CommandDS.hpp

/***************************************************************************
  tag: FMTC  do nov 2 13:06:12 CET 2006  CommandDS.hpp

                        CommandDS.hpp -  description
                           -------------------
    begin                : do november 02 2006
    copyright            : (C) 2006 FMTC
    email                : peter.soetens@fmtc.be

 ***************************************************************************
 *   This library is free software; you can redistribute it and/or         *
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 *   version 2 of the License.                                             *
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#ifndef ORO_TASK_COMMAND_DS_HPP
#define ORO_TASK_COMMAND_DS_HPP

#include <boost/function.hpp>
#include <string>
#include "CommandProcessor.hpp"
#include "BindStorage.hpp"
#include "UnMember.hpp"

namespace RTT
{
    template<class CommandT>
    class CommandDS
        : private detail::BindStorage<CommandT>
    {
    protected:
        std::string mname;

        CommandProcessor* mcp;

        bool minvert;
    public:
        typedef CommandT Signature;

        template<class CommandF, class ConditionF>
        CommandDS(std::string name, CommandF com, ConditionF con, CommandProcessor* commandp, bool invert = false)
            : mname(name),
              mcp( commandp ),
              minvert(invert)
        {
            this->setup(boost::function<CommandT>(com), boost::function<CommandT>(con) );
        }

        boost::function<CommandT> getCommandFunction() const {
            return this->command();
        }

        boost::function<CommandT> getConditionFunction() const {
            return this->condition();
        }

        bool isInverted() const {
            return minvert;
        }

        CommandProcessor* getCommandProcessor() const {
            return mcp;
        }

        const std::string& getName() const {
            return mname;
        }

    };

    template<class ComF, class ConF>
    CommandDS<typename detail::ArgMember<ComF>::type > command_ds(std::string name, ComF command, ConF condition, CommandProcessor* cp, bool invert = false) {
        return CommandDS<typename detail::ArgMember<ComF>::type >(name, command, condition, cp, invert);
    }


}
#endif