RTT::CommandExecFunction Class Reference
A command which queues (dispatches) a FunctionFraph for execution in a ProgramProcessor. More...
#include <rtt/CommandExecFunction.hpp>
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 | |||
| ) | [inline] |
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.
Definition at line 107 of file CommandExecFunction.hpp.
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 162 of file CommandExecFunction.hpp.
References RTT::DataSource< T >::get().
| 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 192 of file CommandExecFunction.hpp.
References CommandExecFunction(), RTT::ActionInterface::copy(), RTT::AssignableDataSource< T >::copy(), and RTT::AssignableDataSource< T >::set().
| 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 130 of file CommandExecFunction.hpp.
References execute().
| bool RTT::CommandExecFunction::execute | ( | ) | [inline, virtual] |
Execute the functionality of this action.
- Returns:
- true if the action was accepted, false otherwise
Implements RTT::ActionInterface.
Definition at line 135 of file CommandExecFunction.hpp.
References RTT::ActionInterface::execute(), RTT::DataSource< T >::get(), RTT::ProgramProcessor::runFunction(), and RTT::AssignableDataSource< T >::set().
Referenced by dispatch().
| virtual bool RTT::CommandExecFunction::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 166 of file CommandExecFunction.hpp.
| bool RTT::CommandExecFunction::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 CommandExecFunction.hpp.
| virtual bool RTT::CommandExecFunction::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 158 of file CommandExecFunction.hpp.
| virtual bool RTT::CommandExecFunction::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 170 of file CommandExecFunction.hpp.
References RTT::DataSource< T >::get().
The documentation for this class was generated from the following file:
