RTT::Corba::CommandProxy Class Reference

This class manages the access of remote Command Corba Servers. More...

#include <rtt/corba/CommandProxy.hpp>

Inheritance diagram for RTT::Corba::CommandProxy:

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
Corba::Command_ptr	server () const
	Get the Corba Object reference of the Command.
virtual void	readArguments ()
	This is invoked some time before execute() at a time when the action may read its function arguments.
virtual bool	ready () const
	The command's effect is done.
virtual bool	dispatch ()
	Dispatch a command.
virtual bool	execute ()
	Execute the functionality of this action.
virtual 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.
virtual ConditionInterface *	createCondition () const
virtual CommandProxy *	clone () const
	The Clone Software Pattern.
virtual CommandProxy *	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.
Static Public Member Functions
static CommandProxy *	Create (::RTT::Corba::Command_ptr act)
	Factory method: create a CORBA connection to an existing Command Object.
Protected Member Functions
	CommandProxy (::RTT::Corba::Command_ptr t)
	Private constructor which creates a new connection to a corba object.
Protected Attributes
Corba::Command_var	mdata

Detailed Description

This class manages the access of remote Command Corba Servers.

Definition at line 52 of file CommandProxy.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.

Member Function Documentation

virtual bool RTT::Corba::CommandProxy::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 103 of file CommandProxy.hpp.

virtual CommandProxy* RTT::Corba::CommandProxy::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 125 of file CommandProxy.hpp.

static CommandProxy* RTT::Corba::CommandProxy::Create ( ::RTT::Corba::Command_ptr act ) [static]

Factory method: create a CORBA connection to an existing Command Object.

Parameters:

act

The Object to connect to.