This class represents a function. More...

#include <rtt/scripting/FunctionGraph.hpp>

Inheritance diagram for RTT::scripting::FunctionGraph:

Public Types
typedef EdgeCondition::EdgeProperty	EdgeProperty

typedef VertexNode::VertProperty	VertProperty

typedef boost::adjacency_list< boost::vecS, boost::listS, boost::directedS, VertProperty, EdgeProperty >	Graph

typedef boost::graph_traits< Graph >::vertex_descriptor	Vertex

typedef boost::graph_traits< Graph >::edge_descriptor	Edge

Public Member Functions
	FunctionGraph (const std::string &name, bool unload_on_stop)
	Create a FunctionGraph with a given name. More...

	FunctionGraph (const FunctionGraph &orig)
	Copy a FunctionGraph. More...

	~FunctionGraph ()

void	setProgramService (ServicePtr myservice)
	Set a service that manages this script. More...

void	setUnloadOnStop (bool unload_on_stop)
	Sets the unloading policy on stop or error. More...

virtual bool	needsStart () const
	Returns true if a start() is necessary when this function is loaded with ExecutionEngine::runFunction(). More...

void	finish ()
	To be called after a function is constructed. More...

virtual bool	start ()
	Start the execution of this program. More...

virtual bool	execute ()
	Execute as much actions until the program needs to wait on a condition to become true. More...

virtual void	loading ()
	Informs this object that it got loaded in an ExecutionEngine. More...

virtual void	unloading ()
	Informs this object that it got unloaded from an ExecutionEngine. More...

virtual bool	stop ()
	Stop the execution of this program. More...

virtual bool	pause ()
	Pause or start-and-pause the execution of this program. More...

virtual bool	step ()
	Execute a single action when paused. More...

virtual bool	stepDone () const

virtual void	reset ()
	Identical to stop();. More...

virtual int	getLineNumber () const
	Return the current 'line number' of the program. More...

virtual const std::string &	getName () const
	Programs can be refered to by name. More...

virtual FunctionGraph *	copy (std::map< const base::DataSourceBase , base::DataSourceBase > &replacementdss) const
	Clone this Program. More...

virtual FunctionGraph *	clone () const

void	setName (const std::string &_name)
	Set the name of this program. More...

void	setText (const std::string &t)
	Set the program text. More...

std::string	getText () const
	Return the program text to which getLineNumber() refers. More...

void	debugPrintout () const

Vertex	startNode () const

Vertex	currentNode () const

Vertex	previousNode () const

Vertex	exitNode () const

const Graph &	getGraph () const

Graph &	getGraph ()

std::vector< base::AttributeBase * >	getArguments () const
	Return an ordered list of this funcion's arguments. More...

base::AttributeBase *	getResult () const
	Get the return value of this program. More...

void	addArgument (base::AttributeBase *a)

void	setResult (base::AttributeBase *r)
	Will store the result in this attribute. More...

void	clearArguments ()
	Clear the arguments vector and release all base::AttributeBase resources. More...

bool	isRunning () const
	Returns true if the program is running. More...

bool	isPaused () const
	Returns true if the program is paused. More...

bool	isStopped () const
	Returns true if the program is not executing (stopped) or not loaded. More...

bool	inError () const
	Returns true if the program is in error. More...

Status::ProgramStatus	getStatus () const
	Return the current status of the program. More...

void	loaded (ExecutionEngine *ee)
	Called by the ExecutionEngine ee or before synchronous execution to tell this object it is being loaded. More...

void	unloaded ()
	Called by the ExecutionEngine ee or after synchronous execution to tell this object it is being unloaded. More...

bool	isLoaded ()
	Returns true if this object is loaded in an ExecutionEngine. More...

ExecutionEngine *	getEngine ()
	Returns the ExecutionEngine this object is loaded into or null otherwise. More...

Protected Member Functions
bool	executeUntil ()

bool	executeStep ()

Protected Attributes
Graph	program
	The graph containing this function. More...

Vertex	startv

Vertex	exitv

std::string	myName
	The (unique) name of this program. More...

std::string	_text
	Program text. More...

std::vector< base::AttributeBase * >	args
	Ordered arguments (are also in the repository). More...

base::AttributeBase *	retn

bool	pausing

bool	mstep

bool	munload_on_stop

ServicePtr	context

Status::ProgramStatus	pStatus

ExecutionEngine *	engine

Detailed Description

This class represents a function.

It has much in common with a program but is only used for storing a Graph.

Definition at line 59 of file FunctionGraph.hpp.

