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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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// LAAS, CNRS |
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// |
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#ifndef DYNAMIC_GRAPH_SIGNAL_BASE_H |
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#define DYNAMIC_GRAPH_SIGNAL_BASE_H |
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#include <dynamic-graph/exception-signal.h> |
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#include <boost/noncopyable.hpp> |
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#include <dynamic-graph/fwd.hh> |
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#include <sstream> |
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#include <string> |
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#include <typeinfo> |
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namespace dynamicgraph { |
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/** \brief The base class for signals: not to be used as such. |
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Signal values can be accessed programmatically using the access |
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() or accessCopy () methods; the former directly accesses the |
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value of the signal, which can involve an extra computation, |
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while the latter accesses a cached value, or 'copy'. |
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*/ |
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template <class Time> |
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class SignalBase : public boost::noncopyable { |
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public: |
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explicit SignalBase(std::string name = "") |
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: name(name), signalTime(0), ready(false) {} |
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virtual ~SignalBase() {} |
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/// \name Time |
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/// \{ |
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virtual const Time &getTime() const { return signalTime; } |
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virtual void setTime(const Time &t) { signalTime = t; } |
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const bool &getReady() const { return ready; } |
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const std::string &getName() const { return name; } |
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void getClassName(std::string &aClassName) const { |
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aClassName = typeid(this).name(); |
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} |
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virtual void setPeriodTime(const Time &) {} |
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virtual Time getPeriodTime() const { return 1; } |
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/// \} |
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/// \name Dependencies |
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/// \{ |
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virtual void addDependency(const SignalBase<Time> &) {} |
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virtual void removeDependency(const SignalBase<Time> &) {} |
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virtual void clearDependencies() {} |
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virtual bool needUpdate(const Time &) const { return ready; } |
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inline void setReady(const bool sready = true) { ready = sready; } |
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virtual std::ostream &writeGraph(std::ostream &os) const { return os; } |
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virtual std::ostream &displayDependencies(std::ostream &os, const int = -1, |
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std::string space = "", |
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std::string next1 = "", |
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std::string = "") const { |
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os << space << next1 << "-- "; |
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display(os); |
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return os; |
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} |
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/// \} |
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/// \name Plug |
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/// \{ |
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/* Plug the arg-signal on the <this> object. Plug-in is always |
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* a descending operation (the actual <this> object will call the arg-signal |
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* and not the opposite). |
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*/ |
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virtual void plug(SignalBase<Time> *sigarg) { |
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DG_THROW ExceptionSignal( |
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ExceptionSignal::PLUG_IMPOSSIBLE, |
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"Plug-in operation not possible with this signal. ", |
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"(while trying to plug %s on %s).", sigarg->getName().c_str(), |
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✓✗✓✗
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this->getName().c_str()); |
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} |
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virtual void unplug() { |
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DG_THROW ExceptionSignal( |
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ExceptionSignal::PLUG_IMPOSSIBLE, |
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"Plug-in operation not possible with this signal. ", |
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✓✗✓✗
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"(while trying to unplug %s).", this->getName().c_str()); |
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} |
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virtual bool isPlugged() const { return false; } |
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virtual SignalBase<Time> *getPluged() const { return NULL; } |
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virtual void setConstantDefault() { |
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DG_THROW ExceptionSignal( |
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ExceptionSignal::PLUG_IMPOSSIBLE, |
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"Plug-in operation not possible with this signal. ", |
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✓✗✓✗
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"(while trying to save %s).", this->getName().c_str()); |
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} |
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/// \} |
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/// \name Set |
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/// \{ |
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/* Generic set function. Should be reimplemented by the specific |
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* Signal. Sets a signal value |
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*/ |
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virtual void set(std::istringstream &) { |
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DG_THROW ExceptionSignal(ExceptionSignal::SET_IMPOSSIBLE, |
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"Set operation not possible with this signal. ", |
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"(while trying to set %s).", |
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this->getName().c_str()); |
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} |
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virtual void get(std::ostream &) const { |
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DG_THROW ExceptionSignal(ExceptionSignal::SET_IMPOSSIBLE, |
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"Get operation not possible with this signal. ", |
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"(while trying to get %s).", |
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this->getName().c_str()); |
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} |
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virtual inline void recompute(const Time &) { |
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DG_THROW ExceptionSignal( |
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ExceptionSignal::SET_IMPOSSIBLE, |
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"Recompute operation not possible with this signal. ", |
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"(while trying to recompute %s).", this->getName().c_str()); |
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} |
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virtual void trace(std::ostream &) const { |
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DG_THROW ExceptionSignal(ExceptionSignal::SET_IMPOSSIBLE, |
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"Trace operation not possible with this signal. ", |
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"(while trying to trace %s).", |
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this->getName().c_str()); |
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} |
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/// \} |
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/// \name Display |
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/// \{ |
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virtual std::ostream &display(std::ostream &os) const { |
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os << "Sig:" << name; |
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return os; |
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} |
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std::string shortName() const { |
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✓✗ |
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std::istringstream iss(name); |
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const int SIZE = 128; |
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char buffer[SIZE]; |
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while (iss.good()) { |
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iss.getline(buffer, SIZE, ':'); |
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} |
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const std::string res(buffer); |
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return res; |
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} |
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/// \} |
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/// \name Information providers |
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/// \{ |
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virtual void ExtractNodeAndLocalNames(std::string &LocalName, |
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std::string &NodeName) const { |
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std::string fullname = this->getName(); |
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size_t IdxPosLocalName = fullname.rfind(":"); |
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LocalName = fullname.substr(IdxPosLocalName + 1, |
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fullname.length() - IdxPosLocalName + 1); |
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size_t IdxPosNodeNameStart = fullname.find("("); |
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size_t IdxPosNodeNameEnd = fullname.find(")"); |
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NodeName = fullname.substr(IdxPosNodeNameStart + 1, |
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IdxPosNodeNameEnd - IdxPosNodeNameStart - 1); |
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} |
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/// \} |
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/// \name Test |
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/// \{ |
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virtual void checkCompatibility() { |
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DG_THROW ExceptionSignal(ExceptionSignal::PLUG_IMPOSSIBLE, |
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"Abstract signal not compatible with anything.", |
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"(while trying to plug <%s>).", |
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this->getName().c_str()); |
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} |
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/// \} |
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protected: |
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std::string name; |
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Time signalTime; |
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bool ready; |
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}; |
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/// Forward to a virtual fonction. |
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template <class Time> |
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std::ostream &operator<<(std::ostream &os, const SignalBase<Time> &sig) { |
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return sig.display(os); |
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} |
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} // end of namespace dynamicgraph. |
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#endif //! DYNAMIC_GRAPH_SIGNAL_BASE_H |