operationsi.h

来自「机器人开源项目orocos的源代码」· C头文件 代码 · 共 1,102 行 · 第 1/2 页

  }

  virtual
  CORBA::Boolean fromString (
      const char* value
    )
    ACE_THROW_SPEC ((
      CORBA::SystemException
      )) {
      
      if ( !mset->getTypeInfo()->fromString( value, mset ) ) {
          RTT::log(RTT::Error) << "Corba::AssignableExpression: Could not assign string to "<<mset->getType() <<"." <<RTT::endlog()
							   <<" Tried to assign as "<< RTT::DataSource<ResultType>::GetType() << " to native type "<< RTT::DataSource<SourceType>::GetType()<< RTT::endlog();
          return false;
      }
      return true;
  }
      
};


// Boolean Specialisations, like in RTT::DataSource<bool>:

template<>
class  Orocos_Expression_i<bool>
  : public virtual POA_RTT::Corba::Expression,
    public virtual PortableServer::RefCountServantBase
{
protected:
    RTT::DataSource<bool>::shared_ptr morig;
    RTT::DataSource<bool>::value_t last_value;
    PortableServer::POA_var mpoa;
public:
    typedef bool SourceType;
    typedef bool ResultType;

  // Constructor 
  Orocos_Expression_i (RTT::DataSource<bool>::shared_ptr orig, PortableServer::POA_ptr the_poa)
      : morig( orig ), last_value(), mpoa( PortableServer::POA::_duplicate(the_poa) )
    {}

    PortableServer::POA_ptr _default_POA()
    {
        return PortableServer::POA::_duplicate(mpoa);
    }

  // Destructor 
    virtual ~Orocos_Expression_i (void) {}
  
  virtual
  CORBA::Any* value (
      
    )
    ACE_THROW_SPEC ((
      CORBA::SystemException
      )) {
      return RTT::AnyConversion<bool>::createAny( last_value );
  }
  
  virtual
  CORBA::Boolean evaluate (
      
    )
    ACE_THROW_SPEC ((
      CORBA::SystemException
      )) {
      last_value = morig->get();
      return last_value;
  }
  
  virtual
  CORBA::Any * get (
      
    )
    ACE_THROW_SPEC ((
      CORBA::SystemException
      )) {
      last_value = morig->get();
      return RTT::AnyConversion<bool>::createAny( last_value );
  }
  
  virtual
  char * getType (
      
    )
    ACE_THROW_SPEC ((
      CORBA::SystemException
      )) {
      return CORBA::string_dup( morig->getType().c_str() );
  }

  virtual
  char * toString (
      
    )
    ACE_THROW_SPEC ((
      CORBA::SystemException
      )) {
      std::string result = morig->toString();
      return CORBA::string_dup( result.c_str() );
  }

  virtual
  char * getTypeName (
      
    )
    ACE_THROW_SPEC ((
      CORBA::SystemException
      )) {
      return CORBA::string_dup( morig->getTypeName().c_str() );
  }

  virtual void destroyExpression()
    ACE_THROW_SPEC ((
      CORBA::SystemException
    ))
 {
  }

};

template<>
class  Orocos_AssignableExpression_i<bool>
  : public virtual POA_RTT::Corba::AssignableExpression,
    public virtual PortableServer::RefCountServantBase
{
    RTT::AssignableDataSource<bool>::shared_ptr massign;
    bool last_value;
    PortableServer::POA_var mpoa;
public:
    typedef bool SourceType;
    typedef bool ResultType;

  // Constructor 
  Orocos_AssignableExpression_i (RTT::AssignableDataSource<bool>::shared_ptr assign , PortableServer::POA_ptr the_poa)
      : massign( assign ), last_value(), mpoa( PortableServer::POA::_duplicate(the_poa) )
    {}

    PortableServer::POA_ptr _default_POA()
    {
        return PortableServer::POA::_duplicate(mpoa);
    }
  
  // Destructor 
    virtual ~Orocos_AssignableExpression_i (void) {}
  
  virtual
  CORBA::Boolean set (
      const ::CORBA::Any & value
    )
    ACE_THROW_SPEC ((
      CORBA::SystemException
      )) {
      return RTT::AnyConversion<bool>::update( value, massign->set() );
  }\
      
  virtual
  CORBA::Any* value (
      
    )
    ACE_THROW_SPEC ((
      CORBA::SystemException
      )) {
      return RTT::AnyConversion<bool>::createAny( last_value );
  }
  
  virtual
  CORBA::Boolean evaluate (
      
    )
    ACE_THROW_SPEC ((
      CORBA::SystemException
      )) {
      last_value = massign->evaluate();
      return last_value;
  }
  
  virtual
  CORBA::Any * get (
      
    )
    ACE_THROW_SPEC ((
      CORBA::SystemException
      )) {
      last_value =massign->get();
      return RTT::AnyConversion<bool>::createAny( last_value );
  }
  
