00001 /*************************************************************************** 00002 tag: Peter Soetens Wed Jan 18 14:11:40 CET 2006 StateMachineService.hpp 00003 00004 StateMachineService.hpp - 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 #ifndef STATEMACHINE_SERVICE_HPP 00041 #define STATEMACHINE_SERVICE_HPP 00042 00043 #include "../Service.hpp" 00044 #include "ParsedStateMachine.hpp" 00045 00046 namespace RTT 00047 { namespace scripting { 00048 typedef boost::shared_ptr<StateMachineService> StateMachineServicePtr; 00049 00054 class StateMachineService 00055 : public Service 00056 { 00057 // used when state machines are copied. 00058 // functions have a similar mechanism 00059 internal::ValueDataSource< StateMachinePtr >::shared_ptr _this; 00060 ParsedStateMachinePtr statemachine; 00061 TaskContext* mtc; 00062 00063 void createOperationFactory(); 00064 00065 public: 00066 StateMachineServicePtr copy(ParsedStateMachinePtr newsc, std::map<const base::DataSourceBase*, base::DataSourceBase*>& replacements, bool instantiate ); 00067 00072 StateMachineService(ParsedStateMachinePtr statemachine, TaskContext* tc); 00073 00074 ~StateMachineService(); 00075 00079 //StateMachinePtr getStateMachine() const { return _this->get(); } 00080 00081 //ExecutionEngine* engine() const; 00082 }; 00083 }} 00084 00085 #endif