Member Typedef Documentation

typedef boost::graph_traits<Graph>::edge_descriptor RTT::scripting::FunctionGraph::Edge

Definition at line 72 of file FunctionGraph.hpp.

typedef EdgeCondition::EdgeProperty RTT::scripting::FunctionGraph::EdgeProperty

Definition at line 63 of file FunctionGraph.hpp.

typedef boost::adjacency_list<boost::vecS, boost::listS, boost::directedS, VertProperty, EdgeProperty> RTT::scripting::FunctionGraph::Graph

Definition at line 70 of file FunctionGraph.hpp.

typedef boost::graph_traits<Graph>::vertex_descriptor RTT::scripting::FunctionGraph::Vertex

Definition at line 71 of file FunctionGraph.hpp.

typedef VertexNode::VertProperty RTT::scripting::FunctionGraph::VertProperty

Definition at line 64 of file FunctionGraph.hpp.

Constructor & Destructor Documentation

RTT::FunctionGraph::FunctionGraph	(	const std::string &	name,
		bool	unload_on_stop
	)

Create a FunctionGraph with a given name.

Parameters

name The name of this script.

unload_on_stop Set to true to force an unload when the script stops or an error is encountered. The unload is forced by returning false in execute(), as defined in the ExecutableInterface. This flag should only be set to true for scripts that don't have a service associated (see setProgramService() ), since the service is destroyed when the function is unloaded. You can override this behavior after construction by using setUnloadOnStop().

Definition at line 59 of file FunctionGraph.cpp.

References exitv, RTT::scripting::VertexNode::normal_node, program, startv, and RTT::scripting::vertex_exec.

Referenced by clone(), and copy().

RTT::FunctionGraph::FunctionGraph ( const FunctionGraph & orig )

Copy a FunctionGraph.

Definition at line 69 of file FunctionGraph.cpp.

References args, RTT::base::AttributeBase::clone(), exitv, finish(), RTT::scripting::VertexNode::func_exit_node, RTT::scripting::VertexNode::func_start_node, getArguments(), program, retn, startv, and RTT::scripting::vertex_exec.

RTT::FunctionGraph::~FunctionGraph ( )

Definition at line 114 of file FunctionGraph.cpp.

References args, RTT::base::ExecutableInterface::getEngine(), RTT::base::ExecutableInterface::isLoaded(), and RTT::ExecutionEngine::removeFunction().

Member Function Documentation

void RTT::scripting::FunctionGraph::addArgument ( base::AttributeBase * a )

inline

Definition at line 248 of file FunctionGraph.hpp.

Referenced by copy().

void RTT::FunctionGraph::clearArguments ( )

Clear the arguments vector and release all base::AttributeBase resources.

Definition at line 459 of file FunctionGraph.cpp.

References args.

FunctionGraph * RTT::FunctionGraph::clone ( ) const

virtual

Implements RTT::scripting::ProgramInterface.

Definition at line 432 of file FunctionGraph.cpp.

References FunctionGraph().

FunctionGraph * RTT::FunctionGraph::copy ( std::map< const base::DataSourceBase *, base::DataSourceBase * > & replacementdss ) const

virtual

Clone this Program.

This will produce a completely new instance, that has nothing in common with this one. It takes care to properly map identical DataSources to identical DataSources.

Parameters

alreadyMappedData A map of some DataSources used in this program to new DataSources that should replace them in the new Program. This is provided, because in some cases the outside world also keeps references to datasources used somewhere in this programgraph. It is then important that when this Program is copied, the outside world has a way to get a reference to the corresponding datasources in the new program. We do this by allowing it to map some datasources itself, and simply provide us a list of its mappings.

Implements RTT::scripting::ProgramInterface.

Definition at line 383 of file FunctionGraph.cpp.

References addArgument(), args, RTT::base::AttributeBase::copy(), exitv, finish(), FunctionGraph(), getName(), munload_on_stop, program, retn, setResult(), and startv.

Vertex RTT::scripting::FunctionGraph::currentNode ( ) const

inline

Definition at line 212 of file FunctionGraph.hpp.

void RTT::FunctionGraph::debugPrintout ( ) const

Definition at line 437 of file FunctionGraph.cpp.

References RTT::os::endl(), getName(), program, and RTT::scripting::vertex_command.

bool RTT::FunctionGraph::execute ( )

virtual

Execute as much actions until the program needs to wait on a condition to become true.

When paused, only execute one action.

Returns: false if a program error occured.

Implements RTT::scripting::ProgramInterface.

Definition at line 199 of file FunctionGraph.cpp.

