RTT::CommandExecFunction Class Reference

A command which queues (dispatches) a FunctionFraph for execution in a ProgramProcessor. More...

#include <rtt/CommandExecFunction.hpp>

Inheritance diagram for RTT::CommandExecFunction:

Public Types
enum	Status { NotReady, Ready, Sent, NotAccepted, Accepted, Executed, NotValid, Valid, Done }
	The status progressions of a Dispatchable Command. More...
typedef boost::shared_ptr < DispatchInterface >	shared_ptr
	If you want to share ownership of DispatchInterface instances, use this shared_ptr type.
Public Member Functions
	CommandExecFunction (CommandInterface init_com, boost::shared_ptr< ProgramInterface > foo, ProgramProcessor p, AssignableDataSource< ProgramInterface * > v=0, AssignableDataSource< bool > a=0)
	Create a Command to send a function to a ProgramProcessor.
void	readArguments ()
	This is invoked some time before execute() at a time when the action may read its function arguments.
bool	ready () const
	The command's effect is done.
bool	dispatch ()
	Dispatch a command.
bool	execute ()
	Execute the functionality of this action.
void	reset ()
	After reset(), another attempt to dispatch the command will be made upon execute().
virtual bool	sent () const
	Returns true if the command was sent to the CommandProcessor.
virtual bool	accepted () const
	Returns true if the command was accepted when sent to the CommandProcessor.
virtual bool	executed () const
	Returns true if the command was executed by the CommandProcessor.
virtual bool	valid () const
	Returns true if the command was valid, i.e.
virtual bool	done () const
	Returns true if the command is done.
ConditionInterface *	createCondition () const
	Create a condition which checks if this command is finished or not.
DispatchInterface *	clone () const
	The Clone Software Pattern.
DispatchInterface *	copy (std::map< const DataSourceBase , DataSourceBase > &alreadyCloned) const
	When copying an Orocos program, we want identical DataSource's to be mapped to identical DataSources, in order for the program to work correctly.

Detailed Description

A command which queues (dispatches) a FunctionFraph for execution in a ProgramProcessor.

See ConditionExecFunction to check if it is done or not.

Definition at line 89 of file CommandExecFunction.hpp.

Member Enumeration Documentation

enum RTT::DispatchInterface::Status [inherited]

The status progressions of a Dispatchable Command.

The order of these enums is important and should not be altered.

Enumerator:

Ready	The command is not yet initialised.
Sent	The command is ready for execution.
NotAccepted	The command has been sent/dispatched to the CommandProcessor.
Accepted	The command was not accepted by the CommandProcessor.
Executed	The command was accepted by the CommandProcessor.
NotValid	The command was executed by the CommandProcessor.
Valid	The command's arguments were found to be invalid.
Done	The command's arguments were valid.

Definition at line 65 of file DispatchInterface.hpp.

Constructor & Destructor Documentation

RTT::CommandExecFunction::CommandExecFunction	(	CommandInterface *	init_com,
		boost::shared_ptr< ProgramInterface >	foo,
		ProgramProcessor *	p,
		AssignableDataSource< ProgramInterface * > *	v = `0`,
		AssignableDataSource< bool > *	a = `0`
	)

Create a Command to send a function to a ProgramProcessor.

Parameters:

	init_com	The command to execute before sending the function into the processor, in order to initialise it.
	foo	The function to run in the processor.
	p	The target processor which will run the function.
	v	Implementation specific parameter to support copy/clone semantics.

Member Function Documentation

virtual bool RTT::CommandExecFunction::accepted ( ) const [inline, virtual]

Returns true if the command was accepted when sent to the CommandProcessor.

A Command is accepted when the CommandProcessor was running and its queue was not full.

Implements RTT::DispatchInterface.

Definition at line 152 of file CommandExecFunction.hpp.

DispatchInterface* RTT::CommandExecFunction::copy ( std::map< const DataSourceBase *, DataSourceBase * > & alreadyCloned ) const [inline, virtual]

When copying an Orocos program, we want identical DataSource's to be mapped to identical DataSources, in order for the program to work correctly.

This is different from the clone function, where we simply want a new Action that can replace the old one directly.

This function takes a map that maps the old DataSource's onto their new replacements. This way, it is possible to check before cloning a DataSource, whether it has already been copied, and if so, reuse the existing copy.

To keep old source working, the standard implementation of this function simply calls the clone function. If your ActionInterface uses a DataSource, it is important that you reimplement this function correctly though.

Reimplemented from RTT::DispatchInterface.

Definition at line 182 of file CommandExecFunction.hpp.

bool RTT::CommandExecFunction::dispatch ( ) [inline, virtual]

Dispatch a command.

If it is not accepted, fail, if it is accepted, return true

Implements RTT::DispatchInterface.

Definition at line 120 of file CommandExecFunction.hpp.

bool RTT::CommandExecFunction::execute ( ) [inline, virtual]

Execute the functionality of this action.