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// -*- mode: c++ -*- |
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// Copyright 2010, François Bleibel, Thomas Moulard, Olivier Stasse, |
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// JRL, CNRS/AIST. |
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// |
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#ifndef DYNAMIC_GRAPH_POOL_H |
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#define DYNAMIC_GRAPH_POOL_H |
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#include <dynamic-graph/dynamic-graph-api.h> |
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#include <dynamic-graph/exception-factory.h> |
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#include <dynamic-graph/signal-base.h> |
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#include <dynamic-graph/fwd.hh> |
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#include <map> |
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#include <sstream> |
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#include <string> |
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namespace dynamicgraph { |
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/*! @ingroup dgraph |
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\brief Singleton that keeps track of all the entities. |
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This class gives access to and remembers all the entities created |
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during its life. |
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This class provides the necessary operations to register, unregister each |
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instance of thoses classes. |
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As tasks and features derived from Entities, they should be registered |
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as such. |
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\note From the code it is not very clear why we should not unregister |
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from the tasks and the features... |
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*/ |
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class DYNAMIC_GRAPH_DLLAPI PoolStorage { |
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public: |
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/*! \name Define types to simplify the writing |
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@{ |
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*/ |
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/*! \brief Sorted set of entities with unique key (name). */ |
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typedef std::map<std::string, Entity *> Entities; |
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/// \brief Get unique instance of the class. |
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static PoolStorage *getInstance(); |
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/// \brief Destroy the unique instance of the class |
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static void destroy(); |
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/*! @} */ |
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/*! \brief Default destructor */ |
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~PoolStorage(); |
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/*! \name Method related to the handling of entities. |
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@{ |
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*/ |
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/*! \brief Register an entity. |
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\par[in] entname: The name of the entity, |
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\par[in] ent: Pointer towards the entity. |
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*/ |
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void registerEntity(const std::string &entname, Entity *ent); |
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/*! \brief Unregister an entity. |
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\par[in] entname: The name of the entity, |
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*/ |
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void deregisterEntity(const std::string &entname); |
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/*! \brief Unregister an entity. |
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\par[in] entity: iterator in the map, |
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*/ |
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void deregisterEntity(const Entities::iterator &entity); |
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/*! \brief Get an entity. |
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\par[in] entname: The name of the entity, |
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\return Pointer towards the entity. |
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*/ |
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Entity &getEntity(const std::string &name); |
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/// Const access to entity map |
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const Entities &getEntityMap() const; |
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/*! \brief Test if the entity exists. */ |
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bool existEntity(const std::string &name); |
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/*! \brief Test if the entity exists. If it does, return a pointer on it. */ |
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bool existEntity(const std::string &name, Entity *&ptr); |
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/*! \brief Disallocate an entity. |
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\par[in] entname: The name of the entity, |
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*/ |
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void clearPlugin(const std::string &name); |
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/*! @} */ |
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/// |
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/// \brief Get a signal by name |
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/// |
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/// \param sigpath stream containing a string of the form "entity.signal" |
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SignalBase<int> &getSignal(std::istringstream &sigpath); |
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/*! \brief This method write a graph description on the file named |
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FileName. */ |
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void writeGraph(const std::string &aFileName); |
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void writeCompletionList(std::ostream &os); |
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protected: |
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/*! \name Fields of the class to manage the three entities. |
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Also the name is singular, those are true sets. |
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@{ |
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*/ |
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/*! \brief Set of basic objects of the SoT */ |
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Entities entityMap; |
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private: |
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PoolStorage() {} |
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static PoolStorage *instance_; |
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}; |
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inline PoolStorage &g_pool() { return *PoolStorage::getInstance(); } |
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} // end of namespace dynamicgraph. |
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#endif //! DYNAMIC_GRAPH_POOL_H |