Orocos Real-Time Toolkit  2.6.0
CommandFunctors.hpp
00001 /***************************************************************************
00002   tag: FMTC  do nov 2 13:06:11 CET 2006  CommandFunctors.hpp
00003 
00004                         CommandFunctors.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,       *
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,                                    *
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00035  *                                                                         *
00036  ***************************************************************************/
00037 
00038 
00039 #ifndef ORO_COMMANDFUNCTORS_HPP
00040 #define ORO_COMMANDFUNCTORS_HPP
00041 
00042 #include <boost/bind.hpp>
00043 #include <boost/function.hpp>
00044 #include <boost/type_traits/function_traits.hpp>
00045 
00046 #include "../base/ActionInterface.hpp"
00047 #include "ConditionInterface.hpp"
00048 
00049 namespace RTT
00050 {
00051     namespace scripting {
00052 
00057         class CommandFunction
00058             :public base::ActionInterface
00059         {
00060         public:
00061             typedef boost::function<bool(void)> Function;
00062 
00063             Function com;
00064 
00068             CommandFunction(Function impl)
00069                 : com(impl)
00070             {
00071             }
00072 
00073             virtual void readArguments() { }
00074 
00075             virtual bool execute() { return com(); }
00076 
00077             virtual CommandFunction* clone() const
00078             {
00079                 return new CommandFunction( com );
00080             }
00081         };
00082 
00087         class ConditionFunction
00088             :public ConditionInterface
00089         {
00090         public:
00091             typedef boost::function<bool(void)> Function;
00092 
00093             Function con;
00094             bool minvert;
00095 
00099             ConditionFunction(Function impl, bool invert=false)
00100                 : con(impl), minvert(invert)
00101             {
00102             }
00103 
00104             virtual bool evaluate() { return con() != minvert; }
00105 
00106             virtual ConditionFunction* clone() const
00107             {
00108                 return new ConditionFunction( con, minvert );
00109             }
00110         };
00111     }
00112 }
00113 
00114 #endif