CommandFunctors.hpp

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/***************************************************************************
  tag: FMTC  do nov 2 13:06:11 CET 2006  CommandFunctors.hpp

                        CommandFunctors.hpp -  description
                           -------------------
    begin                : do november 02 2006
    copyright            : (C) 2006 FMTC
    email                : peter.soetens@fmtc.be

 ***************************************************************************
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#ifndef ORO_COMMANDFUNCTORS_HPP
#define ORO_COMMANDFUNCTORS_HPP

#include <boost/bind.hpp>
#include <boost/function.hpp>
#include <boost/type_traits/function_traits.hpp>

#include "../base/ActionInterface.hpp"
#include "ConditionInterface.hpp"

namespace RTT
{
    namespace scripting {

        class CommandFunction
            :public base::ActionInterface
        {
        public:
            typedef boost::function<bool(void)> Function;

            Function com;

            CommandFunction(Function impl)
                : com(impl)
            {
            }

            virtual void readArguments() { }

            virtual bool execute() { return com(); }

            virtual CommandFunction* clone() const
            {
                return new CommandFunction( com );
            }
        };

        class ConditionFunction
            :public ConditionInterface
        {
        public:
            typedef boost::function<bool(void)> Function;

            Function con;
            bool minvert;

            ConditionFunction(Function impl, bool invert=false)
                : con(impl), minvert(invert)
            {
            }

            virtual bool evaluate() { return con() != minvert; }

            virtual ConditionFunction* clone() const
            {
                return new ConditionFunction( con, minvert );
            }
        };
    }
}

#endif