| Line |
Branch |
Exec |
Source |
| 1 |
|
|
/* |
| 2 |
|
|
* Copyright 2010, |
| 3 |
|
|
* François Bleibel, |
| 4 |
|
|
* Olivier Stasse, |
| 5 |
|
|
* |
| 6 |
|
|
* CNRS/AIST |
| 7 |
|
|
* |
| 8 |
|
|
*/ |
| 9 |
|
|
|
| 10 |
|
|
#ifndef __SOT_SOTSEQUENCER_H__ |
| 11 |
|
|
#define __SOT_SOTSEQUENCER_H__ |
| 12 |
|
|
|
| 13 |
|
|
/* --------------------------------------------------------------------- */ |
| 14 |
|
|
/* --- INCLUDE --------------------------------------------------------- */ |
| 15 |
|
|
/* --------------------------------------------------------------------- */ |
| 16 |
|
|
|
| 17 |
|
|
/* Matrix */ |
| 18 |
|
|
#include <dynamic-graph/linear-algebra.h> |
| 19 |
|
|
|
| 20 |
|
|
/* SOT */ |
| 21 |
|
|
#include <dynamic-graph/all-signals.h> |
| 22 |
|
|
#include <dynamic-graph/entity.h> |
| 23 |
|
|
|
| 24 |
|
|
#include <sot/core/task-abstract.hh> |
| 25 |
|
|
|
| 26 |
|
|
/* STD */ |
| 27 |
|
|
#include <list> |
| 28 |
|
|
#include <map> |
| 29 |
|
|
#include <string> |
| 30 |
|
|
|
| 31 |
|
|
/* --------------------------------------------------------------------- */ |
| 32 |
|
|
/* --- API ------------------------------------------------------------- */ |
| 33 |
|
|
/* --------------------------------------------------------------------- */ |
| 34 |
|
|
|
| 35 |
|
|
#if defined(WIN32) |
| 36 |
|
|
#if defined(sequencer_EXPORTS) |
| 37 |
|
|
#define SOTSEQUENCER_EXPORT __declspec(dllexport) |
| 38 |
|
|
#else |
| 39 |
|
|
#define SOTSEQUENCER_EXPORT __declspec(dllimport) |
| 40 |
|
|
#endif |
| 41 |
|
|
#else |
| 42 |
|
|
#define SOTSEQUENCER_EXPORT |
| 43 |
|
|
#endif |
| 44 |
|
|
|
| 45 |
|
|
namespace dynamicgraph { |
| 46 |
|
|
namespace sot { |
| 47 |
|
|
|
| 48 |
|
|
/* --------------------------------------------------------------------- */ |
| 49 |
|
|
/* --- CLASS ----------------------------------------------------------- */ |
| 50 |
|
|
/* --------------------------------------------------------------------- */ |
| 51 |
|
|
|
| 52 |
|
|
class Sot; |
| 53 |
|
|
|
| 54 |
|
|
class SOTSEQUENCER_EXPORT Sequencer : public dynamicgraph::Entity { |
| 55 |
|
✗ |
DYNAMIC_GRAPH_ENTITY_DECL(); |
| 56 |
|
|
|
| 57 |
|
|
public: |
| 58 |
|
|
class sotEventAbstract { |
| 59 |
|
|
public: |
| 60 |
|
|
enum sotEventType { EVENT_ADD, EVENT_RM, EVENT_CMD }; |
| 61 |
|
|
|
| 62 |
|
|
protected: |
| 63 |
|
|
std::string name; |
| 64 |
|
|
void setName(const std::string &name_) { name = name_; } |
| 65 |
|
|
int eventType; |
| 66 |
|
|
|
| 67 |
|
|
public: |
| 68 |
|
|
sotEventAbstract(const std::string &name) : name(name){}; |
| 69 |
|
|
virtual ~sotEventAbstract(void) {} |
| 70 |
|
|
virtual const std::string &getName() const { return name; } |
| 71 |
|
✗ |
int getEventType() const { return eventType; } |
| 72 |
|
|
virtual void operator()(Sot *sotPtr) = 0; |
| 73 |
|
|
virtual void display(std::ostream &os) const { os << name; } |
| 74 |
|
|
}; |
| 75 |
|
|
|
| 76 |
|
|
protected: |
| 77 |
|
|
Sot *sotPtr; |
| 78 |
|
|
typedef std::list<sotEventAbstract *> TaskList; |
| 79 |
|
|
typedef std::map<unsigned int, TaskList> TaskMap; |
| 80 |
|
|
|
| 81 |
|
|
TaskMap taskMap; |
| 82 |
|
|
/* All the events are counting wrt to this t0. If t0 is -1, it |
| 83 |
|
|
* is set to the first time of trig. */ |
| 84 |
|
|
int timeInit; |
| 85 |
|
|
bool playMode; |
| 86 |
|
|
std::ostream *outputStreamPtr; |
| 87 |
|
|
bool noOutput; /*! if true, display nothing standard output on except errors*/ |
| 88 |
|
|
|
| 89 |
|
|
public: /* --- CONSTRUCTION --- */ |
| 90 |
|
|
Sequencer(const std::string &name); |
| 91 |
|
|
virtual ~Sequencer(void); |
| 92 |
|
|
|
| 93 |
|
|
public: /* --- TASK MANIP --- */ |
| 94 |
|
|
void setSotRef(Sot *sot) { sotPtr = sot; } |
| 95 |
|
|
void addTask(sotEventAbstract *task, const unsigned int time); |
| 96 |
|
|
void rmTask(int eventType, const std::string &name, const unsigned int time); |
| 97 |
|
|
void clearAll(); |
| 98 |
|
|
|
| 99 |
|
|
public: /* --- SIGNAL --- */ |
| 100 |
|
|
dynamicgraph::SignalTimeDependent<int, int> triggerSOUT; |
| 101 |
|
|
|
| 102 |
|
|
public: /* --- FUNCTIONS --- */ |
| 103 |
|
|
int &trigger(int &dummy, const int &time); |
| 104 |
|
|
|
| 105 |
|
|
public: /* --- PARAMS --- */ |
| 106 |
|
|
virtual void display(std::ostream &os) const; |
| 107 |
|
|
}; |
| 108 |
|
|
} // namespace sot |
| 109 |
|
|
} // namespace dynamicgraph |
| 110 |
|
|
|
| 111 |
|
|
#endif // #ifndef __SOT_SOTSEQUENCER_H__ |
| 112 |
|
|
|