From 7927c3da2eb04f6969af7afc6cfc5a83ade89565 Mon Sep 17 00:00:00 2001
From: florent <florent@laas.fr>
Date: Thu, 21 Oct 2010 17:55:44 +0200
Subject: [PATCH] Implement command
* include/CMakeLists.txt,
* include/dynamic-graph/command.h: new,
* include/dynamic-graph/entity.h,
* include/dynamic-graph/parameter.h: new,
* include/dynamic-graph/value.h: new,
* src/command/command.cpp: new,
* src/command/value.cpp: new,
* src/dgraph/entity.cpp.
---
include/CMakeLists.txt | 4 ++
include/dynamic-graph/command.h | 63 +++++++++++++++++++++++
include/dynamic-graph/entity.h | 13 +++++
include/dynamic-graph/parameter.h | 18 +++++++
include/dynamic-graph/value.h | 83 +++++++++++++++++++++++++++++++
src/command/command.cpp | 75 ++++++++++++++++++++++++++++
src/command/value.cpp | 75 ++++++++++++++++++++++++++++
src/dgraph/entity.cpp | 24 +++++++++
8 files changed, 355 insertions(+)
create mode 100644 include/dynamic-graph/command.h
create mode 100644 include/dynamic-graph/parameter.h
create mode 100644 include/dynamic-graph/value.h
create mode 100644 src/command/command.cpp
create mode 100644 src/command/value.cpp
diff --git a/include/CMakeLists.txt b/include/CMakeLists.txt
index 008cc9f..0ac0e40 100644
--- a/include/CMakeLists.txt
+++ b/include/CMakeLists.txt
@@ -65,6 +65,10 @@ all-signals.h
tracer.h
tracer-real-time.h
+
+command.h
+value.h
+parameter.h
)
# Recreate correct path for the headers
diff --git a/include/dynamic-graph/command.h b/include/dynamic-graph/command.h
new file mode 100644
index 0000000..3f0d02f
--- /dev/null
+++ b/include/dynamic-graph/command.h
@@ -0,0 +1,63 @@
+//
+// Copyright 2010 CNRS
+//
+// Author: Florent Lamiraux
+//
+// This file is part of dynamic-graph.
+// dynamic-graph is free software: you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public License
+// as published by the Free Software Foundation, either version 3 of
+// the License, or (at your option) any later version.
+// dynamic-graph is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details. You should
+// have received a copy of the GNU Lesser General Public License along
+// with dynamic-graph. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef DYNAMIC_GRAPH_COMMAND_H
+#define DYNAMIC_GRAPH_COMMAND_H
+
+#include <vector>
+#include "dynamic-graph/value.h"
+#include "dynamic-graph/dynamic-graph-api.h"
+
+namespace dynamicgraph {
+ class Entity;
+ namespace command {
+ /// Abstract class for entity commands
+ ///
+ /// This class provide a mean to control entities from external python script.
+ /// A command has several parameters (dynamicgraph::parameter) that can take
+ /// various types of values (dynamicgraph::Value).
+
+ class DYNAMICGRAPH_EXPORT Command
+ {
+ public:
+ virtual ~Command();
+ /// Store the owner entity and a vector of value types
+ /// \param entity reference to Entity owning this command.
+ /// \param valueTypes vector specifying the number and types of parameters
+ Command(Entity& entity, const std::vector<Value::Type>& valueTypes);
+ /// Return the value type of all parameters
+ const std::vector<Value::Type>& valueTypes() const;
+ /// Set parameter values
+ void setParameterValues(const std::vector<Value>& values);
+ /// Get parameter values
+ const std::vector<Value> getParameterValues();
+ /// Execute the command after checking parameters
+ Value execute();
+ /// Get a reference to the Entity owning this command
+ Entity& owner();
+ protected:
+ /// Specific action performed by the command
+ virtual Value doExecute() = 0;
+ private:
+ Entity& owner_;
+ std::vector<Value::Type> valueTypeVector_;
+ std::vector<Value> valueVector_;
+ };
+ } // namespace command
+} // namespace dynamicgraph
+
+#endif //DYNAMIC_GRAPH_COMMAND_H
diff --git a/include/dynamic-graph/entity.h b/include/dynamic-graph/entity.h
index 2a215e0..c1c5f4d 100644
--- a/include/dynamic-graph/entity.h
+++ b/include/dynamic-graph/entity.h
@@ -41,6 +41,10 @@
/* NAMESPACE */
namespace dynamicgraph {
+ // Forward declaration
+ namespace command {
+ class Command;
+ };
/* --------------------------------------------------------------------- */
/* --- CLASS ----------------------------------------------------------- */
@@ -97,6 +101,15 @@ class DYNAMIC_GRAPH_DLLAPI Entity
virtual void test2( SignalBase<int>* ) { return ; }
virtual const std::string& getCommandList( void ) const;
+ /// Return the list of command objects
+ virtual std::map<const std::string, command::Command*>
+ getNewStyleCommandMap();
+ protected:
+ /// Add a command to Entity
+ virtual void addCommand(const std::string& name,