  virtual
  char * getType (
      
    )
    ACE_THROW_SPEC ((
      CORBA::SystemException
      )) {
      return CORBA::string_dup( massign->getType().c_str() );
  }

  virtual
  char * toString (
      
    )
    ACE_THROW_SPEC ((
      CORBA::SystemException
      )) {
      std::string result = massign->toString();
      return CORBA::string_dup( result.c_str() );
  }

  virtual
  CORBA::Boolean fromString (
      const char* value
    )
    ACE_THROW_SPEC ((
      CORBA::SystemException
      )) {
      
      if ( !massign->getTypeInfo()->fromString( value, massign ) ) {
          RTT::log(RTT::Error) << "Corba::AssignableExpression: Could not assign string to "<<massign->getType() <<"." <<RTT::endlog()
							   <<" Tried to assign as "<< RTT::DataSource<ResultType>::GetType() << " to native type "<< RTT::DataSource<SourceType>::GetType()<< RTT::endlog();
          return false;
      }
      return true;
  }
      

  virtual
  char * getTypeName (
      
    )
    ACE_THROW_SPEC ((
      CORBA::SystemException
      )) {
      return CORBA::string_dup( massign->getTypeName().c_str() );
  }

  virtual void destroyExpression()
    ACE_THROW_SPEC ((
      CORBA::SystemException
    ))
 {
  }

};

class  Orocos_Action_i
    : public virtual POA_RTT::Corba::Action,
      public virtual PortableServer::RefCountServantBase
{
	RTT::MethodC morig;
    RTT::CommandInterface* mcom;
    PortableServer::POA_var mpoa;
public:
  //Constructor 
  Orocos_Action_i ( RTT::MethodC* orig, RTT::CommandInterface* com, PortableServer::POA_ptr the_poa );

    PortableServer::POA_ptr _default_POA()
    {
        return PortableServer::POA::_duplicate(mpoa);
    }
  
  //Destructor 
    virtual ~Orocos_Action_i (void);
  
  virtual
  CORBA::Boolean execute (
      
    )
    ACE_THROW_SPEC ((
      CORBA::SystemException
      ));

  virtual
  CORBA::Boolean executeAny (
      const ::RTT::Corba::AnyArguments& args
    )
    ACE_THROW_SPEC ((
      CORBA::SystemException
    ,::RTT::Corba::WrongNumbArgException
    ,::RTT::Corba::WrongTypeArgException
    ));

  virtual
  void reset (
      
    )
    ACE_THROW_SPEC ((
      CORBA::SystemException
      ));

  virtual void destroyAction()
    ACE_THROW_SPEC ((
      CORBA::SystemException
    ))
 {
  }

};

/**
 * This class is nowhere used in Orocos (0.25.0)
 * The Orocos_AnyMethod_i is used instead to have a template-less
 * servant.
 */
template<class T>
class  Orocos_Method_i
    : public virtual Orocos_Expression_i<T>,
      public virtual POA_RTT::Corba::Method
{
 protected:
    typedef T SourceType;
    typedef typename RTT::DataSource<T>::value_t ResultType;
	RTT::MethodC methodc;
 public:
  //Constructor 
  Orocos_Method_i (RTT::MethodC orig, typename RTT::DataSource<SourceType>::shared_ptr datas, PortableServer::POA_ptr the_poa )
      : Orocos_Expression_i<SourceType>( datas, the_poa ), methodc(orig)
    {}
  
  //Destructor 
    virtual ~Orocos_Method_i (void) {}
  
  virtual
  CORBA::Boolean execute (
      
    )
    ACE_THROW_SPEC ((
      CORBA::SystemException
      )) {
      return this->evaluate();
  }

  virtual
  CORBA::Boolean executeAny (
      const ::RTT::Corba::AnyArguments& args
    )
    ACE_THROW_SPEC ((
      CORBA::SystemException
    ,::RTT::Corba::WrongNumbArgException
    ,::RTT::Corba::WrongTypeArgException
	  )) {
      RTT::MethodC mgen = methodc;
    try {
        for (size_t i =0; i != args.length(); ++i)
            mgen.arg( RTT::DataSourceBase::shared_ptr( new RTT::ValueDataSource<CORBA::Any_var>( new CORBA::Any( args[i] ) )));
        // if not ready, not enough args were given, *guess* a one off error in the exception :-(
        if ( !mgen.ready() )
            throw ::RTT::Corba::WrongNumbArgException( args.length()+1, args.length() );
        this->morig = mgen.getDataSource();
        return this->execute();
    } catch ( RTT::wrong_number_of_args_exception& wna ) {
        throw ::RTT::Corba::WrongNumbArgException( wna.wanted, wna.received );
    } catch ( RTT::wrong_types_of_args_exception& wta ) {
        throw ::RTT::Corba::WrongTypeArgException( wta.whicharg, wta.expected_.c_str(), wta.received_.c_str() );
    }
    return 0;
  }


  virtual
  void reset(
      
    )
    ACE_THROW_SPEC ((
      CORBA::SystemException
      )) {
      this->morig->reset();
  }
};

class  Orocos_AnyMethod_i
    : public virtual Orocos_AnyExpression_i,
      public virtual POA_RTT::Corba::Method
{
protected:
	RTT::MethodC mmethodc;

public:
    virtual void copy( RTT::DataSourceBase::shared_ptr new_ds ) {
        morig = new_ds;
    }

