#include <ScriptingService.hpp>

Inheritance diagram for RTT::scripting::ScriptingService:

Public Types
typedef std::vector < ProgramInterfacePtr >	Functions
typedef ProgramInterface::Status	ProgramStatus
typedef boost::shared_ptr < ScriptingService >	shared_ptr
typedef scripting::StateMachine::Status	StateMachineStatus
Public Member Functions
void	clear ()
bool	deleteProgram (const std::string &name)
bool	deleteStateMachine (const std::string &name)
bool	eval (const std::string &code)
int	execute (const std::string &code)
const ProgramInterfacePtr	getProgram (const std::string &name) const
ProgramInterfacePtr	getProgram (const std::string &name)
virtual int	getProgramLine (const std::string &name) const
std::vector< std::string >	getProgramList () const
ProgramStatus::ProgramStatus	getProgramStatus (const std::string &name) const
std::string	getProgramStatusStr (const std::string &name) const
virtual std::string	getProgramText (const std::string &name) const
const StateMachinePtr	getStateMachine (const std::string &name) const
StateMachinePtr	getStateMachine (const std::string &name)
virtual int	getStateMachineLine (const std::string &name) const
std::vector< std::string >	getStateMachineList () const
StateMachineStatus::StateMachineStatus	getStateMachineStatus (const std::string &name) const
std::string	getStateMachineStatusStr (const std::string &name) const
virtual std::string	getStateMachineText (const std::string &name) const
virtual Functions	loadFunctions (const std::string &filename, bool do_throw)
virtual Functions	loadFunctions (const std::string &code, const std::string &filename, bool do_throw)
bool	loadProgram (ProgramInterfacePtr pi)
virtual bool	loadPrograms (const std::string &filename, bool do_throw)
virtual bool	loadPrograms (const std::string &code, const std::string &filename, bool do_throw)
bool	loadStateMachine (StateMachinePtr sc)
virtual bool	loadStateMachines (const std::string &filename, bool do_throw)
virtual bool	loadStateMachines (const std::string &code, const std::string &filename, bool do_throw)
bool	runScript (const std::string &filename)
	ScriptingService (TaskContext *parent)
bool	unloadProgram (const std::string &name)
virtual bool	unloadProgram (const std::string &name, bool do_throw)
bool	unloadStateMachine (const std::string &name)
virtual bool	unloadStateMachine (const std::string &name, bool do_throw)
virtual	~ScriptingService ()
Script Program Commands
bool	startProgram (const std::string &name)
bool	stopProgram (const std::string &name)
bool	pauseProgram (const std::string &name)
bool	stepProgram (const std::string &name)
Script Program OperationCallers
virtual bool	hasProgram (const std::string &name) const
bool	isProgramRunning (const std::string &name) const
bool	isProgramPaused (const std::string &name) const
bool	inProgramError (const std::string &name) const
Script State Machine Commands
bool	activateStateMachine (const std::string &name)
bool	deactivateStateMachine (const std::string &name)
bool	startStateMachine (const std::string &name)
bool	pauseStateMachine (const std::string &name)
bool	stopStateMachine (const std::string &name)
bool	resetStateMachine (const std::string &name)
bool	requestStateMachineState (const std::string &name, const std::string &state)
Script State Machine OperationCallers
virtual bool	hasStateMachine (const std::string &name) const
bool	isStateMachineActive (const std::string &name) const
bool	isStateMachineRunning (const std::string &name) const
bool	inStateMachineError (const std::string &name) const
bool	isStateMachinePaused (const std::string &name) const
std::string	getStateMachineState (const std::string &name) const
bool	inStateMachineState (const std::string &name, const std::string &state) const
Static Public Member Functions
static shared_ptr	Create (TaskContext *parent)
Protected Types
typedef std::map< std::string, ProgramInterfacePtr >	ProgMap
typedef ProgMap::const_iterator	ProgMapIt
typedef std::map< std::string, StateMachinePtr >	StateMap
typedef StateMap::const_iterator	StateMapIt
Protected Member Functions
void	createInterface (void)
bool	doExecute (const std::string &code)
bool	doLoadPrograms (const std::string &filename)
bool	doLoadProgramText (const std::string &code)
bool	doLoadStateMachines (const std::string &filename)
bool	doLoadStateMachineText (const std::string &code)
bool	doUnloadProgram (const std::string &name)
bool	doUnloadStateMachine (const std::string &name)
bool	evalInternal (const std::string &filename, const std::string &code)
bool	recursiveCheckLoadStateMachine (StateMachinePtr sc)
bool	recursiveCheckUnloadStateMachine (StateMachinePtr si)
void	recursiveLoadStateMachine (StateMachinePtr sc)
void	recursiveUnloadStateMachine (StateMachinePtr sc)
Protected Attributes
ProgMap	programs
StatementProcessor *	sproc
StateMap	states
bool	ZeroPeriodWarning

