RTT::detail::DataSourceArgsCommand< CommandT, CommandF > Class Template Reference
A Command which dispatches locally. More...
#include <rtt/DataSourceArgsCommand.hpp>
Public Types | |
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typedef boost::function_traits < CommandT > | traits |
| typedef CommandT | Signature |
| typedef bool | result_type |
| enum | Status { NotReady, Ready, Sent, NotAccepted, Accepted, Executed, NotValid, Valid, Done } |
The status progressions of a Dispatchable Command. More... | |
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typedef boost::shared_ptr < DispatchInterface > | shared_ptr |
| If you want to share ownership of DispatchInterface instances, use this shared_ptr type. | |
Public Member Functions | |
| DataSourceArgsCommand (boost::function< CommandT > com, boost::function< CommandT > con, CommandProcessor *cp, bool inverted) | |
| DataSourceArgsCommand (CommandF com, CommandF con, CommandProcessor *cp, bool inverted) | |
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DataSourceArgsCommand < CommandT, CommandF > * | create () const |
| template<class Arg1T > | |
| DataSourceArgsCommand < CommandT, CommandF > * | create (DataSource< Arg1T > *a1) const |
| template<class Arg1T , class Arg2T > | |
| DataSourceArgsCommand < CommandT, CommandF > * | create (DataSource< Arg1T > *a1, DataSource< Arg2T > *a2) const |
| template<class Arg1T , class Arg2T , class Arg3T > | |
| DataSourceArgsCommand < CommandT, CommandF > * | create (DataSource< Arg1T > *a1, DataSource< Arg2T > *a2, DataSource< Arg3T > *a3) const |
| template<class Arg1T , class Arg2T , class Arg3T , class Arg4T > | |
| DataSourceArgsCommand < CommandT, CommandF > * | create (DataSource< Arg1T > *a1, DataSource< Arg2T > *a2, DataSource< Arg3T > *a3, DataSource< Arg4T > *a4) const |
| bool | ready () const |
| The command's effect is done. | |
| virtual bool | dispatch () |
| Dispatch a command. | |
| virtual void | readArguments () |
| This is invoked some time before execute() at a time when the action may read its function arguments. | |
| virtual bool | execute () |
| Execute the functionality of this action. | |
| virtual bool | done () const |
| Returns true if the command is done. | |
| 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 ConditionInterface * | createCondition () const |
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virtual DataSourceArgsCommand < CommandT, CommandF > * | clone () const |
| The Clone Software Pattern. | |
| virtual DataSourceArgsCommand < CommandT, CommandF > * | 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
template<class CommandT, class CommandF = detail::Functor<CommandT>>
class RTT::detail::DataSourceArgsCommand< CommandT, CommandF >
A Command which dispatches locally.
The arguments are fetched from DataSources.
Definition at line 57 of file DataSourceArgsCommand.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::detail::DataSourceArgsCommand< CommandT, CommandF >::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 163 of file DataSourceArgsCommand.hpp.
| virtual DataSourceArgsCommand<CommandT,CommandF>* RTT::detail::DataSourceArgsCommand< CommandT, CommandF >::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 184 of file DataSourceArgsCommand.hpp.
| virtual bool RTT::detail::DataSourceArgsCommand< CommandT, CommandF >::dispatch | ( | ) | [inline, virtual] |
Dispatch a command.
If it is not accepted, fail, if it is accepted, return true
Implements RTT::DispatchInterface.
Definition at line 130 of file DataSourceArgsCommand.hpp.
References RTT::CommandProcessor::process(), and RTT::detail::DataSourceArgsCommand< CommandT, CommandF >::readArguments().
| virtual bool RTT::detail::DataSourceArgsCommand< CommandT, CommandF >::execute | ( | ) | [inline, virtual] |
Execute the functionality of this action.
- Returns:
- true if the action was accepted, false otherwise
Implements RTT::ActionInterface.
Definition at line 140 of file DataSourceArgsCommand.hpp.
| virtual bool RTT::detail::DataSourceArgsCommand< CommandT, CommandF >::executed | ( | ) | const [inline, virtual] |
Returns true if the command was executed by the CommandProcessor.
When executed() is true, you can check if it was found valid().
Implements RTT::DispatchInterface.
Definition at line 167 of file DataSourceArgsCommand.hpp.
| bool RTT::detail::DataSourceArgsCommand< CommandT, CommandF >::ready | ( | ) | const [inline, virtual] |
The command's effect is done.
Returns true if the command is ready for dispatch. If ready() returns true, dispatch() can be safely called, otherwise, dispatch() will fail.
Implements RTT::DispatchInterface.
Definition at line 126 of file DataSourceArgsCommand.hpp.
| virtual bool RTT::detail::DataSourceArgsCommand< CommandT, CommandF >::sent | ( | ) | const [inline, virtual] |
Returns true if the command was sent to the CommandProcessor.
You can use this flag to check whether execute() was invoked.
Implements RTT::DispatchInterface.
Definition at line 159 of file DataSourceArgsCommand.hpp.
| virtual bool RTT::detail::DataSourceArgsCommand< CommandT, CommandF >::valid | ( | ) | const [inline, virtual] |
Returns true if the command was valid, i.e.
the command itself was executed and returned true.
Implements RTT::DispatchInterface.
Definition at line 171 of file DataSourceArgsCommand.hpp.
The documentation for this class was generated from the following file:
