
00200               mname(name), mcaller(caller)
00201         {
00202             if (service) {
00203                  this->impl = boost::dynamic_pointer_cast< base::OperationCallerBase<Signature> >( service->getLocalOperation(name) );
00204                  if (service->hasMember(name))
00205                      setupOperationCaller( service->getOperation(name) );
00206             }
00207         }
00208 
00217         OperationCaller& operator=(boost::shared_ptr<base::DisposableInterface> implementation)
00218         {
00219             if (this->impl && this->impl == implementation)
00220                 return *this;
00221             OperationCaller<Signature> tmp(implementation);
00222             *this = tmp;
00223             return *this;
00224         }
00225 
00235         OperationCaller& operator=(OperationInterfacePart* part)
00236         {
00237             if (part == 0) {
00238                 log(Warning) << "Assigning OperationCaller from null part."<<endlog();
00239                 this->impl.reset();
00240             }
00241             if (this->impl && this->impl == part->getLocalOperation() )
00242                 return *this;
00243             OperationCaller<Signature> tmp(part);
00244             *this = tmp;
00245             return *this;
00246         }
00247 
00255         OperationCaller& operator=(ServicePtr service)
00256         {
00257             if ( !service ) {
00258                 log(Warning) << "Assigning OperationCaller from null service."<<endlog();
00259                 this->impl.reset();
00260             }
00261             if (this->mname.empty()) {
00262                 log(Error) << "Can't initialise unnamed OperationCaller from service '"<<service->getName() <<"'."<<endlog();
00263                 return *this;
00264             }
00265             OperationCaller<Signature> tmp(mname,service);
00266             *this = tmp;
00267             return *this;
00268         }
00269 
00270 #ifdef ORO_TEST_OPERATION_CALLER
00271 
00279         template<class M, class ObjectType>
00280         OperationCaller(std::string name, M meth, ObjectType object, ExecutionEngine* ee = 0, ExecutionEngine* caller = 0, ExecutionThread et = ClientThread)
00281             : Base( OperationCallerBasePtr(new internal::LocalOperationCaller<Signature>(meth, object, ee, caller, et) ) ),
00282               mname(name), mcaller(caller)
00283         {}
00284 
00291         template<class M>
00292         OperationCaller(std::string name, M meth, ExecutionEngine* ee = 0, ExecutionEngine* caller = 0, ExecutionThread et = ClientThread)
00293             : Base( OperationCallerBasePtr(new internal::LocalOperationCaller<Signature>(meth,ee,caller, et) ) ),
00294               mname(name), mcaller(caller)
00295         {}
00296 #endif
00297 #ifdef ORO_REMOTING
00298 
00304         template<class M>
00305         OperationCaller(std::string name, OperationInterfacePart* orp, ExecutionEngine* caller = 0)
00306             : Base( OperationCallerBasePtr(new internal::RemoteOperationCaller<Signature>(orp,caller) ) ),
00307               mname(name)
00308         {}
00309 #endif
00310 
00314         ~OperationCaller()
00315         {
00316         }
00317 
00323         bool ready() const {
00324             return this->impl && this->impl->ready();
00325         }
00326 
00327 
00331         std::string const& getName() const {return mname;}
00332 
00333         bool setImplementation(boost::shared_ptr<base::DisposableInterface> implementation, ExecutionEngine* caller = 0) {
00334             *this = implementation;
00335             if ( this->impl ) {
00336                 this->mcaller = caller;
00337                 this->impl->setCaller(caller);
00338             }
00339             return ready();
00340         }
00341 
00342         bool setImplementationPart(OperationInterfacePart* orp, ExecutionEngine* caller = 0) {
00343             OperationCaller<Signature> tmp(orp, caller);
00344             if (tmp.ready()) {
00345                 *this = tmp;
00346                 return true;
00347             }
00348             return false;
00349         }
00350 
00354         const OperationCallerBasePtr getOperationCallerImpl() const {
00355             return this->impl;
00356         }
00357 
00361         void setOperationCallerImpl( OperationCallerBasePtr new_impl) const {
00362             this->impl = new_impl;
00363         }
00364 
00365         void setCaller(ExecutionEngine* caller) {
00366             this->mcaller = caller;
00367             if (this->impl)
00368                 this->impl->setCaller(caller);
00369         }
00370 
00371         void disconnect()
00372         {
00373             this->impl.reset();
00374         }
00375     protected:
00381         void setupOperationCaller(OperationInterfacePart* part) {
00382             if ( !this->impl ) {
00383 #ifdef ORO_REMOTING
00384                 // try differently
00385                 try {
00386                     this->impl.reset( new internal::RemoteOperationCaller<Signature>( part, mname, mcaller ));
00387                 } catch( std::exception& e ) {
00388                     log(Error) << "Constructing RemoteOperationCaller for "<< mname <<" was not possible."<<endlog();
00389                     log(Error) << "Probable cause: " << e.what() <<endlog();
00390                     return;
00391                 }
00392                 if (this->impl->ready()) {
00393                     log(Debug) << "Constructed OperationCaller from remote implementation '"<< mname<<"'."<< endlog();
00394                     this->impl->setCaller(mcaller);
00395                 } else {
00396                     this->impl.reset(); // clean up.
00397                     log(Error) << "Tried to construct OperationCaller from incompatible operation '"<< mname<<"'."<< endlog();
00398                 }
00399 #else
00400                 log(Error) << "Tried to construct remote OperationCaller but ORO_REMOTING was disabled."<< endlog();
00401 #endif
00402             } else {
00403                 // finally clone and set caller on clone.
00404                 this->impl.reset( this->impl->cloneI(mcaller) );
00405             }
00406         }
00407 
00408     };
00409 
00410 #ifdef ORO_TEST_OPERATION_CALLER
00411 
00418     template<class F, class O>
00419     OperationCaller< typename internal::UnMember<F>::type > method(std::string name, F method, O object, ExecutionEngine* ee = 0, ExecutionEngine* caller = 0) {
00420         return OperationCaller<  typename internal::UnMember<F>::type >(name, method, object, ee, caller);
00421     }
00422 
00429     template<class F>
00430     OperationCaller<F> method(std::string name, F method, ExecutionEngine* ee = 0, ExecutionEngine* caller = 0) {
00431         return OperationCaller<F>(name, method, ee, caller);
00432     }
00439     template<class F>
00440     OperationCaller< typename internal::ArgMember<F>::type > method_ds(std::string name, F method, ExecutionEngine* ee = 0, ExecutionEngine* caller = 0) {
00441         return OperationCaller<  typename internal::ArgMember<F>::type >(name, method, ee, caller);
00442     }
00443 #endif
00444 }
00445 
00446 #endif