TaskContext.hpp

/***************************************************************************
  tag: Peter Soetens  Tue Dec 21 22:43:08 CET 2004  TaskContext.hpp

                        TaskContext.hpp -  description
                           -------------------
    begin                : Tue December 21 2004
    copyright            : (C) 2004 Peter Soetens
    email                : peter.soetens@mech.kuleuven.ac.be

 ***************************************************************************
 *   This library is free software; you can redistribute it and/or         *
 *   modify it under the terms of the GNU General Public                   *
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 *   version 2 of the License.                                             *
 *                                                                         *
 *   As a special exception, you may use this file as part of a free       *
 *   software library without restriction.  Specifically, if other files   *
 *   instantiate templates or use macros or inline functions from this     *
 *   file, or you compile this file and link it with other files to        *
 *   produce an executable, this file does not by itself cause the         *
 *   resulting executable to be covered by the GNU General Public          *
 *   License.  This exception does not however invalidate any other        *
 *   reasons why the executable file might be covered by the GNU General   *
 *   Public License.                                                       *
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 *   Lesser General Public License for more details.                       *
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 *   Foundation, Inc., 59 Temple Place,                                    *
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 ***************************************************************************/


#ifndef ORO_TASK_CONTEXT_HPP
#define ORO_TASK_CONTEXT_HPP

#include "AttributeRepository.hpp"

#include "rtt-config.h"
#ifdef OROPKG_EXECUTION_ENGINE_EVENTS
#include "EventService.hpp"
#endif

#include "DataFlowInterface.hpp"
#include "ExecutionEngine.hpp"
#include "ScriptingAccess.hpp"
#include "ExecutionAccess.hpp"
#include "MarshallingAccess.hpp"
#include "TaskCore.hpp"
#include "PropertyBag.hpp"

#include <string>
#include <map>

namespace RTT
{
    class TaskContext
        : public OperationInterface,
          public TaskCore
    {
    public:
        typedef std::vector< std::string > PeerList;
        TaskContext( const std::string& name, TaskState initial_state = Stopped );

        TaskContext(const std::string& name, ExecutionEngine* parent, TaskState initial_state = Stopped );

        virtual ~TaskContext();

        virtual const std::string& getName() const;

        virtual const std::string& getDescription() const;

        virtual void setDescription(const std::string& descr);

        virtual OperationInterface* getParent() { return this; }

        virtual void setParent(OperationInterface*) { }

        virtual void setEngine(ExecutionEngine*) { }

        void exportPorts();

        virtual bool addPeer( TaskContext* peer, std::string alias = "" );

        virtual void removePeer( const std::string& name );

        virtual void removePeer( TaskContext* peer );

        virtual bool connectPeers( TaskContext* peer );

        virtual bool connectPorts( TaskContext* peer );

        virtual void disconnect();

        virtual void reconnect();

        virtual void disconnectPeers( const std::string& name );

        virtual PeerList getPeerList() const;

        virtual bool hasPeer( const std::string& peer_name ) const;

        virtual TaskContext* getPeer(const std::string& peer_name ) const;

        virtual bool addObject( OperationInterface *obj );

        void setActivity( ActivityInterface* new_act );

        ActivityInterface::shared_ptr getActivity();

        virtual void clear();

        virtual bool ready();

        bool start();

        void updateHook();

        virtual void updateHook(std::vector<PortInterface*> const& updated_ports);

        ScriptingAccess* scripting()
        {
            return mscriptAcc;
        }

        const ScriptingAccess* scripting() const
        {
            return mscriptAcc;
        }

        ExecutionAccess* execution()
        {
            return mengAcc;
        }

        const ExecutionAccess* execution() const
        {
            return mengAcc;
        }

        MarshallingAccess* marshalling()
        {
            return marshAcc;
        }

        const MarshallingAccess* marshalling() const
        {
            return marshAcc;
        }

        PropertyBag* properties() {
            return mattributes.properties();
        }

        const PropertyBag* properties() const {
            return mattributes.properties();
        }

        DataFlowInterface* ports() {
            return &dataPorts;
        }

        const DataFlowInterface* ports() const {
            return &dataPorts;
        }

    private:
        // non copyable
        TaskContext( TaskContext& );
    protected:
        std::string mdescription;

        typedef std::map< std::string, TaskContext* > PeerMap;
        typedef std::vector< TaskContext* > Users;
        typedef std::vector< OperationInterface* > Objects;
        PeerMap         _task_map;
        Users         musers;
        Objects mobjects;

        ScriptingAccess* mscriptAcc;

        ExecutionAccess* mengAcc;

        MarshallingAccess* marshAcc;

        void addUser(TaskContext* user);

        void removeUser(TaskContext* user);

        void setup();

    protected:
        std::vector< PortInterface* > updated_ports;
        void dataOnPort(PortInterface*);
    private:
        DataFlowInterface dataPorts;

        ActivityInterface::shared_ptr our_act;
    };

    bool connectPorts(TaskContext* A, TaskContext* B);

    bool connectPeers(TaskContext* A, TaskContext* B);
}

#endif