Orocos Real-Time Toolkit  2.6.0
VertexNode.hpp
00001 /***************************************************************************
00002   tag: Peter Soetens  Mon Jan 19 14:11:21 CET 2004  VertexNode.hpp
00003 
00004                         VertexNode.hpp -  description
00005                            -------------------
00006     begin                : Mon January 19 2004
00007     copyright            : (C) 2004 Peter Soetens
00008     email                : peter.soetens@mech.kuleuven.ac.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,       *
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             *
00032  *   License along with this library; if not, write to the Free Software   *
00033  *   Foundation, Inc., 59 Temple Place,                                    *
00034  *   Suite 330, Boston, MA  02111-1307  USA                                *
00035  *                                                                         *
00036  ***************************************************************************/
00037 
00038 #ifndef VERTEXNODE_HPP
00039 #define VERTEXNODE_HPP
00040 
00041 #include "rtt-scripting-config.h"
00042 #include <map>
00043 #include "../base/ActionInterface.hpp"
00044 
00045 // adjacency_list has some very short template parameter names,
00046 // which may be defined as macros on some OS's. So undef here.
00047 #undef DS
00048 #undef OEL
00049 #undef VL
00050 #undef VP
00051 #undef EP
00052 #undef GP
00053 #undef EL
00054 #define BOOST_NO_HASH
00055 #include <boost/graph/adjacency_list.hpp>
00056 
00057 namespace RTT
00058 { namespace scripting {
00059     enum vertex_command_t { vertex_command };
00060     enum vertex_exec_t { vertex_exec };
00061 }}
00062 
00063 namespace boost {
00064     using RTT::scripting::vertex_exec_t;
00065     using RTT::scripting::vertex_command_t;
00066     BOOST_INSTALL_PROPERTY(vertex, command);
00067     BOOST_INSTALL_PROPERTY(vertex, exec);
00068 }
00069 
00070 namespace RTT
00071 { namespace scripting {
00072 
00076   class RTT_SCRIPTING_API VertexNode
00077   {
00078   public:
00082       enum NodeTypes { normal_node, prog_start_node, prog_exit_node, func_start_node, func_exit_node };
00083       typedef boost::property<vertex_command_t, VertexNode,
00084                        boost::property<vertex_exec_t, int,
00085                                 boost::property<boost::vertex_index_t, int> > > VertProperty;
00086 
00091       VertexNode();
00092 
00097       explicit VertexNode(base::ActionInterface* cmd);
00098 
00102       VertexNode( const VertexNode& orig );
00103 
00104       VertexNode copy( std::map<const base::DataSourceBase*, base::DataSourceBase*>& rdss ) const;
00105 
00106       VertexNode& operator=( const VertexNode& orig );
00107 
00108   public:
00118 //         static VertexNode* leafNode( ProcessorInterface* proc)
00119 //         {
00120 //             CommandStopExecution* cmd = new CommandStopExecution( proc );
00121 //             return new VertexNode( cmd );
00122 //         }
00123 
00124       ~VertexNode();
00125 
00138          void startExecution();
00139 
00144          bool execute();
00145 
00149          bool isValid() const;
00157          base::ActionInterface* setCommand(base::ActionInterface* c);
00158 
00165          void setLineNumber(int ln);
00166 
00174          base::ActionInterface* getCommand() const;
00175 
00180          int getLineNumber() const;
00181     private:
00182 
00186         base::ActionInterface* command;
00187 
00193         int lineNumber;
00194 
00195     };
00196 }}
00197 
00198 #endif
00199 
00200 
00201