00001 /*************************************************************************** 00002 tag: The SourceWorks Tue Sep 7 00:55:18 CEST 2010 OperationBase.hpp 00003 00004 OperationBase.hpp - description 00005 ------------------- 00006 begin : Tue September 07 2010 00007 copyright : (C) 2010 The SourceWorks 00008 email : peter@thesourceworks.com 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_OPERATIONBASE_HPP_ 00040 #define ORO_OPERATIONBASE_HPP_ 00041 00042 #include "../rtt-config.h" 00043 #include "../rtt-fwd.hpp" 00044 #include "rtt-base-fwd.hpp" 00045 #include <string> 00046 #include <vector> 00047 #include "DisposableInterface.hpp" 00048 00049 namespace RTT 00050 { 00051 template<class T> 00052 class Operation; 00053 00059 enum ExecutionThread { OwnThread, ClientThread }; 00060 00061 namespace base 00062 { 00067 class OperationBase 00068 { 00069 protected: 00070 std::string mname; 00071 std::vector<std::string> descriptions; 00072 ExecutionEngine* mowner; 00073 RTT_API void mdoc(const std::string& description); 00074 RTT_API void marg(const std::string& name, const std::string& description); 00075 virtual void ownerUpdated() = 0; 00076 public: 00077 RTT_API OperationBase(const std::string& name); 00078 RTT_API virtual ~OperationBase(); 00079 00084 const std::string& getName() { return mname; } 00085 00093 const std::vector<std::string>& getDescriptions() { return descriptions; } 00094 00099 virtual DisposableInterface::shared_ptr getImplementation() = 0; 00100 00101 virtual const DisposableInterface::shared_ptr getImplementation() const = 0; 00102 00108 bool ready() const { 00109 return mowner && getImplementation(); 00110 } 00111 00116 void setOwner(ExecutionEngine* ee) { 00117 mowner = ee; 00118 // inform Operation<T> to update the implementation. 00119 this->ownerUpdated(); 00120 } 00121 00122 ExecutionEngine* getOwner() const { 00123 return mowner; 00124 } 00125 }; 00126 } 00127 } 00128 00129 #endif /* ORO_OPERATIONBASE_HPP_ */