References RTT::scripting::ProgramInterface::Status::error, executeStep(), executeUntil(), mstep, munload_on_stop, RTT::scripting::ProgramInterface::Status::paused, pausing, RTT::scripting::ProgramInterface::pStatus, RTT::scripting::ProgramInterface::Status::running, RTT::scripting::ProgramInterface::Status::stopped, and RTT::scripting::ProgramInterface::Status::unknown.

bool RTT::FunctionGraph::executeStep ( )

protected

Definition at line 290 of file FunctionGraph.cpp.

References edge_condition, RTT::scripting::ProgramInterface::Status::error, exitv, program, RTT::scripting::ProgramInterface::pStatus, reset(), stop(), and RTT::scripting::vertex_command.

Referenced by execute().

bool RTT::FunctionGraph::executeUntil ( )

protected

Definition at line 228 of file FunctionGraph.cpp.

References edge_condition, RTT::scripting::ProgramInterface::Status::error, exitv, munload_on_stop, pausing, program, RTT::scripting::ProgramInterface::pStatus, reset(), RTT::scripting::ProgramInterface::Status::running, stop(), and RTT::scripting::vertex_command.

Referenced by execute().

Vertex RTT::scripting::FunctionGraph::exitNode ( ) const

inline

Definition at line 222 of file FunctionGraph.hpp.

void RTT::FunctionGraph::finish ( )

To be called after a function is constructed.

Definition at line 94 of file FunctionGraph.cpp.

References exitv, RTT::scripting::VertexNode::func_exit_node, RTT::scripting::VertexNode::func_start_node, program, reset(), startv, and RTT::scripting::vertex_exec.

Referenced by copy(), and FunctionGraph().

std::vector<base::AttributeBase*> RTT::scripting::FunctionGraph::getArguments ( ) const

inlinevirtual

Return an ordered list of this funcion's arguments.

Implements RTT::scripting::ProgramInterface.

Definition at line 240 of file FunctionGraph.hpp.

Referenced by FunctionGraph().

ExecutionEngine* RTT::base::ExecutableInterface::getEngine ( )

inlineinherited

Returns the ExecutionEngine this object is loaded into or null otherwise.

Returns

Definition at line 117 of file ExecutableInterface.hpp.

Referenced by RTT::scripting::StateMachine::createEventTransition(), RTT::scripting::StateMachine::loading(), ~FunctionGraph(), and RTT::scripting::StateMachine::~StateMachine().

const Graph& RTT::scripting::FunctionGraph::getGraph ( ) const

inline

Definition at line 227 of file FunctionGraph.hpp.

Graph& RTT::scripting::FunctionGraph::getGraph ( )

inline

Definition at line 232 of file FunctionGraph.hpp.

int RTT::FunctionGraph::getLineNumber ( ) const

virtual

Return the current 'line number' of the program.

Implements RTT::scripting::ProgramInterface.

Definition at line 378 of file FunctionGraph.cpp.

References program, and RTT::scripting::vertex_command.

const std::string & RTT::FunctionGraph::getName ( ) const

virtual

Programs can be refered to by name.

Implements RTT::scripting::ProgramInterface.

Definition at line 358 of file FunctionGraph.cpp.

References myName.

Referenced by copy(), and debugPrintout().

base::AttributeBase* RTT::scripting::FunctionGraph::getResult ( ) const

inlinevirtual

Get the return value of this program.

Implements RTT::scripting::ProgramInterface.

Definition at line 244 of file FunctionGraph.hpp.

Status::ProgramStatus RTT::scripting::ProgramInterface::getStatus ( ) const

inlineinherited

Return the current status of the program.

Definition at line 149 of file ProgramInterface.hpp.

std::string RTT::FunctionGraph::getText ( ) const

virtual

Return the program text to which getLineNumber() refers.

Implements RTT::scripting::ProgramInterface.

Definition at line 368 of file FunctionGraph.cpp.

References _text.

bool RTT::scripting::ProgramInterface::inError ( ) const

inlineinherited

Returns true if the program is in error.

Definition at line 137 of file ProgramInterface.hpp.

Referenced by RTT::scripting::StateMachine::deactivate(), RTT::scripting::StateMachine::executeProgram(), and RTT::scripting::ProgramService::ProgramService().

bool RTT::base::ExecutableInterface::isLoaded ( )

inlineinherited

Returns true if this object is loaded in an ExecutionEngine.

Returns: true if so.

Definition at line 110 of file ExecutableInterface.hpp.

