GCC Code Coverage Report

Directory: ./
File: src/tools/sequencer.cpp
Date: 2025-05-13 12:28:21
Exec Total Coverage
Lines: 0 63 0.0%
Branches: 0 96 0.0%
Line Branch Exec Source
1 /*
2 * Copyright 2010,
3 * François Bleibel,
4 * Olivier Stasse,
5 *
6 * CNRS/AIST
7 *
8 */
9
10 #include <dynamic-graph/factory.h>
11 #include <dynamic-graph/pool.h>
12
13 #include <sot/core/debug.hh>
14 #include <sot/core/exception-tools.hh>
15 #include <sot/core/sequencer.hh>
16 #include <sot/core/sot.hh>
17
18 using namespace dynamicgraph::sot;
19 using namespace dynamicgraph;
20
21 ✗ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(Sequencer, "Sequencer");
22
23 ✗ Sequencer::Sequencer(const std::string &name)
24 : Entity(name),
25 ✗ timeInit(-1),
26 ✗ playMode(false),
27 ✗ outputStreamPtr(NULL),
28 ✗ noOutput(false),
29 ✗ triggerSOUT(boost::bind(&Sequencer::trigger, this, _1, _2), sotNOSIGNAL,
30 ✗ "Sequencer(" + name + ")::output(dummy)::trigger") {
31 sotDEBUGIN(5);
32
33 ✗ signalRegistration(triggerSOUT);
34 ✗ triggerSOUT.setNeedUpdateFromAllChildren(true);
35
36 sotDEBUGOUT(5);
37 }
38
39 ✗ Sequencer::~Sequencer(void) {
40 sotDEBUGIN(5);
41
42 sotDEBUGOUT(5);
43 ✗ return;
44 }
45
46 /* --- SPECIFIC EVENT ------------------------------------------------------- */
47 /* --- SPECIFIC EVENT ------------------------------------------------------- */
48 /* --- SPECIFIC EVENT ------------------------------------------------------- */
49
50 class sotEventTaskBased : public Sequencer::sotEventAbstract {
51 protected:
52 TaskAbstract *taskPtr;
53 const std::string defaultTaskName;
54
55 public:
56 sotEventTaskBased(const std::string name = "", TaskAbstract *task = NULL)
57 : sotEventAbstract(name), taskPtr(task), defaultTaskName("NULL") {}
58
59 void init(std::istringstream &cmdArgs) {
60 cmdArgs >> std::ws;
61 if (cmdArgs.good()) {
62 std::string taskname;
63 cmdArgs >> taskname;
64 sotDEBUG(15) << "Add task " << taskname << std::endl;
65 taskPtr = dynamic_cast<TaskAbstract *>(
66 &dynamicgraph::PoolStorage::getInstance()->getEntity(taskname));
67 }
68 }
69 virtual void display(std::ostream &os) const {
70 if (taskPtr)
71 os << taskPtr->getName();
72 else
73 os << "NULL";
74 }
75 virtual const std::string &getName() const {
76 if (taskPtr)
77 return taskPtr->getName();
78 else
79 return defaultTaskName;
80 }
81 };
82
83 class sotEventAddATask : public sotEventTaskBased {
84 public:
85 sotEventAddATask(const std::string name = "", TaskAbstract *task = NULL)
86 : sotEventTaskBased(name, task) {
87 eventType = EVENT_ADD;
88 }
89
90 void operator()(Sot *sotptr) {
91 sotDEBUGIN(15);
92 sotDEBUG(45) << "Sot = " << sotptr << ". Task = " << taskPtr << "."
93 << std::endl;
94 if ((NULL != sotptr) && (NULL != taskPtr)) sotptr->push(*taskPtr);
95 sotDEBUGOUT(15);
96 }
97
98 virtual void display(std::ostream &os) const {
99 os << "Add<";
100 sotEventTaskBased::display(os);
101 os << ">";
102 }
103 };
104
105 class sotEventRemoveATask : public sotEventTaskBased {
106 public:
107 sotEventRemoveATask(const std::string name = "", TaskAbstract *task = NULL)
108 : sotEventTaskBased(name, task) {
109 eventType = EVENT_RM;
110 }
111
112 void operator()(Sot *sotptr) {
113 sotDEBUGIN(15);
114 sotDEBUG(45) << "Sot = " << sotptr << ". Task = " << taskPtr << "."
