ProgramService.cpp

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/***************************************************************************
  tag: Peter Soetens  Wed Jan 18 14:11:40 CET 2006  ProgramService.cpp

                        ProgramService.cpp -  description
                           -------------------
    begin                : Wed January 18 2006
    copyright            : (C) 2006 Peter Soetens
    email                : peter.soetens@mech.kuleuven.be

 ***************************************************************************
 *   This library is free software; you can redistribute it and/or         *
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#include "ProgramService.hpp"

#include "../OperationCaller.hpp"
#include "../FactoryExceptions.hpp"
#include "../ExecutionEngine.hpp"
#include "../internal/DataSources.hpp"

namespace RTT
{

    using namespace detail;

    ProgramService::ProgramService(FunctionGraphPtr prog, TaskContext* tc)
        : Service( prog->getName(), tc),
          program( new ValueDataSource<ProgramInterfacePtr>(prog) ),
          function(prog)
    {
        this->doc("Orocos Program Script");

        // We need a weak pointer here in order to be able to unload programs that
        // reference self. The only way we can use weak_ptr with OperationCaller/Operation is by putting it in the data source
        // of the first argument. We can not 'boost::bind' to a weak pointer, only to a shared_ptr.
        DataSource<ProgramInterfacePtr>* ptr = program.get();
        // OperationCallers :
        addOperationDS("start", &ProgramInterface::start,ptr).doc("Start or continue this program.");
        addOperationDS("pause", &ProgramInterface::pause,ptr).doc("Pause this program.");
        addOperationDS("step", &ProgramInterface::step,ptr).doc("Step a paused program.");
        addOperationDS("stop", &ProgramInterface::stop,ptr).doc("Stop and reset this program.");

        // DataSources:

        addOperationDS("isRunning", &ProgramInterface::isRunning,ptr).doc("Is this program being executed and not paused ?");
        addOperationDS("inError", &ProgramInterface::inError,ptr).doc("Has this program executed an erroneous method ?");
        addOperationDS("isPaused", &ProgramInterface::isPaused,ptr).doc("Is this program running but paused ?");
    }

    ProgramService::~ProgramService() {
        // When the this Service is deleted, make sure the program does not reference us.
        FunctionGraphPtr prog = function;
        if ( prog ) {
            prog->setProgramService( ProgramServicePtr() );
        }
    }
}