Detailed Description

This interface allows to load program scripts and state machines and allows execution of code. It keeps track of all loaded scripts of the parent component. It can be found as the scripting object of a TaskContext.

Definition at line 60 of file ScriptingService.hpp.

Member Typedef Documentation

typedef std::vector< ProgramInterfacePtr > RTT::scripting::ScriptingService::Functions

List of executed functions.

Definition at line 224 of file ScriptingService.hpp.

typedef std::map<std::string,ProgramInterfacePtr> RTT::scripting::ScriptingService::ProgMap [protected]

Definition at line 571 of file ScriptingService.hpp.

typedef ProgMap::const_iterator RTT::scripting::ScriptingService::ProgMapIt [protected]

Definition at line 573 of file ScriptingService.hpp.

typedef ProgramInterface::Status RTT::scripting::ScriptingService::ProgramStatus

Definition at line 80 of file ScriptingService.hpp.

typedef boost::shared_ptr<ScriptingService> RTT::scripting::ScriptingService::shared_ptr

Reimplemented from RTT::Service.

Definition at line 64 of file ScriptingService.hpp.

typedef scripting::StateMachine::Status RTT::scripting::ScriptingService::StateMachineStatus

Definition at line 81 of file ScriptingService.hpp.

typedef std::map<std::string,StateMachinePtr> RTT::scripting::ScriptingService::StateMap [protected]

Definition at line 567 of file ScriptingService.hpp.

typedef StateMap::const_iterator RTT::scripting::ScriptingService::StateMapIt [protected]

Definition at line 569 of file ScriptingService.hpp.

Constructor & Destructor Documentation

RTT::ScriptingService::ScriptingService ( TaskContext * parent )

Creates a ScriptingService object. You need to add the service to parent yourself, or use Create().

Definition at line 70 of file ScriptingService.cpp.

RTT::ScriptingService::~ScriptingService ( ) [virtual]

Definition at line 83 of file ScriptingService.cpp.

Member Function Documentation

bool RTT::ScriptingService::activateStateMachine ( const std::string & name )

Activate a previously loaded StateMachine.

Parameters:

name	The name of the StateMachine.

Definition at line 868 of file ScriptingService.cpp.

void RTT::ScriptingService::clear ( )

Stop and unload all program scripts.

Reimplemented from RTT::Service.

Definition at line 91 of file ScriptingService.cpp.

ScriptingService::shared_ptr RTT::ScriptingService::Create ( TaskContext * parent ) [static]

Creates a ScriptingService object and registers the service to parent.

Definition at line 64 of file ScriptingService.cpp.

void RTT::ScriptingService::createInterface ( void ) [protected]

Definition at line 447 of file ScriptingService.cpp.

bool RTT::ScriptingService::deactivateStateMachine ( const std::string & name )

Deactivate a stopped StateMachine.

Parameters:

name	The name of the StateMachine.

Definition at line 876 of file ScriptingService.cpp.

bool RTT::scripting::ScriptingService::deleteProgram ( const std::string & name )

Completely discard a loaded Program.

Exceptions:

program_unload_exception if the program is not stopped or does not exist.

Deprecated:: by unloadProgram

bool RTT::ScriptingService::deleteStateMachine ( const std::string & name )

Delete a deactivated State Machine and all its children.

