parsedstatemachine.hpp

机器人开源项目orocos的源代码

/***************************************************************************
  tag: Peter Soetens  Tue Jul 20 17:33:09 CEST 2004  ParsedStateMachine.hpp

                        ParsedStateMachine.hpp -  description
                           -------------------
    begin                : Tue July 20 2004
    copyright            : (C) 2004 Peter Soetens
    email                : [e-mail]

 ***************************************************************************
 *   This library is free software; you can redistribute it and/or         *
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 *   version 2 of the License.                                             *
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 *   software library without restriction.  Specifically, if other files   *
 *   instantiate templates or use macros or inline functions from this     *
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 *   resulting executable to be covered by the GNU General Public          *
 *   License.  This exception does not however invalidate any other        *
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 *   Public License.                                                       *
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#ifndef CURRENT_INCLUDE_PARSEDSTATECONTEXT_HPP
#define CURRENT_INCLUDE_PARSEDSTATECONTEXT_HPP

#include "../StateMachine.hpp"
#include "../DataSource.hpp"
#include <boost/shared_ptr.hpp>

namespace RTT 
{
    class TaskObject;
    class StateMachineTask;

    class ParsedStateMachine;
    typedef boost::shared_ptr<ParsedStateMachine> ParsedStateMachinePtr;
    typedef boost::weak_ptr<ParsedStateMachine> ParsedStateMachineWPtr;

    /**
     * State machine created by the scripting engine which represents a parsed state machine.
     */
    class ParsedStateMachine
        : public StateMachine
    {
        typedef std::map<std::string, AttributeBase*> VisibleWritableValuesMap;
    protected:
        virtual void handleUnload();
    public:
        ParsedStateMachine();
        virtual ~ParsedStateMachine();

        /**
         * Create a copy, set instantiate to 'true' if instantiating a RootMachine.
         */
        ParsedStateMachinePtr copy( std::map<const DataSourceBase*, DataSourceBase*>& replacements, bool instantiate = false ) const;

        void addParameter( const std::string& name, AttributeBase* var );

        AttributeBase* getParameter( const std::string& name ) const;
        VisibleWritableValuesMap getParameters() const;
        std::vector<std::string> getParameterNames() const;

        /**
         * Set the name of this machine. If \a recurisive == true, this also sets subMachines'
         * names, to the given name + "." + the name they have been
         * instantiated by in this machine.
         */
        void setName( const std::string& name, bool recursive );

        std::string getText() const;

        void setText( std::string text);

        StateMachineTask* getTaskObject() const;

        void setTaskObject(StateMachineTask* tc);

        bool inState( const std::string& name );
        /**
         * Call this function if the state machine is parsed.
         */
        void finish();
    private:
        VisibleWritableValuesMap parametervalues;

        boost::shared_ptr<std::string> _text;

        StateMachineTask* object;
    };
}

#endif