mtsFunctionWrite.h

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/* -*- Mode: C++; tab-width: 4; indent-tabs-mode: nil; c-basic-offset: 4 -*-    */
/* ex: set filetype=cpp softtabstop=4 shiftwidth=4 tabstop=4 cindent expandtab: */
 
/*
 
  Author(s):  Peter Kazanzides, Anton Deguet
 
  (C) Copyright 2007-2025 Johns Hopkins University (JHU), All Rights Reserved.
 
--- begin cisst license - do not edit ---
 
This software is provided "as is" under an open source license, with
no warranty.  The complete license can be found in license.txt and
http://www.cisst.org/cisst/license.txt.
 
--- end cisst license ---
*/
 

 
#ifndef _mtsFunctionWrite_h
#define _mtsFunctionWrite_h
 
 
#include <cisstMultiTask/mtsFunctionBase.h>
#include <cisstMultiTask/mtsCommandWriteBase.h>
#include <cisstMultiTask/mtsForwardDeclarations.h>
#include <cisstMultiTask/mtsGenericObjectProxy.h>
 
// Always include last
#include <cisstMultiTask/mtsExport.h>
 
class CISST_EXPORT mtsFunctionWrite: public mtsFunctionBase {
public:
    typedef mtsCommandWriteBase CommandType;
    typedef mtsExecutionResult(mtsFunctionWrite::*ActionType)(const mtsGenericObject &) const;
protected:
    CommandType * Command;
 
#ifndef SWIG
    template <typename _userType, bool>
    class ConditionalWrap {
    public:
        static mtsExecutionResult Call(mtsFunctionWrite::ActionType executeMethod, const mtsFunctionWrite * function, const _userType & argument) {
            mtsGenericObjectProxyRef<_userType> argumentWrapped(argument);
            return (function->*executeMethod)(argumentWrapped);
        }
    };
    template <typename _userType>
    class ConditionalWrap<_userType, true> {
    public:
        static mtsExecutionResult Call(mtsFunctionWrite::ActionType executeMethod, const mtsFunctionWrite * function, const _userType & argument) {
            return (function->*executeMethod)(argument);
        }
    };
#endif
 
public:
    mtsFunctionWrite();

    virtual ~mtsFunctionWrite();
 
    // documented in base class
    bool Detach(void);
 
    // documented in base class
    bool IsValid(void) const;

    bool Bind(CommandType * command);

    mtsExecutionResult operator()(const mtsGenericObject & argument) const
    { return ExecuteGeneric(argument); }
 
    mtsExecutionResult ExecuteGeneric(const mtsGenericObject & argument) const;
    mtsExecutionResult ExecuteBlockingGeneric(const mtsGenericObject & argument) const;
 
#ifndef SWIG
    template <class _userType>
    mtsExecutionResult operator()(const _userType & argument) const
    { return Execute(argument); }
 
    template <class _userType>
    mtsExecutionResult Execute(const _userType & argument) const {
        return ConditionalWrap<_userType, cmnIsDerivedFrom<_userType, mtsGenericObject>::IS_DERIVED>::Call(&mtsFunctionWrite::ExecuteGeneric, this, argument);
    }
 
    template <class _userType>
    mtsExecutionResult ExecuteBlocking(const _userType & argument) const {
        return ConditionalWrap<_userType, cmnIsDerivedFrom<_userType, mtsGenericObject>::IS_DERIVED>::Call(&mtsFunctionWrite::ExecuteBlockingGeneric, this, argument);
    }
#endif

    CommandType * GetCommand(void) const;

    const mtsGenericObject * GetArgumentPrototype(void) const;

    void ToStream(std::ostream & outputStream) const;
 
};
 
#endif // _mtsFunctionWrite_h