00001 /*************************************************************************** 00002 tag: The SourceWorks Tue Sep 7 00:55:18 CEST 2010 Scripting.hpp 00003 00004 Scripting.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_SCRIPTING_HPP_ 00040 #define ORO_SCRIPTING_HPP_ 00041 00042 #include "../ServiceRequester.hpp" 00043 #include "ProgramInterface.hpp" 00044 #include "StateMachine.hpp" 00045 #include "../OperationCaller.hpp" 00046 #include <string> 00047 00048 namespace RTT 00049 { 00050 00054 class RTT_SCRIPTING_API Scripting 00055 : public ServiceRequester 00056 { 00057 public: 00058 Scripting(TaskContext* owner); 00059 ~Scripting(); 00060 typedef scripting::ProgramInterface::Status ProgramStatus; 00061 typedef scripting::StateMachine::Status StateMachineStatus; 00062 00063 OperationCaller<bool (const std::string& )> unloadProgram; 00064 00065 OperationCaller<ProgramStatus::ProgramStatus (const std::string& )> getProgramStatus; 00066 00067 OperationCaller<std::string (const std::string& )> getProgramStatusStr; 00068 00069 OperationCaller<std::vector<std::string>(void)> getProgramList; 00070 00071 OperationCaller<bool ( const std::string& )> unloadStateMachine; 00072 00073 OperationCaller<StateMachineStatus::StateMachineStatus (const std::string& )> getStateMachineStatus; 00074 00075 OperationCaller<std::string (const std::string& )> getStateMachineStatusStr; 00076 00077 OperationCaller<std::vector<std::string> ()> getStateMachineList; 00078 00079 OperationCaller<int (const std::string& )> execute; 00080 00081 OperationCaller<bool ( const std::string&)> runScript; 00082 00083 OperationCaller<bool ( const std::string& )> eval; 00084 00085 OperationCaller<bool ( const std::string&)> loadPrograms; 00086 00087 OperationCaller<bool ( const std::string& )> loadProgramText; 00088 00089 OperationCaller<int (const std::string& )> getProgramLine; 00090 00091 OperationCaller<std::string (const std::string& )> getProgramText; 00092 00093 OperationCaller<bool ( const std::string& )> loadStateMachines; 00094 00095 OperationCaller<bool ( const std::string& code )> loadStateMachineText; 00096 00097 OperationCaller<std::string (const std::string& )> getStateMachineText; 00098 00099 OperationCaller<int (const std::string& )> getStateMachineLine; 00100 00101 OperationCaller<bool (const std::string& )> startProgram; 00102 00103 OperationCaller<bool (const std::string& )> stopProgram; 00104 00105 OperationCaller<bool (const std::string& )> pauseProgram; 00106 00107 OperationCaller<bool (const std::string& )> stepProgram; 00108 00109 OperationCaller<bool (const std::string& )> hasProgram; 00110 00111 OperationCaller<bool (const std::string& )> isProgramRunning; 00112 00113 OperationCaller<bool (const std::string& )> isProgramPaused; 00114 00115 OperationCaller<bool (const std::string& )> inProgramError; 00116 00117 OperationCaller<bool (const std::string& )> activateStateMachine; 00118 00119 OperationCaller<bool (const std::string& )> deactivateStateMachine; 00120 00121 OperationCaller<bool (const std::string& )> startStateMachine; 00122 00123 OperationCaller<bool (const std::string& )> pauseStateMachine; 00124 00125 OperationCaller<bool (const std::string& )> stopStateMachine; 00126 00127 OperationCaller<bool (const std::string& )> resetStateMachine; 00128 00129 OperationCaller<bool (const std::string& , const std::string& )> requestStateMachineState; 00130 00131 OperationCaller<bool (const std::string& )> hasStateMachine; 00132 00133 OperationCaller<bool (const std::string& )> isStateMachineActive; 00134 00135 OperationCaller<bool (const std::string& )> isStateMachineRunning; 00136 00137 OperationCaller<bool (const std::string& )> inStateMachineError; 00138 00139 OperationCaller<bool (const std::string& )> isStateMachinePaused; 00140 00141 OperationCaller<std::string (const std::string& )> getStateMachineState; 00142 00143 OperationCaller<bool (const std::string& , const std::string& )> inStateMachineState; 00144 }; 00145 00146 } 00147 00148 #endif /* ORO_SCRIPTING_HPP_ */