Referenced by RTT::RemoveMsg::done(), pause(), RTT::ExecutionEngine::removeFunction(), start(), step(), ~FunctionGraph(), and RTT::scripting::StateMachine::~StateMachine().

bool RTT::scripting::ProgramInterface::isPaused ( ) const

inlineinherited

Returns true if the program is paused.

Definition at line 127 of file ProgramInterface.hpp.

Referenced by RTT::scripting::ProgramService::ProgramService().

bool RTT::scripting::ProgramInterface::isRunning ( ) const

inlineinherited

Returns true if the program is running.

Definition at line 122 of file ProgramInterface.hpp.

Referenced by RTT::scripting::ProgramService::ProgramService().

bool RTT::scripting::ProgramInterface::isStopped ( ) const

inlineinherited

Returns true if the program is not executing (stopped) or not loaded.

Definition at line 132 of file ProgramInterface.hpp.

Referenced by RTT::scripting::StateMachine::executeProgram().

void RTT::base::ExecutableInterface::loaded ( ExecutionEngine * ee )

inlineinherited

Called by the ExecutionEngine ee or before synchronous execution to tell this object it is being loaded.

The engine pointer is set first and the user's loading() function is called next.

Parameters

ee	The pointer to the engine calling us.

Definition at line 73 of file ExecutableInterface.hpp.

Referenced by RTT::scripting::StateInterface::loaded(), and RTT::ExecutionEngine::runFunction().

void RTT::FunctionGraph::loading ( )

virtual

Informs this object that it got loaded in an ExecutionEngine.

Called by load() after the engine pointer is set.

Reimplemented from RTT::base::ExecutableInterface.

Definition at line 136 of file FunctionGraph.cpp.

References munload_on_stop, and start().

virtual bool RTT::scripting::FunctionGraph::needsStart ( ) const

inlinevirtual

Returns true if a start() is necessary when this function is loaded with ExecutionEngine::runFunction().

Functions that unload_on_stop == true don't need to be started since they will start themselves when loaded in the EE.

Implements RTT::scripting::ProgramInterface.

Definition at line 156 of file FunctionGraph.hpp.

bool RTT::FunctionGraph::pause ( )

virtual

Pause or start-and-pause the execution of this program.

Implements RTT::scripting::ProgramInterface.

Definition at line 173 of file FunctionGraph.cpp.

References RTT::base::ExecutableInterface::isLoaded(), pausing, RTT::scripting::ProgramInterface::pStatus, reset(), and RTT::scripting::ProgramInterface::Status::stopped.

Vertex RTT::scripting::FunctionGraph::previousNode ( ) const

inline

Definition at line 217 of file FunctionGraph.hpp.

void RTT::FunctionGraph::reset ( )

virtual

Identical to stop();.

Implements RTT::scripting::ProgramInterface.

Definition at line 345 of file FunctionGraph.cpp.

References exitv, startv, and stop().

Referenced by executeStep(), executeUntil(), finish(), pause(), and start().

void RTT::FunctionGraph::setName ( const std::string & _name )

Set the name of this program.

Only valid before endProgram() is called.

Definition at line 363 of file FunctionGraph.cpp.

References myName.

void RTT::FunctionGraph::setProgramService ( ServicePtr myservice )

Set a service that manages this script.

The service will be destroyed when this function is unloaded.

Definition at line 126 of file FunctionGraph.cpp.

References context.

void RTT::scripting::FunctionGraph::setResult ( base::AttributeBase * r )

inline

Will store the result in this attribute.

Definition at line 255 of file FunctionGraph.hpp.

Referenced by copy().

void RTT::FunctionGraph::setText ( const std::string & t )

Set the program text.

Definition at line 373 of file FunctionGraph.cpp.

References _text.

Referenced by RTT::scripting::ScriptParser::ScriptParser().

void RTT::FunctionGraph::setUnloadOnStop ( bool unload_on_stop )

Sets the unloading policy on stop or error.

Parameters

unload_on_stop See the description of the constructor of this class.

Definition at line 131 of file FunctionGraph.cpp.

References munload_on_stop.

bool RTT::FunctionGraph::start ( )

virtual

Start the execution of this program.

Implements RTT::scripting::ProgramInterface.

Definition at line 159 of file FunctionGraph.cpp.

References RTT::base::ExecutableInterface::isLoaded(), RTT::scripting::ProgramInterface::Status::paused, RTT::scripting::ProgramInterface::pStatus, reset(), RTT::scripting::ProgramInterface::Status::running, and RTT::scripting::ProgramInterface::Status::stopped.

Referenced by loading().

