ProgramService.cpp
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1 /***************************************************************************
2  tag: Peter Soetens Wed Jan 18 14:11:40 CET 2006 ProgramService.cpp
3 
4  ProgramService.cpp - description
5  -------------------
6  begin : Wed January 18 2006
7  copyright : (C) 2006 Peter Soetens
8  email : peter.soetens@mech.kuleuven.be
9 
10  ***************************************************************************
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37 
38 
39 
40 #include "ProgramService.hpp"
41 
42 #include "../OperationCaller.hpp"
43 #include "../FactoryExceptions.hpp"
44 #include "../ExecutionEngine.hpp"
45 #include "../internal/DataSources.hpp"
46 
47 namespace RTT
48 {
49 
50  using namespace detail;
51 
53  : Service( prog->getName(), tc),
54  program( new ValueDataSource<ProgramInterfacePtr>(prog) ),
55  function(prog)
56  {
57  this->doc("Orocos Program Script");
58 
59  // We need a weak pointer here in order to be able to unload programs that
60  // reference self. The only way we can use weak_ptr with OperationCaller/Operation is by putting it in the data source
61  // of the first argument. We can not 'boost::bind' to a weak pointer, only to a shared_ptr.
63  // OperationCallers :
64  addOperationDS("start", &ProgramInterface::start,ptr).doc("Start or continue this program.");
65  addOperationDS("pause", &ProgramInterface::pause,ptr).doc("Pause this program.");
66  addOperationDS("step", &ProgramInterface::step,ptr).doc("Step a paused program.");
67  addOperationDS("stop", &ProgramInterface::stop,ptr).doc("Stop and reset this program.");
68 
69  // DataSources:
70 
71  addOperationDS("isRunning", &ProgramInterface::isRunning,ptr).doc("Is this program being executed and not paused ?");
72  addOperationDS("inError", &ProgramInterface::inError,ptr).doc("Has this program executed an erroneous method ?");
73  addOperationDS("isPaused", &ProgramInterface::isPaused,ptr).doc("Is this program running but paused ?");
74  }
75 
77  // When the this Service is deleted, make sure the program does not reference us.
78  FunctionGraphPtr prog = function;
79  if ( prog ) {
80  prog->setProgramService( ProgramServicePtr() );
81  }
82  }
83 }
boost::shared_ptr< FunctionGraph > FunctionGraphPtr
boost::shared_ptr< ProgramInterface > ProgramInterfacePtr
ProgramService(FunctionGraphPtr prog, TaskContext *tc=0)
internal::ValueDataSource< ProgramInterfacePtr >::shared_ptr program
const std::string & doc() const
Definition: Service.hpp:144
DataSource< T >::result_t get() const
Definition: DataSources.hpp:78
Operation< typename internal::GetSignatureDS< Func >::Signature > & addOperationDS(const std::string &name, Func func, internal::DataSource< boost::shared_ptr< ObjT > > *sp, ExecutionThread et=ClientThread)
Definition: Service.hpp:506
Contains TaskContext, Activity, OperationCaller, Operation, Property, InputPort, OutputPort, Attribute.
Definition: Activity.cpp:53
boost::shared_ptr< ProgramService > ProgramServicePtr


rtt
Author(s): RTT Developers
autogenerated on Tue Jun 25 2019 19:33:26