  //Constructor 
  Orocos_AnyMethod_i (RTT::MethodC orig, RTT::DataSourceBase::shared_ptr datas, PortableServer::POA_ptr the_poa )
      : Orocos_AnyExpression_i( datas, the_poa ), mmethodc(orig)
    {}
  
  //Destructor 
    virtual ~Orocos_AnyMethod_i (void) {}
  
  virtual
  CORBA::Boolean execute (
      
    )
    ACE_THROW_SPEC ((
      CORBA::SystemException
      )) {
      return this->evaluate();
  }

  CORBA::Boolean executeAny (
      const ::RTT::Corba::AnyArguments& args
    )
    ACE_THROW_SPEC ((
      CORBA::SystemException
    ,::RTT::Corba::WrongNumbArgException
    ,::RTT::Corba::WrongTypeArgException
	  )) {
      RTT::MethodC mgen = mmethodc;
    try {
        for (size_t i =0; i != args.length(); ++i)
            mgen.arg( RTT::DataSourceBase::shared_ptr( new RTT::ValueDataSource<CORBA::Any_var>( new CORBA::Any( args[i] ) )));
        // if not ready, not enough args were given, *guess* a one off error in the exception :-(
        if ( !mgen.ready() )
            throw ::RTT::Corba::WrongNumbArgException( args.length()+1, args.length() );
        morig = mgen.getDataSource();
        return this->evaluate();
    } catch ( RTT::wrong_number_of_args_exception& wna ) {
        throw ::RTT::Corba::WrongNumbArgException( wna.wanted, wna.received );
    } catch ( RTT::wrong_types_of_args_exception& wta ) {
        throw ::RTT::Corba::WrongTypeArgException( wta.whicharg, wta.expected_.c_str(), wta.received_.c_str() );
    }
    return 0;
  }

  virtual
  void reset(
      
    )
    ACE_THROW_SPEC ((
      CORBA::SystemException
      )) {
      this->morig->reset();
  }

  virtual void destroyAction()
    ACE_THROW_SPEC ((
      CORBA::SystemException
    ))
 {
  }

};


class  Orocos_Command_i
    : public virtual POA_RTT::Corba::Command,
      public virtual PortableServer::RefCountServantBase
{
protected:
    RTT::CommandC* morig;
    RTT::CommandC* mcomm;
    PortableServer::POA_var mpoa;
public:
  //Constructor 
    /**
     * Create a CORBA servant for a CommandC object.
     * @param orig A CommandC object being ready for receiving arg() calls. This is required
     * for executeAny(), such that new arguments can be provided.
     * @param c A CommandC object being ready for execute(). This is required for execute().
     */
  Orocos_Command_i (RTT::CommandC& orig,RTT::CommandC& c, PortableServer::POA_ptr the_poa);

  /**
   * Create a CORBA servant for a CommandC object without executeAny() support.
   */
  Orocos_Command_i (RTT::DispatchInterface::shared_ptr orig, PortableServer::POA_ptr the_poa);

    PortableServer::POA_ptr _default_POA()
    {
        return PortableServer::POA::_duplicate(mpoa);
    }
  
  //Destructor 
  virtual ~Orocos_Command_i (void);
  
  virtual
  CORBA::Boolean execute (
      
    )
    ACE_THROW_SPEC ((
      CORBA::SystemException
    ));
  
  virtual
  CORBA::Boolean executeAny (
      const ::RTT::Corba::AnyArguments& args
    )
    ACE_THROW_SPEC ((
      CORBA::SystemException
    ,::RTT::Corba::WrongNumbArgException
    ,::RTT::Corba::WrongTypeArgException
    ));

  virtual
  CORBA::Boolean sent (
      
    )
    ACE_THROW_SPEC ((
      CORBA::SystemException
    ));
  
  virtual
  CORBA::Boolean accepted (
      
    )
    ACE_THROW_SPEC ((
      CORBA::SystemException
    ));
  
  virtual
  CORBA::Boolean executed (
      
    )
    ACE_THROW_SPEC ((
      CORBA::SystemException
    ));
  
  virtual
  CORBA::Boolean valid (
      
    )
    ACE_THROW_SPEC ((
      CORBA::SystemException
    ));
  
  virtual
  CORBA::Boolean done (
      
    )
    ACE_THROW_SPEC ((
      CORBA::SystemException
    ));
  
  virtual
  void reset (
      
    )
    ACE_THROW_SPEC ((
      CORBA::SystemException
    ));
  
  virtual void destroyCommand()
    ACE_THROW_SPEC ((
      CORBA::SystemException
    ));
};

#endif /* INCLUDE_EXPRESSIONI_H_  */