Exceptions:

program_unload_exception if the state machine or one of its children is still active.

Deprecated:: by unloadStateMachine

Definition at line 305 of file ScriptingService.cpp.

bool RTT::ScriptingService::doExecute ( const std::string & code ) [protected]

Definition at line 415 of file ScriptingService.cpp.

bool RTT::ScriptingService::doLoadPrograms ( const std::string & filename ) [protected]

Definition at line 420 of file ScriptingService.cpp.

bool RTT::ScriptingService::doLoadProgramText ( const std::string & code ) [protected]

Definition at line 425 of file ScriptingService.cpp.

bool RTT::ScriptingService::doLoadStateMachines ( const std::string & filename ) [protected]

Definition at line 434 of file ScriptingService.cpp.

bool RTT::ScriptingService::doLoadStateMachineText ( const std::string & code ) [protected]

Definition at line 438 of file ScriptingService.cpp.

bool RTT::ScriptingService::doUnloadProgram ( const std::string & name ) [protected]

Definition at line 429 of file ScriptingService.cpp.

bool RTT::ScriptingService::doUnloadStateMachine ( const std::string & name ) [protected]

Definition at line 442 of file ScriptingService.cpp.

bool RTT::ScriptingService::eval ( const std::string & code )

Evaluate and run all statements in code. This function is in functionality equivalent to runScript, except that runScript takes a filename as an argument, while this function takes the contents of the script itself as an argument. All possible syntax may be used.

Parameters:

code	A list of statements, program/function definitions etc. which get evaluated in the context of this component

Returns:: true if the parsing and execution succeeded (= no syntax errors and no exceptions thrown when executing code ), false otherwise.

Exceptions:

parse_exception and its derivatives for parse errors in code.

Definition at line 595 of file ScriptingService.cpp.

bool RTT::ScriptingService::evalInternal	(	const std::string &	filename,
		const std::string &	code
	)		`[protected]`

Definition at line 599 of file ScriptingService.cpp.

int RTT::ScriptingService::execute ( const std::string & code )

Parse and execute a statement.

Parameters:

code	A single statement to execute.

Returns:: A ticket number.

Return values:

-1	if the code could not be parsed.
0	if the code was an expression and could be executed.
>0	if the code was a command and is being executed.

See also:: getCommand

Deprecated:: by eval()

Definition at line 515 of file ScriptingService.cpp.

const ProgramInterfacePtr RTT::scripting::ScriptingService::getProgram ( const std::string & name ) const

Get a pointer to a loaded Program.

ProgramInterfacePtr RTT::scripting::ScriptingService::getProgram ( const std::string & name )

int RTT::ScriptingService::getProgramLine ( const std::string & name ) const [virtual]

Get the current line of execution of a loaded program script.

Parameters:

name	The name of the program.

Returns:: The line number.

Return values:

-1	if the program does not exist.
0	if the program is not running.
n	the line number if the program is executing.

Definition at line 788 of file ScriptingService.cpp.

vector< string > RTT::ScriptingService::getProgramList ( ) const

Get a list of all loaded Programs.

Definition at line 397 of file ScriptingService.cpp.

ProgramInterface::Status::ProgramStatus RTT::ScriptingService::getProgramStatus ( const std::string & name ) const

Return the status of a Program.

Definition at line 327 of file ScriptingService.cpp.

string RTT::ScriptingService::getProgramStatusStr ( const std::string & name ) const

Return the status of a Program as a human readable string.

Definition at line 336 of file ScriptingService.cpp.

string RTT::ScriptingService::getProgramText ( const std::string & name ) const [virtual]

Get the original script description of a loaded program.

Parameters:

name	The name of the program.

Returns:: A string containing only that program.

Definition at line 793 of file ScriptingService.cpp.

const StateMachinePtr RTT::scripting::ScriptingService::getStateMachine ( const std::string & name ) const

Get a pointer to a loaded StateMachine.

StateMachinePtr RTT::scripting::ScriptingService::getStateMachine ( const std::string & name )

Get a pointer to a loaded StateMachine.

int RTT::ScriptingService::getStateMachineLine ( const std::string & name ) const [virtual]

Get the current line of execution of a loaded state machine script.

