ProgramService.cpp
Go to the documentation of this file.00001 /*************************************************************************** 00002 tag: Peter Soetens Wed Jan 18 14:11:40 CET 2006 ProgramService.cpp 00003 00004 ProgramService.cpp - description 00005 ------------------- 00006 begin : Wed January 18 2006 00007 copyright : (C) 2006 Peter Soetens 00008 email : peter.soetens@mech.kuleuven.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 00040 #include "ProgramService.hpp" 00041 00042 #include "../OperationCaller.hpp" 00043 #include "../FactoryExceptions.hpp" 00044 #include "../ExecutionEngine.hpp" 00045 #include "../internal/DataSources.hpp" 00046 00047 namespace RTT 00048 { 00049 00050 using namespace detail; 00051 00052 ProgramService::ProgramService(FunctionGraphPtr prog, TaskContext* tc) 00053 : Service( prog->getName(), tc), 00054 program( new ValueDataSource<ProgramInterfacePtr>(prog) ), 00055 function(prog) 00056 { 00057 this->doc("Orocos Program Script"); 00058 00059 // We need a weak pointer here in order to be able to unload programs that 00060 // reference self. The only way we can use weak_ptr with OperationCaller/Operation is by putting it in the data source 00061 // of the first argument. We can not 'boost::bind' to a weak pointer, only to a shared_ptr. 00062 DataSource<ProgramInterfacePtr>* ptr = program.get(); 00063 // OperationCallers : 00064 addOperationDS("start", &ProgramInterface::start,ptr).doc("Start or continue this program."); 00065 addOperationDS("pause", &ProgramInterface::pause,ptr).doc("Pause this program."); 00066 addOperationDS("step", &ProgramInterface::step,ptr).doc("Step a paused program."); 00067 addOperationDS("stop", &ProgramInterface::stop,ptr).doc("Stop and reset this program."); 00068 00069 // DataSources: 00070 00071 addOperationDS("isRunning", &ProgramInterface::isRunning,ptr).doc("Is this program being executed and not paused ?"); 00072 addOperationDS("inError", &ProgramInterface::inError,ptr).doc("Has this program executed an erroneous method ?"); 00073 addOperationDS("isPaused", &ProgramInterface::isPaused,ptr).doc("Is this program running but paused ?"); 00074 } 00075 00076 ProgramService::~ProgramService() { 00077 // When the this Service is deleted, make sure the program does not reference us. 00078 FunctionGraphPtr prog = function; 00079 if ( prog ) { 00080 prog->setProgramService( ProgramServicePtr() ); 00081 } 00082 } 00083 }