scriptingaccessproxy.hpp

机器人开源项目orocos的源代码

/***************************************************************************
  tag: Peter Soetens  Mon Jun 26 13:25:59 CEST 2006  ScriptingAccessProxy.hpp 

                        ScriptingAccessProxy.hpp -  description
                           -------------------
    begin                : Mon June 26 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     *
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 *   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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 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU     *
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#ifndef ORO_EXECUTION_SCRIPTING_ACCESS_PROXY_HPP
#define ORO_EXECUTION_SCRIPTING_ACCESS_PROXY_HPP

#include "../ScriptingAccess.hpp"
#include "ScriptingAccessC.h"

namespace RTT
{namespace Corba
{

    /**
     * A Corba Proxy for the ScriptingAccess class.
     */
    class ScriptingAccessProxy
        : public RTT::ScriptingAccess
    {
    protected:
        Corba::ScriptingAccess_var msa;
    public:
        ScriptingAccessProxy( Corba::ScriptingAccess_ptr sa )
            : ScriptingAccess( 0 ),
              msa( Corba::ScriptingAccess::_duplicate( sa ) )
        {}
        
        virtual ~ScriptingAccessProxy();

        using ScriptingAccess::loadPrograms;
        using ScriptingAccess::loadStateMachines;

        virtual int execute( const std::string& code );
        virtual DispatchInterface::shared_ptr getCommand( int ticket );

        virtual bool hasProgram( std::string name) const;
        virtual bool loadPrograms( std::string code, std::string filename, bool do_throw = false );
        virtual bool unloadProgram( std::string name, bool do_throw = false );

        virtual std::vector<std::string> getPrograms() const;
        virtual int getProgramLine(std::string name) const;
        virtual std::string getProgramText(std::string name ) const;
        virtual std::string getProgramStatus(std::string name ) const;

        virtual bool loadStateMachines( std::string code, std::string filename, bool do_throw = false );
        virtual bool unloadStateMachine( std::string name, bool do_throw = false );

        virtual bool hasStateMachine( std::string name) const;
        virtual std::vector<std::string> getStateMachines() const;
        virtual std::string getStateMachineText(std::string name ) const;
        virtual std::string getStateMachineStatus(std::string name ) const;
        virtual int getStateMachineLine(std::string name ) const;
        virtual std::string getCurrentState(std::string name ) const;
    };
}}

#endif