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00039 #ifndef ORO_CALL_FUNCTION_HPP
00040 #define ORO_CALL_FUNCTION_HPP
00041
00042 #include "../base/ActionInterface.hpp"
00043 #include "../base/DisposableInterface.hpp"
00044 #include "../internal/DataSources.hpp"
00045 #include "ProgramInterface.hpp"
00046 #include "../internal/DataSource.hpp"
00047 #include "../ExecutionEngine.hpp"
00048 #include <boost/shared_ptr.hpp>
00049 #include <boost/bind.hpp>
00050
00051 namespace RTT
00052 { namespace scripting {
00053 using namespace detail;
00054
00062 class RTT_SCRIPTING_API CallFunction
00063 : public base::ActionInterface
00064 {
00065 base::ActionInterface* minit;
00066 ExecutionEngine* mrunner;
00067 ExecutionEngine* mcaller;
00071 internal::AssignableDataSource<ProgramInterface*>::shared_ptr _v;
00076 boost::shared_ptr<ProgramInterface> _foo;
00077 bool isqueued;
00078 bool maccept;
00079
00080 bool fooDone() {
00081 return _foo->inError() || _foo->isStopped();
00082 }
00083 public:
00092 CallFunction( base::ActionInterface* init_com,
00093 boost::shared_ptr<ProgramInterface> foo,
00094 ExecutionEngine* p, ExecutionEngine* caller,
00095 internal::AssignableDataSource<ProgramInterface*>* v = 0 ,
00096 internal::AssignableDataSource<bool>* a = 0 )
00097 : minit(init_com),
00098 mrunner(p), mcaller(caller),
00099 _v( v==0 ? new internal::UnboundDataSource< internal::ValueDataSource<ProgramInterface*> >(foo.get()) : v ),
00100 _foo( foo ), isqueued(false), maccept(false)
00101 {
00102 }
00103
00104 ~CallFunction() {
00105 this->reset();
00106 }
00107
00108 virtual bool execute() {
00109
00110 if (isqueued == false ) {
00111 isqueued = true;
00112 maccept = minit->execute() && mrunner->runFunction( _foo.get() );
00113
00114 if ( _foo->needsStart() )
00115 _foo->start();
00116 if ( maccept ) {
00117
00118
00119 mrunner->waitForFunctions(boost::bind(&CallFunction::fooDone,this) );
00120 if ( _foo->inError() ) {
00121 throw false;
00122 }
00123 return true;
00124 }
00125 return false;
00126 }
00127 return true;
00128 }
00129
00130 virtual void reset() {
00131 mrunner->removeFunction( _foo.get() );
00132 maccept = false;
00133 isqueued = false;
00134 }
00135
00136 virtual bool valid() const {
00137 return maccept;
00138 }
00139
00140 virtual void readArguments() {
00141
00142 minit->readArguments();
00143 }
00144
00145 base::ActionInterface* clone() const
00146 {
00147
00148 return new CallFunction( minit->clone(), _foo, mrunner, mcaller, _v.get() );
00149 }
00150
00151 base::ActionInterface* copy( std::map<const base::DataSourceBase*, base::DataSourceBase*>& alreadyCloned ) const
00152 {
00153
00154
00155 boost::shared_ptr<ProgramInterface> fcpy( _foo->copy(alreadyCloned) );
00156 internal::AssignableDataSource<ProgramInterface*>* vcpy = _v->copy(alreadyCloned);
00157 vcpy->set( fcpy.get() );
00158 return new CallFunction( minit->copy(alreadyCloned), fcpy , mrunner, mcaller, vcpy );
00159 }
00160
00161 };
00162
00163 }}
00164
00165 #endif