115 << std::endl;
116 if ((NULL != sotptr) && (NULL != taskPtr)) sotptr->remove(*taskPtr);
117 sotDEBUGOUT(15);
118 }
119
120 virtual void display(std::ostream &os) const {
121 os << "Remove<";
122 sotEventTaskBased::display(os);
123 os << ">";
124 }
125 };
126
127 class sotEventCmd : public Sequencer::sotEventAbstract {
128 protected:
129 std::string cmd;
130
131 public:
132 sotEventCmd(const std::string cmdLine = "")
133 : sotEventAbstract(cmdLine + "<cmd>"), cmd(cmdLine) {
134 eventType = EVENT_CMD;
135 sotDEBUGINOUT(15);
136 }
137
138 void init(std::istringstream &args) {
139 sotDEBUGIN(15);
140 std::stringbuf *pbuf = args.rdbuf();
141 const unsigned int size = (unsigned int)(pbuf->in_avail());
142 char *buffer = new char[size + 1];
143 pbuf->sgetn(buffer, size);
144
145 buffer[size] = '\0';
146 cmd = buffer;
147 sotDEBUGOUT(15);
148 delete[] buffer;
149 }
150 const std::string &getEventCmd() const { return cmd; }
151 virtual void display(std::ostream &os) const { os << "Run: " << cmd; }
152 virtual void operator()(Sot * /*sotPtr*/) {
153 std::ostringstream onull;
154 onull.clear(std::ios::failbit);
155 std::istringstream iss(cmd);
156 std::string cmdName;
157 iss >> cmdName;
158 // Florent: remove reference to g_shell
159 // g_shell.cmd( cmdName,iss,onull );
160 };
161 };
162
163 /* --- TASK MANIP ----------------------------------------------------------- */
164 /* --- TASK MANIP ----------------------------------------------------------- */
165 /* --- TASK MANIP ----------------------------------------------------------- */
166
167 ✗ void Sequencer::addTask(sotEventAbstract *task, const unsigned int timeSpec) {
168 ✗ TaskMap::iterator listKey = taskMap.find(timeSpec);
169 ✗ if (taskMap.end() == listKey) {
170 sotDEBUG(15) << "New element at " << timeSpec << std::endl;
171 ✗ taskMap[timeSpec].push_back(task);
172 } else {
173 ✗ TaskList &tl = listKey->second;
174 ✗ tl.push_back(task);
175 }
176 }
177
178 // rmTask
179 ✗ void Sequencer::rmTask(int eventType, const std::string &name,
180 const unsigned int time) {
181 ✗ TaskMap::iterator listKey = taskMap.find(time);
182 ✗ if (taskMap.end() != listKey) // the time exist
183 {
184 ✗ TaskList &tl = listKey->second;
185 ✗ for (TaskList::iterator itL = tl.begin(); itL != tl.end(); ++itL) {
186 ✗ if ((*itL)->getEventType() == eventType && (*itL)->getName() == name) {
187 ✗ tl.remove(*itL);
188 ✗ break;
189 }
190 }
191
192 // remove the list if empty
193 ✗ if (tl.empty()) taskMap.erase(listKey);
194 }
195 }
196
197 // clearAll
198 ✗ void Sequencer::clearAll() {
199 ✗ TaskMap::iterator itM;
200 ✗ for (itM = taskMap.begin(); itM != taskMap.end(); ++itM) {
201 ✗ TaskList::iterator itL;
202 ✗ TaskList &currentMap = itM->second;
203 ✗ for (itL = currentMap.begin(); itL != currentMap.end(); ++itL)
204 ✗ delete (*itL);
205 ✗ itM->second.clear();
206 }
207 // remove all the lists
208 ✗ taskMap.clear();
209 }
210 /* --- SIGNALS -------------------------------------------------------------- */
211 /* --- SIGNALS -------------------------------------------------------------- */
212 /* --- SIGNALS -------------------------------------------------------------- */
213
214 ✗ int &Sequencer::trigger(int &dummy, const int &timeSpec) {
215 sotDEBUGIN(15);
216
217 ✗ if (!playMode) return dummy;
218 ✗ if (-1 == timeInit) timeInit = timeSpec;
219
220 sotDEBUG(15) << "Ref time: " << (timeSpec - timeInit) << std::endl;
221 ✗ TaskMap::iterator listKey = taskMap.find(timeSpec - timeInit);
222 ✗ if (taskMap.end() != listKey) {
223 sotDEBUG(1) << "Time: " << (timeSpec - timeInit)
224 << ": we've got a task to do!" << std::endl;
225 ✗ TaskList &tl = listKey->second;
226 ✗ for (TaskList::iterator iter = tl.begin(); iter != tl.end(); ++iter) {
227 ✗ if (*iter) {
228 ✗ (*iter)->operator()(sotPtr);
229 ✗ if (NULL != outputStreamPtr) {
230 ✗ (*outputStreamPtr) << "At time t=" << timeSpec << ": ";
231 ✗ (*iter)->display(*outputStreamPtr);
232 ✗ (*outputStreamPtr) << std::endl;
233 }
234 }
235 }
236 }
237
238 sotDEBUGOUT(15);
239 ✗ return dummy;
240 }
241
242 /* --- PARAMS --------------------------------------------------------------- */
243 /* --- PARAMS --------------------------------------------------------------- */
244 /* --- PARAMS --------------------------------------------------------------- */
245
246 ✗ void Sequencer::display(std::ostream &os) const {
247 ✗ if (noOutput) return;
248
249 ✗ os << "Sequencer " << getName() << "(t0=" << timeInit
250 ✗ << ",mode=" << ((playMode) ? "play" : "pause") << "): " << std::endl;
251 ✗ for (TaskMap::const_iterator iterMap = taskMap.begin();
252 ✗ iterMap != taskMap.end(); iterMap++) {
253 ✗ os << " - t=" << (iterMap->first) << ":\t";
254 ✗ const TaskList &tl = iterMap->second;
255 ✗ for (TaskList::const_iterator iterList = tl.begin(); iterList != tl.end();
256 ✗ iterList++) {
257 ✗ (*iterList)->display(os);
258 ✗ os << " ";
259 }
260 ✗ os << std::endl;
261 }
262 }
263