Parameters:

name	The name of the state machine.

Returns:: The line number.

Return values:

-1	if the state machine does not exist.
0	if the state machine is not running.
n	the line number if the state machine is executing.

Definition at line 807 of file ScriptingService.cpp.

vector< string > RTT::ScriptingService::getStateMachineList ( ) const

Get a list of all loaded StateMachines and their children.

Definition at line 322 of file ScriptingService.cpp.

string RTT::ScriptingService::getStateMachineState ( const std::string & name ) const

Get the current state of a state machine.

Parameters:

name	The name of the StateMachine.

Definition at line 940 of file ScriptingService.cpp.

StateMachine::Status::StateMachineStatus RTT::ScriptingService::getStateMachineStatus ( const std::string & name ) const

Return the status of a StateMachine.

Definition at line 131 of file ScriptingService.cpp.

string RTT::ScriptingService::getStateMachineStatusStr ( const std::string & name ) const

Return the status of a StateMachine as a human readable string

Definition at line 140 of file ScriptingService.cpp.

string RTT::ScriptingService::getStateMachineText ( const std::string & name ) const [virtual]

Get the original script description of a loaded state machine.

Parameters:

name	The name of the state machine.

Returns:: A string containing only that state machine.

Definition at line 802 of file ScriptingService.cpp.

bool RTT::ScriptingService::hasProgram ( const std::string & name ) const [virtual]

Check if a program is loaded

Parameters:

name	The name of the program.

Returns:: True if so.

Definition at line 784 of file ScriptingService.cpp.

bool RTT::ScriptingService::hasStateMachine ( const std::string & name ) const [virtual]

Check if a state machine is loaded.

Parameters:

name	The name of the state machine.

Returns:: True if so.

Definition at line 798 of file ScriptingService.cpp.

bool RTT::ScriptingService::inProgramError ( const std::string & name ) const

Inspect if a loaded program is in the error state

Parameters:

name	The name of the Program.

Returns:: true if so.

Definition at line 836 of file ScriptingService.cpp.

bool RTT::ScriptingService::inStateMachineError ( const std::string & name ) const

Returns true if the state machine is in error.

Parameters:

name	The name of the StateMachine.

Definition at line 932 of file ScriptingService.cpp.

bool RTT::ScriptingService::inStateMachineState	(	const std::string &	name,
		const std::string &	state
	)		const

Check if a state machine is in a given state

Parameters:

name	The name of the StateMachine.
state	The state to enter.

Returns:: true if so.

Definition at line 956 of file ScriptingService.cpp.

bool RTT::ScriptingService::isProgramPaused ( const std::string & name ) const

Inspect if a loaded program is in the paused state

Parameters:

name	The name of the Program.

Returns:: true if so.

Definition at line 828 of file ScriptingService.cpp.

bool RTT::ScriptingService::isProgramRunning ( const std::string & name ) const

Inspect if a loaded program is in the running state

Parameters:

name	The name of the Program.

Returns:: true if so.

Definition at line 820 of file ScriptingService.cpp.

bool RTT::ScriptingService::isStateMachineActive ( const std::string & name ) const

Returns true if the state machine has been activated.

Parameters:

name	The name of the StateMachine.

Definition at line 916 of file ScriptingService.cpp.

bool RTT::ScriptingService::isStateMachinePaused ( const std::string & name ) const

Returns true if the state machine is paused.

Parameters:

name	The name of the StateMachine.

Definition at line 908 of file ScriptingService.cpp.

bool RTT::ScriptingService::isStateMachineRunning ( const std::string & name ) const

Returns true if the state machine was successfully started.

Parameters:

name	The name of the StateMachine.

Definition at line 924 of file ScriptingService.cpp.

virtual Functions RTT::scripting::ScriptingService::loadFunctions	(	const std::string &	filename,
		bool	do_throw
	)		`[virtual]`

Load and execute a set of functions into the Program Processor for execution

Parameters:

filename	The file to load
do_throw	Set to yes to cause the parse errors to be thrown instead of being printed to the Logger interface.