Vertex RTT::scripting::FunctionGraph::startNode ( ) const

inline

Definition at line 207 of file FunctionGraph.hpp.

bool RTT::FunctionGraph::step ( )

virtual

Execute a single action when paused.

Implements RTT::scripting::ProgramInterface.

Definition at line 185 of file FunctionGraph.cpp.

References RTT::base::ExecutableInterface::isLoaded(), mstep, RTT::scripting::ProgramInterface::Status::paused, and RTT::scripting::ProgramInterface::pStatus.

bool RTT::FunctionGraph::stepDone ( ) const

virtual

Implements RTT::scripting::ProgramInterface.

Definition at line 194 of file FunctionGraph.cpp.

References mstep.

bool RTT::FunctionGraph::stop ( )

virtual

Stop the execution of this program.

Implements RTT::scripting::ProgramInterface.

Definition at line 351 of file FunctionGraph.cpp.

References RTT::scripting::ProgramInterface::pStatus, and RTT::scripting::ProgramInterface::Status::stopped.

Referenced by executeStep(), executeUntil(), and reset().

void RTT::base::ExecutableInterface::unloaded ( )

inlineinherited

Called by the ExecutionEngine ee or after synchronous execution to tell this object it is being unloaded.

The user's loading() function is called first and the engine pointer is cleared next.

Definition at line 88 of file ExecutableInterface.hpp.

Referenced by RTT::ExecutionEngine::processFunctions(), RTT::ExecutionEngine::removeFunction(), and RTT::ExecutionEngine::~ExecutionEngine().

void RTT::FunctionGraph::unloading ( )

virtual

Informs this object that it got unloaded from an ExecutionEngine.

Called by unload() before the engine pointer is cleared.

Reimplemented from RTT::base::ExecutableInterface.

Definition at line 143 of file FunctionGraph.cpp.

References context.

Member Data Documentation

std::string RTT::scripting::FunctionGraph::_text

protected

Program text.

Definition at line 102 of file FunctionGraph.hpp.

Referenced by getText(), and setText().

std::vector<base::AttributeBase*> RTT::scripting::FunctionGraph::args

protected

Ordered arguments (are also in the repository).

Definition at line 107 of file FunctionGraph.hpp.

Referenced by clearArguments(), copy(), FunctionGraph(), and ~FunctionGraph().

ServicePtr RTT::scripting::FunctionGraph::context

protected

Definition at line 118 of file FunctionGraph.hpp.

Referenced by setProgramService(), and unloading().

ExecutionEngine* RTT::base::ExecutableInterface::engine

protectedinherited

Definition at line 63 of file ExecutableInterface.hpp.

Vertex RTT::scripting::FunctionGraph::exitv

protected

Definition at line 92 of file FunctionGraph.hpp.

Referenced by copy(), executeStep(), executeUntil(), finish(), FunctionGraph(), and reset().

bool RTT::scripting::FunctionGraph::mstep

protected

Definition at line 112 of file FunctionGraph.hpp.

Referenced by execute(), step(), and stepDone().

bool RTT::scripting::FunctionGraph::munload_on_stop

protected

Definition at line 113 of file FunctionGraph.hpp.

Referenced by copy(), execute(), executeUntil(), loading(), and setUnloadOnStop().

std::string RTT::scripting::FunctionGraph::myName

protected

The (unique) name of this program.

Definition at line 97 of file FunctionGraph.hpp.

Referenced by getName(), and setName().

bool RTT::scripting::FunctionGraph::pausing

protected

Definition at line 111 of file FunctionGraph.hpp.

Referenced by execute(), executeUntil(), and pause().

Graph RTT::scripting::FunctionGraph::program

protected

The graph containing this function.

Definition at line 89 of file FunctionGraph.hpp.

Referenced by copy(), debugPrintout(), executeStep(), executeUntil(), finish(), FunctionGraph(), and getLineNumber().

Status::ProgramStatus RTT::scripting::ProgramInterface::pStatus

protectedinherited

Definition at line 80 of file ProgramInterface.hpp.

Referenced by execute(), executeStep(), executeUntil(), pause(), start(), step(), and stop().

base::AttributeBase* RTT::scripting::FunctionGraph::retn

protected

Definition at line 109 of file FunctionGraph.hpp.

Referenced by copy(), and FunctionGraph().

Vertex RTT::scripting::FunctionGraph::startv

protected

Definition at line 91 of file FunctionGraph.hpp.

Referenced by copy(), finish(), FunctionGraph(), and reset().

The documentation for this class was generated from the following files:

rtt/scripting/FunctionGraph.hpp
rtt/scripting/FunctionGraph.cpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation