TryCommand.hpp
Go to the documentation of this file.00001 /*************************************************************************** 00002 tag: Peter Soetens Tue Dec 21 22:43:08 CET 2004 TryCommand.hpp 00003 00004 TryCommand.hpp - description 00005 ------------------- 00006 begin : Tue December 21 2004 00007 copyright : (C) 2004 Peter Soetens 00008 email : peter.soetens@mech.kuleuven.ac.be 00009 00010 *************************************************************************** 00011 * This library is free software; you can redistribute it and/or * 00012 * modify it under the terms of the GNU General Public * 00013 * License as published by the Free Software Foundation; * 00014 * version 2 of the License. * 00015 * * 00016 * As a special exception, you may use this file as part of a free * 00017 * software library without restriction. Specifically, if other files * 00018 * instantiate templates or use macros or inline functions from this * 00019 * file, or you compile this file and link it with other files to * 00020 * produce an executable, this file does not by itself cause the * 00021 * resulting executable to be covered by the GNU General Public * 00022 * License. This exception does not however invalidate any other * 00023 * reasons why the executable file might be covered by the GNU General * 00024 * Public License. * 00025 * * 00026 * This library is distributed in the hope that it will be useful, * 00027 * but WITHOUT ANY WARRANTY; without even the implied warranty of * 00028 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * 00029 * Lesser General Public License for more details. * 00030 * * 00031 * You should have received a copy of the GNU General Public * 00032 * License along with this library; if not, write to the Free Software * 00033 * Foundation, Inc., 59 Temple Place, * 00034 * Suite 330, Boston, MA 02111-1307 USA * 00035 * * 00036 ***************************************************************************/ 00037 00038 00039 #ifndef ORO_TRY_COMMAND_HPP 00040 #define ORO_TRY_COMMAND_HPP 00041 00042 #include "rtt-scripting-config.h" 00043 #include "../base/ActionInterface.hpp" 00044 #include "ConditionInterface.hpp" 00045 #include "../Logger.hpp" 00046 #include "../internal/DataSource.hpp" 00047 00048 namespace RTT 00049 { namespace scripting { 00050 00051 00052 00053 00059 class RTT_SCRIPTING_API TryCommand : 00060 public base::ActionInterface 00061 { 00062 // we must use a internal::DataSource for correct 00063 // copy sementics ... 00064 internal::AssignableDataSource<bool>::shared_ptr _result; 00065 base::ActionInterface* c; 00066 public: 00070 TryCommand( base::ActionInterface* command, 00071 internal::AssignableDataSource<bool>::shared_ptr storage=0); 00072 00073 ~TryCommand(); 00074 00075 bool execute(); 00076 void reset(); 00077 00078 bool valid() const; 00079 00080 void readArguments(); 00081 00082 base::ActionInterface* theCommand() const; 00083 00084 internal::AssignableDataSource<bool>::shared_ptr result(); 00085 00086 TryCommand* clone() const; 00087 00088 TryCommand* copy( std::map<const base::DataSourceBase*, base::DataSourceBase*>& alreadyCloned ) const; 00089 }; 00090 00096 class RTT_SCRIPTING_API TryCommandResult : 00097 public ConditionInterface 00098 { 00099 internal::DataSource<bool>::shared_ptr c; 00100 bool _invert; 00101 public: 00109 TryCommandResult( internal::DataSource<bool>::shared_ptr ec, bool invert); 00110 00111 ~TryCommandResult(); 00112 00113 bool evaluate(); 00114 00115 ConditionInterface* clone() const; 00116 00117 ConditionInterface* copy( std::map<const base::DataSourceBase*, base::DataSourceBase*>& alreadyCloned ) const; 00118 }; 00119 00127 class RTT_SCRIPTING_API EvalCommand : 00128 public base::ActionInterface 00129 { 00130 // the result 00131 internal::AssignableDataSource<bool>::shared_ptr _cache; 00132 // the data to evaluate in the command. 00133 internal::DataSource<bool>::shared_ptr _ds; 00134 public: 00135 EvalCommand( internal::DataSource<bool>::shared_ptr ds, internal::AssignableDataSource<bool>::shared_ptr cache=0); 00136 00137 ~EvalCommand(); 00138 00139 void readArguments(); 00140 00141 bool execute(); 00142 00143 void reset(); 00144 00145 internal::AssignableDataSource<bool>::shared_ptr cache(); 00146 00147 base::ActionInterface* clone() const; 00148 00149 base::ActionInterface* copy( std::map<const base::DataSourceBase*, base::DataSourceBase*>& alreadyCloned ) const; 00150 }; 00151 00157 class RTT_SCRIPTING_API EvalCommandResult : 00158 public ConditionInterface 00159 { 00160 internal::DataSource<bool>::shared_ptr c; 00161 public: 00162 EvalCommandResult( internal::DataSource<bool>::shared_ptr ec); 00163 00164 ~EvalCommandResult(); 00165 00166 bool evaluate(); 00167 00168 ConditionInterface* clone() const; 00169 00170 ConditionInterface* copy( std::map<const base::DataSourceBase*, base::DataSourceBase*>& alreadyCloned ) const; 00171 }; 00172 }} 00173 00174 #endif