Returns:: A list of functions loaded in the ProgramProcessor.

Deprecated:: by runScript

virtual Functions RTT::scripting::ScriptingService::loadFunctions	(	const std::string &	code,
		const std::string &	filename,
		bool	do_throw
	)		`[virtual]`

Load and execute a set of functions into the Program Processor for execution

Parameters:

code	A string containing the function definitions.
filename	The file name to use in the error messages.
do_throw	Set to yes to cause the parse errors to be thrown instead of being printed to the Logger interface.

Returns:: A list of functions loaded in the ProgramProcessor.

Deprecated:: by runScript

bool RTT::ScriptingService::loadProgram ( ProgramInterfacePtr pi )

Load a new Program. The Processor takes full ownership and will delete it upon destruction.

Exceptions:

program_load_exception if a program with the same name already exists.

Definition at line 359 of file ScriptingService.cpp.

virtual bool RTT::scripting::ScriptingService::loadPrograms	(	const std::string &	filename,
		bool	do_throw
	)		`[virtual]`

Load a set of programs into the Program Processor for execution. The programs are just loaded, not started yet.

Parameters:

filename	The file to load
do_throw	Set to yes to cause the parse errors to be thrown instead of being printed to the Logger interface.

Returns:: true if all state machines could be loaded in the ProgramProcessor.

Deprecated:: by runScript

virtual bool RTT::scripting::ScriptingService::loadPrograms	(	const std::string &	code,
		const std::string &	filename,
		bool	do_throw
	)		`[virtual]`

Load a set of programs into the Program Processor for execution. The programs are just loaded, not started yet.

Parameters:

code	A string containing the function definitions.
filename	The file name to use in the error messages.
do_throw	Set to yes to cause the parse errors to be thrown instead of being printed to the Logger interface.

Returns:: true if all state machines could be loaded in the ProgramProcessor.

Deprecated:: by runScript

bool RTT::ScriptingService::loadStateMachine ( StateMachinePtr sc )

Load a new State Machine and all its children.

Exceptions:

program_load_exception if a state machine with the same name already exists.

Definition at line 184 of file ScriptingService.cpp.

virtual bool RTT::scripting::ScriptingService::loadStateMachines	(	const std::string &	filename,
		bool	do_throw
	)		`[virtual]`

Load a set of state machines into the StateMachineProcessor for execution. The state machines are just loaded, not started yet.

Parameters:

filename	The file to load
do_throw	Set to yes to cause the parse errors to be thrown instead of being printed to the Logger interface.

Returns:: true if all state machines could be loaded in the StateMachineProcessor.

Deprecated:: by runScript

virtual bool RTT::scripting::ScriptingService::loadStateMachines	(	const std::string &	code,
		const std::string &	filename,
		bool	do_throw
	)		`[virtual]`

Load a set of state machines into the StateMachineProcessor for execution. The state machines are just loaded, not started yet.

Parameters:

code	A string containing the function definitions.
filename	The file name to use in the error messages.
do_throw	Set to yes to cause the parse errors to be thrown instead of being printed to the Logger interface.

Returns:: true if all state machines could be loaded in the StateMachineProcessor.

Deprecated:: by runScript

bool RTT::ScriptingService::pauseProgram ( const std::string & name )

Pauses the execution of a running program.

Parameters:

name	The name of the Program.

Definition at line 852 of file ScriptingService.cpp.

bool RTT::ScriptingService::pauseStateMachine ( const std::string & name )

Pause a previously activated StateMachine.

Parameters:

name	The name of the StateMachine.

Definition at line 892 of file ScriptingService.cpp.

bool RTT::ScriptingService::recursiveCheckLoadStateMachine ( StateMachinePtr sc ) [protected]

Definition at line 209 of file ScriptingService.cpp.

bool RTT::ScriptingService::recursiveCheckUnloadStateMachine ( StateMachinePtr si ) [protected]

Definition at line 265 of file ScriptingService.cpp.

void RTT::ScriptingService::recursiveLoadStateMachine ( StateMachinePtr sc ) [protected]

Definition at line 229 of file ScriptingService.cpp.

void RTT::ScriptingService::recursiveUnloadStateMachine ( StateMachinePtr sc ) [protected]

Definition at line 287 of file ScriptingService.cpp.

bool RTT::ScriptingService::requestStateMachineState	(	const std::string &	name,
		const std::string &	state
	)

Request a state change in a state machine.

