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/* |
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* Copyright 2010, |
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* François Bleibel, |
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* Olivier Stasse, |
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* |
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* CNRS/AIST |
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* |
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*/ |
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#ifndef __SOT_SOTSEQUENCER_H__ |
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#define __SOT_SOTSEQUENCER_H__ |
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/* --------------------------------------------------------------------- */ |
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/* --- INCLUDE --------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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/* Matrix */ |
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#include <dynamic-graph/linear-algebra.h> |
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/* SOT */ |
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#include <dynamic-graph/all-signals.h> |
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#include <dynamic-graph/entity.h> |
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#include <sot/core/task-abstract.hh> |
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/* STD */ |
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#include <list> |
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#include <map> |
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#include <string> |
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/* --------------------------------------------------------------------- */ |
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/* --- API ------------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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#if defined(WIN32) |
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#if defined(sequencer_EXPORTS) |
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#define SOTSEQUENCER_EXPORT __declspec(dllexport) |
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#else |
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#define SOTSEQUENCER_EXPORT __declspec(dllimport) |
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#endif |
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#else |
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#define SOTSEQUENCER_EXPORT |
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#endif |
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namespace dynamicgraph { |
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namespace sot { |
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/* --------------------------------------------------------------------- */ |
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/* --- CLASS ----------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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class Sot; |
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class SOTSEQUENCER_EXPORT Sequencer : public dynamicgraph::Entity { |
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DYNAMIC_GRAPH_ENTITY_DECL(); |
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public: |
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class sotEventAbstract { |
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public: |
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enum sotEventType { EVENT_ADD, EVENT_RM, EVENT_CMD }; |
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protected: |
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std::string name; |
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void setName(const std::string &name_) { name = name_; } |
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int eventType; |
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public: |
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sotEventAbstract(const std::string &name) : name(name){}; |
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virtual ~sotEventAbstract(void) {} |
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virtual const std::string &getName() const { return name; } |
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int getEventType() const { return eventType; } |
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virtual void operator()(Sot *sotPtr) = 0; |
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virtual void display(std::ostream &os) const { os << name; } |
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}; |
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protected: |
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Sot *sotPtr; |
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typedef std::list<sotEventAbstract *> TaskList; |
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typedef std::map<unsigned int, TaskList> TaskMap; |
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TaskMap taskMap; |
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/* All the events are counting wrt to this t0. If t0 is -1, it |
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* is set to the first time of trig. */ |
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int timeInit; |
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bool playMode; |
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std::ostream *outputStreamPtr; |
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bool noOutput; /*! if true, display nothing standard output on except errors*/ |
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public: /* --- CONSTRUCTION --- */ |
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Sequencer(const std::string &name); |
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virtual ~Sequencer(void); |
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public: /* --- TASK MANIP --- */ |
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void setSotRef(Sot *sot) { sotPtr = sot; } |
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void addTask(sotEventAbstract *task, const unsigned int time); |
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void rmTask(int eventType, const std::string &name, const unsigned int time); |
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void clearAll(); |
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public: /* --- SIGNAL --- */ |
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dynamicgraph::SignalTimeDependent<int, int> triggerSOUT; |
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public: /* --- FUNCTIONS --- */ |
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int &trigger(int &dummy, const int &time); |
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public: /* --- PARAMS --- */ |
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virtual void display(std::ostream &os) const; |
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}; |
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} // namespace sot |
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} // namespace dynamicgraph |
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#endif // #ifndef __SOT_SOTSEQUENCER_H__ |