virtual base::ActionInterface* copy( std::map<const base::DataSourceBase*, base::DataSourceBase*>& alreadyCloned ) const
{
CommandComposite* res = new CommandComposite();
for (std::vector<base::ActionInterface*>::const_iterator it=vect.begin();it!=vect.end();it++)
res->add( (*it)->copy(alreadyCloned) );
return res;
}
void StateGraphParser::seenstatemachineend()
{
assert( curtemplate );
assert( ! curstate );
// reclaim the defined variables:
// Check if the Initial and Final States are ok.
if ( curtemplate->getInitialState() == 0 )
ORO_THROW( parse_exception_semantic_error("No initial state defined."));
if ( curtemplate->getFinalState() == 0 )
ORO_THROW( parse_exception_semantic_error("No final state defined."));
if ( curtemplate->getStateList().empty() )
ORO_THROW( parse_exception_semantic_error("No states defined in this state machine !"));
// Check if all States are defined.
vector<string> states = curtemplate->getStateList();
for( vector<string>::const_iterator it = states.begin(); it != states.end(); ++it)
{
assert( dynamic_cast<StateDescription*>( curtemplate->getState( *it ) ) );
StateDescription* sd = static_cast<StateDescription*>( curtemplate->getState( *it ) );
if ( !sd->isDefined() )
ORO_THROW( parse_exception_semantic_error("State " + *it + " not defined, but referenced to."));
}
// retrieve _all_ defined variables and parameters, store them and cleanup the
// valuechangeparser.
valuechangeparser->store( curtemplate->getService() );
valuechangeparser->reset();
// prepend the commands for initialising the subMachine
// variables..
assert( curtemplate->getInitCommand() == 0);
if ( varinitcommands.size() > 1 )
{
CommandComposite* comcom = new CommandComposite;
for ( std::vector<ActionInterface*>::iterator i = varinitcommands.begin();
i != varinitcommands.end(); ++i )
comcom->add( *i );
curtemplate->setInitCommand( comcom );
}
else if (varinitcommands.size() == 1 )
curtemplate->setInitCommand( *varinitcommands.begin() );
varinitcommands.clear();
// remove temporary subMachine peers from current task.
for( StateMachine::ChildList::const_iterator it= curtemplate->getChildren().begin();
it != curtemplate->getChildren().end(); ++it ) {
ParsedStateMachine* psc = dynamic_cast<ParsedStateMachine*>( it->get() );
if (psc) {
// remove from parent
context->provides()->removeService( psc->getService()->getName() );
}
}
// finally :
curtemplate->finish();
delete progParser;
progParser = 0;
StateMachineBuilder* scb = new StateMachineBuilder( curtemplate );
machinebuilders[curmachinename] = scb;
// save curmachinename for saveText.
curobject.reset();
curtemplate.reset();
}
void StateGraphParser::seenmachineinstantiation()
{
// TODO : move this code to the ParsedStateMachine builder.
// Create a full depth copy (including subMachines)
// if RootMachine, make special copy which fixes attributes such
// that on subsequent copy() they keep pointing to same var.
// use shared_ptr to release on throw's below.
ParsedStateMachinePtr nsc( curmachinebuilder->build( isroot ) );
// we stored the attributes which are params of nsc
// in the build operation :
machineparams_t params = nsc->getParameters();
// first run over the given parameters to see if they all exist in
// the context we're instantiating...
for ( machineparamvalues_t::iterator i = curinstmachineparams.begin(); i != curinstmachineparams.end(); ++i )
{
machineparams_t::iterator j = params.find( i->first );
if ( j == params.end() )
ORO_THROW( parse_exception_semantic_error( "No parameter \"" + i->first + "\" in this StateMachine." ) );
}
for ( machineparams_t::iterator i = params.begin(); i != params.end(); ++i )
{
machineparamvalues_t::iterator j = curinstmachineparams.find( i->first );
if ( j == curinstmachineparams.end() )
ORO_THROW( parse_exception_semantic_error(
"No value given for argument \"" + i->first + "\" in instantiation of this StateMachine." ));
#ifndef ORO_EMBEDDED
try {
paraminitcommands.push_back( i->second->getDataSource()->updateAction( j->second.get() ) );
}
catch( const bad_assignment& )
{
throw parse_exception_semantic_error("Attempt to initialize parameter '"+i->first+"' with a value which is of a different type." );
}
#else
ActionInterface* ret = i->second->getDataSource()->updateAction( j->second.get());
if (ret)
paraminitcommands.push_back( ret );
else
return;
#endif
}
curinstantiatedmachine = nsc;
// prepend the commands for initialising the subMachine
// parameters
if ( paraminitcommands.size() > 0 )
{
CommandComposite* comcom = new CommandComposite;
for ( std::vector<ActionInterface*>::iterator i = paraminitcommands.begin();
i != paraminitcommands.end(); ++i )
comcom->add( *i );
// init the vars as last (if any), so that they can be inited by an expression containing the params :
if ( curinstantiatedmachine->getInitCommand() )
comcom->add( curinstantiatedmachine->getInitCommand() );
curinstantiatedmachine->setInitCommand( comcom );
}
paraminitcommands.clear();
curmachinebuilder = 0;
curinstmachineparams.clear();
// set the TaskContext name to the instance name :
curinstantiatedmachine->getService()->setName(curinstmachinename );
}