Parameters:

name	The name of the StateMachine.
state	The state to enter.

Returns:: true if the state change request was accepted.

Definition at line 948 of file ScriptingService.cpp.

bool RTT::ScriptingService::resetStateMachine ( const std::string & name )

Resets the execution of a scripting::StateMachine and enters the Initial_State.

Parameters:

name	The name of the StateMachine.

Definition at line 964 of file ScriptingService.cpp.

bool RTT::ScriptingService::runScript ( const std::string & filename )

Run a script which is stored in a file.

Parameters:

filename The local file to load and execute

Returns:: true if the parsing and execution succeeded (= no syntax errors and no exceptions thrown when executing code ), false otherwise.

Exceptions:

parse_exception and its derivatives for parse errors in code.

Definition at line 577 of file ScriptingService.cpp.

bool RTT::ScriptingService::startProgram ( const std::string & name )

Start a Program.

Parameters:

name	The name of the Program.

Definition at line 812 of file ScriptingService.cpp.

bool RTT::ScriptingService::startStateMachine ( const std::string & name )

Start a previously activated StateMachine.

Parameters:

name	The name of the StateMachine.

Definition at line 884 of file ScriptingService.cpp.

bool RTT::ScriptingService::stepProgram ( const std::string & name )

Steps a single instruction of a paused program.

Parameters:

name	The name of the Program.

Definition at line 860 of file ScriptingService.cpp.

bool RTT::ScriptingService::stopProgram ( const std::string & name )

Stops the execution of a program.

Parameters:

name	The name of the Program.

Definition at line 844 of file ScriptingService.cpp.

bool RTT::ScriptingService::stopStateMachine ( const std::string & name )

Stops the execution of a scripting::StateMachine and enters the Final_State.

Parameters:

name	The name of the StateMachine.

Definition at line 900 of file ScriptingService.cpp.

bool RTT::scripting::ScriptingService::unloadProgram ( const std::string & name )

Unload a program from this processor.

Exceptions:

program_unload_exception if the program is not stopped or does not exist.

virtual bool RTT::scripting::ScriptingService::unloadProgram	(	const std::string &	name,
		bool	do_throw
	)		`[virtual]`

Unload a program from the Program Processor.

Parameters:

name	The name of the loaded program.
do_throw	Set to yes to cause the unloading errors to be thrown instead of being printed to the Logger interface.

Returns:: true if it could be unloaded

bool RTT::scripting::ScriptingService::unloadStateMachine ( const std::string & name )

Unload a deactivated State Machine and all its children.

Exceptions:

program_unload_exception if the state machine or one of its children is still active.

virtual bool RTT::scripting::ScriptingService::unloadStateMachine	(	const std::string &	name,
		bool	do_throw
	)		`[virtual]`

Unload a state machine from the StateMachineProcessor.

Parameters:

name	The name of the loaded program.
do_throw	Set to yes to cause the unloading errors to be thrown instead of being printed to the Logger interface.

Returns:: true if it could be unloaded

Member Data Documentation

ProgMap RTT::scripting::ScriptingService::programs [protected]

Definition at line 572 of file ScriptingService.hpp.

StatementProcessor* RTT::scripting::ScriptingService::sproc [protected]

Definition at line 548 of file ScriptingService.hpp.

StateMap RTT::scripting::ScriptingService::states [protected]

Definition at line 568 of file ScriptingService.hpp.

bool RTT::scripting::ScriptingService::ZeroPeriodWarning [protected]

This is a property of the Scripting service It is true by default If this is set to false, the warning log when loading a program or a state machine into a Component with a null period will not be printed.

Be sure you have something else triggering periodically your Component activity unless your script may not work.

Definition at line 583 of file ScriptingService.hpp.

The documentation for this class was generated from the following files:

Public Types

Public Member Functions

Static Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation