functionfactory.hpp

机器人开源项目orocos的源代码

/***************************************************************************
  tag: Peter Soetens  Tue Dec 21 22:43:08 CET 2004  FunctionFactory.hpp 

                        FunctionFactory.hpp -  description
                           -------------------
    begin                : Tue December 21 2004
    copyright            : (C) 2004 Peter Soetens
    email                : [e-mail]
 
 ***************************************************************************
 *   This library is free software; you can redistribute it and/or         *
 *   modify it under the terms of the GNU General Public                   *
 *   License as published by the Free Software Foundation;                 *
 *   version 2 of the License.                                             *
 *                                                                         *
 *   As a special exception, you may use this file as part of a free       *
 *   software library without restriction.  Specifically, if other files   *
 *   instantiate templates or use macros or inline functions from this     *
 *   file, or you compile this file and link it with other files to        *
 *   produce an executable, this file does not by itself cause the         *
 *   resulting executable to be covered by the GNU General Public          *
 *   License.  This exception does not however invalidate any other        *
 *   reasons why the executable file might be covered by the GNU General   *
 *   Public License.                                                       *
 *                                                                         *
 *   This library is distributed in the hope that it will be useful,       *
 *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU     *
 *   Lesser General Public License for more details.                       *
 *                                                                         *
 *   You should have received a copy of the GNU General Public             *
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 *   Foundation, Inc., 59 Temple Place,                                    *
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 *                                                                         *
 ***************************************************************************/
 
 
#ifndef FUNCTIONFACTORY_HPP
#define FUNCTIONFACTORY_HPP

#include "../OperationFactory.hpp"
#include "../Property.hpp"
#include "../ProgramInterface.hpp"
#include "../DispatchInterface.hpp"

#include <map>
#include <string>

namespace RTT
{
    class ExecutionEngine;

    
    

    /**
     * A CommandFactory which delivers commands which execute
     * a FunctionGraph in a Processor.
     */
    class FunctionFactory
        : public detail::OperationFactoryPart<DispatchInterface*>
    {
        ProgramInterfacePtr func;
        ExecutionEngine* proc;
    public:
        FunctionFactory(ProgramInterfacePtr func, ExecutionEngine* procs);

        std::string resultType() const;

        PropertyBag
        getArgumentSpec() const;

        std::vector< ArgumentDescription > getArgumentList() const;

        int arity() const;

        DispatchInterface* produce(const std::vector<DataSourceBase::shared_ptr>& args
                                   ) const;
    };
}

#endif