programtask.cpp

机器人开源项目orocos的源代码

/***************************************************************************
  tag: Peter Soetens  Wed Jan 18 14:11:40 CET 2006  ProgramTask.cpp 

                        ProgramTask.cpp -  description
                           -------------------
    begin                : Wed January 18 2006
    copyright            : (C) 2006 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.                                             *
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 *   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.                                                       *
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 *   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.                       *
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 *   Foundation, Inc., 59 Temple Place,                                    *
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 ***************************************************************************/
 
 

#include "scripting/ProgramTask.hpp"

#include "CommandDS.hpp"
#include "Method.hpp"
#include "FactoryExceptions.hpp"
#include "ExecutionEngine.hpp"
#include <DataSources.hpp>

namespace RTT
{
    
    using namespace detail;

    ProgramTask::ProgramTask(FunctionGraphPtr prog, ExecutionEngine* ee)
        : TaskObject( prog->getName(), "Orocos Program Script"),
          program( new ValueDataSource<ProgramInterfaceWPtr>(prog) ),
          function(prog)
    {
        DataSource<ProgramInterfaceWPtr>* ptr = program.get();
        // Commands :
        commands()->addCommandDS( ptr,
                                  command_ds("start",&ProgramInterface::start, &ProgramInterface::isRunning,ee->commands()),
                                  "Start or continue this program.");
        commands()->addCommandDS( ptr,
                                  command_ds("pause",&ProgramInterface::pause, &ProgramInterface::isPaused,ee->commands()),
                                  "Pause this program.");
        commands()->addCommandDS( ptr,
                                  command_ds("step", &ProgramInterface::step, &ProgramInterface::stepDone,ee->commands()),
                                  "Step a paused program.");
        commands()->addCommandDS( ptr,
                                  command_ds("stop", &ProgramInterface::stop, &ProgramInterface::isStopped,ee->commands()),
                                  "Stop and reset this program.");

        // DataSources:

        methods()->addMethodDS( ptr,
                                method_ds("isRunning",&ProgramInterface::isRunning),
                                "Is this program being executed and not paused ?");
        methods()->addMethodDS( ptr,
                                method_ds("inError", &ProgramInterface::inError),
                                "Has this program executed an erroneous command ?");
        methods()->addMethodDS( ptr,
                                method_ds("isPaused", &ProgramInterface::isPaused),
                                "Is this program running but paused ?");
    }

    ProgramTask::~ProgramTask() {
        // When the this TaskObject is deleted, make sure the program does not reference us.
        FunctionGraphPtr prog = function.lock();
        if ( prog ) {
            prog->setProgramTask(0);
        }
    }
}