RTT::detail::LocalCommandImpl< CommandT > Class Template Reference
A Command which is dispatched locally to a CommandProcessor. More...
#include <rtt/LocalCommand.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 | |
| LocalCommandImpl () | |
| The defaults are reset by the constructor. | |
| CommandProcessor * | getCommandProcessor () const |
| bool | isInverted () const |
| bool | invoke () |
| Call this operator if the LocalCommand takes no arguments. | |
| template<class T1 > | |
| bool | invoke (T1 a1) |
| template<class T1 , class T2 > | |
| bool | invoke (T1 a1, T2 a2) |
| template<class T1 , class T2 , class T3 > | |
| bool | invoke (T1 a1, T2 a2, T3 a3) |
| template<class T1 , class T2 , class T3 , class T4 > | |
| bool | invoke (T1 a1, T2 a2, T3 a3, T4 a4) |
| virtual CommandBase< CommandT > * | cloneI () const =0 |
| virtual bool | ready () const =0 |
| The command's effect is done. | |
| virtual bool | dispatch ()=0 |
| Dispatch a command. | |
| virtual void | reset ()=0 |
| After reset(), another attempt to dispatch the command will be made upon execute(). | |
| virtual bool | sent () const =0 |
| Returns true if the command was sent to the CommandProcessor. | |
| virtual bool | accepted () const =0 |
| Returns true if the command was accepted when sent to the CommandProcessor. | |
| virtual bool | executed () const =0 |
| Returns true if the command was executed by the CommandProcessor. | |
| virtual bool | valid () const =0 |
| Returns true if the command was valid, i.e. | |
| virtual bool | done () const =0 |
| Returns true if the command is done. | |
| virtual ConditionInterface * | createCondition () const =0 |
| virtual DispatchInterface * | clone () const =0 |
| The Clone Software Pattern. | |
| virtual 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. | |
| virtual bool | execute ()=0 |
| Execute the functionality of this action. | |
| virtual void | readArguments ()=0 |
| This is invoked some time before execute() at a time when the action may read its function arguments. | |
Protected Attributes | |
| CommandProcessor * | mcp |
| bool | minvoked |
| bool | maccept |
| bool | mvalid |
| bool | mexec |
| bool | minvert |
Detailed Description
template<class CommandT>
class RTT::detail::LocalCommandImpl< CommandT >
A Command which is dispatched locally to a CommandProcessor.
- Parameters:
-
CommandT The function signature of the command. For example, bool( int, Frame, double)
Definition at line 62 of file LocalCommand.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::DispatchInterface::accepted | ( | ) | const [pure virtual, inherited] |
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.
Implemented in RTT::CommandDispatch, RTT::CommandExecFunction, RTT::Corba::CommandProxy, and RTT::detail::DataSourceArgsCommand< CommandT, CommandF >.
Referenced by RTT::DispatchAction::execute().
| virtual DispatchInterface* RTT::DispatchInterface::copy | ( | std::map< const DataSourceBase *, DataSourceBase * > & | alreadyCloned | ) | const [inline, virtual, inherited] |
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::ActionInterface.
Reimplemented in RTT::CommandDispatch, RTT::CommandExecFunction, RTT::Corba::CommandProxy, and RTT::detail::DataSourceArgsCommand< CommandT, CommandF >.
Definition at line 128 of file DispatchInterface.hpp.
References RTT::DispatchInterface::clone().
Referenced by RTT::DispatchAction::copy().
| virtual bool RTT::DispatchInterface::dispatch | ( | ) | [pure virtual, inherited] |
Dispatch a command.
If it is not accepted, fail, if it is accepted, return true
Implemented in RTT::CommandDispatch, RTT::CommandExecFunction, RTT::Corba::CommandProxy, and RTT::detail::DataSourceArgsCommand< CommandT, CommandF >.
Referenced by RTT::DispatchAction::execute().
| virtual bool RTT::ActionInterface::execute | ( | ) | [pure virtual, inherited] |
Execute the functionality of this action.
- Returns:
- true if the action was accepted, false otherwise
Implemented in RTT::AsynchCommandDecorator, RTT::CommandComposite, RTT::CommandCounter, RTT::CommandDataSource, RTT::CommandDataSourceBool, RTT::CommandDispatch, RTT::CommandExecFunction, RTT::CommandFunctor< F >, RTT::CommandFunctor< boost::function< bool(void) > >, RTT::CommandIllegal, RTT::CommandNOP, RTT::CommandString, RTT::Corba::CommandProxy, RTT::detail::DataSourceArgsCommand< CommandT, CommandF >, RTT::detail::DataSourceArgsEvent< SignatureT, FunctorT >, RTT::DispatchAction, RTT::detail::EventBase< Signature >, RTT::TryCommand, and RTT::EvalCommand.
Referenced by RTT::CommandExecFunction::execute().
| virtual bool RTT::DispatchInterface::executed | ( | ) | const [pure virtual, inherited] |
Returns true if the command was executed by the CommandProcessor.
When executed() is true, you can check if it was found valid().
Implemented in RTT::CommandDispatch, RTT::CommandExecFunction, RTT::Corba::CommandProxy, and RTT::detail::DataSourceArgsCommand< CommandT, CommandF >.
Referenced by RTT::DispatchAction::execute().
| bool RTT::detail::LocalCommandImpl< CommandT >::invoke | ( | ) | [inline] |
Call this operator if the LocalCommand takes no arguments.
- Returns:
- true if ready and succesfully queued.
Definition at line 89 of file LocalCommand.hpp.
References RTT::DispatchInterface::done(), RTT::CommandProcessor::process(), and RTT::DispatchInterface::reset().
| virtual bool RTT::DispatchInterface::ready | ( | ) | const [pure virtual, inherited] |
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.
Implemented in RTT::CommandDispatch, RTT::CommandExecFunction, RTT::Corba::CommandProxy, and RTT::detail::DataSourceArgsCommand< CommandT, CommandF >.
| virtual bool RTT::DispatchInterface::sent | ( | ) | const [pure virtual, inherited] |
Returns true if the command was sent to the CommandProcessor.
You can use this flag to check whether execute() was invoked.
Implemented in RTT::CommandDispatch, RTT::CommandExecFunction, RTT::Corba::CommandProxy, and RTT::detail::DataSourceArgsCommand< CommandT, CommandF >.
Referenced by RTT::DispatchAction::execute().
| virtual bool RTT::DispatchInterface::valid | ( | ) | const [pure virtual, inherited] |
Returns true if the command was valid, i.e.
the command itself was executed and returned true.
Reimplemented from RTT::ActionInterface.
Implemented in RTT::CommandDispatch, RTT::CommandExecFunction, RTT::Corba::CommandProxy, and RTT::detail::DataSourceArgsCommand< CommandT, CommandF >.
Referenced by RTT::DispatchAction::execute(), and RTT::DispatchAction::valid().
The documentation for this class was generated from the following file:
- rtt/LocalCommand.hpp