+ command::Command* command);
+ private:
+ std::map<const std::string, command::Command*> commandMap;
};
DYNAMIC_GRAPH_DLLAPI std::ostream& operator<< (std::ostream& os, const dynamicgraph::Entity& ent );
diff --git a/include/dynamic-graph/parameter.h b/include/dynamic-graph/parameter.h
new file mode 100644
index 0000000..719aa08
--- /dev/null
+++ b/include/dynamic-graph/parameter.h
@@ -0,0 +1,18 @@
+#ifndef DYNAMIC_GRAPH_PARAMETER_H
+#define DYNAMIC_GRAPH_PARAMETER_H
+
+#include <boost/static_assert.hpp>
+#include "dynamicgraph/exception-abstract.h"
+
+namespace dynamicgraph {
+ namespace command {
+ class Parameter {
+ public:
+ Parameter(Value::Type valueType) : valueType_(valueType) {}
+ /// Return value type of parameter
+ Value::Type valueType() { return valueType_;}
+ private:
+ Value::Type valueType_;
+ }; // class Parameter
+ } // namespace command
+} //namespace dynamicgraph
diff --git a/include/dynamic-graph/value.h b/include/dynamic-graph/value.h
new file mode 100644
index 0000000..6e151de
--- /dev/null
+++ b/include/dynamic-graph/value.h
@@ -0,0 +1,83 @@
+//
+// Copyright 2010 CNRS
+//
+// Author: Florent Lamiraux
+//
+// This file is part of dynamic-graph.
+// dynamic-graph is free software: you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public License
+// as published by the Free Software Foundation, either version 3 of
+// the License, or (at your option) any later version.
+// dynamic-graph is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details. You should
+// have received a copy of the GNU Lesser General Public License along
+// with dynamic-graph. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef DYNAMIC_GRAPH_VALUE_H
+#define DYNAMIC_GRAPH_VALUE_H
+
+#include <iostream>
+#include <string>
+#include <cassert>
+#include <typeinfo>
+#include "dynamic-graph/dynamic-graph-api.h"
+
+namespace dynamicgraph {
+ namespace command {
+ class DYNAMICGRAPH_EXPORT Value {
+ public:
+ enum Type {
+ NONE,
+ INT,
+ DOUBLE,
+ STRING,
+ NB_TYPES
+ };
+ /// template constructor
+ template <class T> Value(const T& value);
+ /// Copy constructor
+ Value(const Value& value);
+ // Construct an empty value (None)
+ Value();
+ /// Return the type of the value
+ Type type() const;
+
+ /// Return the value if it is a double and throw otherwise
+ const double& doubleValue () const;
+ /// Return the value if it is a int and throw otherwise
+ const int& intValue () const;
+ /// Return the value if it is a string and throw otherwise
+ const std::string& stringValue () const;
+ /// Return the name of the type
+ static std::string typeName(Type type);
+ private:
+ Type type_;
+ const void* value_;
+ };
+
+ // Template constructors
+ template <> Value::Value(const int& value)
+ {
+ value_ = &value;
+ type_ = INT;
+ }
+ template <> Value::Value(const double& value)
+ {
+ value_ = &value;
+ type_ = DOUBLE;
+ }
+ template <> Value::Value(const std::string& value)
+ {
+ value_ = &value;
+ type_ = STRING;
+ }
+ template <class T> Value::Value(const T& value)
+ {
+ assert(false);
+ }
+ } // namespace command
+} //namespace dynamicgraph
+
+#endif //DYNAMIC_GRAPH_VALUE_H
diff --git a/src/command/command.cpp b/src/command/command.cpp
new file mode 100644
index 0000000..e0c1745
--- /dev/null
+++ b/src/command/command.cpp
@@ -0,0 +1,75 @@
+//
+// Copyright 2010 CNRS
+//
+// Author: Florent Lamiraux
+//
+// This file is part of dynamic-graph.
+// dynamic-graph is free software: you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public License
+// as published by the Free Software Foundation, either version 3 of
+// the License, or (at your option) any later version.
+// dynamic-graph is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details. You should
+// have received a copy of the GNU Lesser General Public License along
+// with dynamic-graph. If not, see <http://www.gnu.org/licenses/>.
+
+#include <sstream>
+#include "dynamic-graph/command.h"
+#include "dynamic-graph/exception-abstract.h"
+
+namespace dynamicgraph {
+ namespace command {
+
+ Command::~Command() {}
+ Command::Command(Entity& entity,
+ const std::vector<Value::Type>& valueTypes) :
+ owner_(entity), valueTypeVector_(valueTypes)
+ {
+ }
+
+ const std::vector<Value::Type>& Command::valueTypes() const
+ {
+ return valueTypeVector_;
+ }
+
+ void Command::setParameterValues(const std::vector<Value>& values)
+ {
+ unsigned int size = values.size();
+ const std::vector<Value::Type>& paramTypes = valueTypes();
+ // Check that number of parameters is correct
+ if (values.size() != paramTypes.size()) {
+ throw ExceptionAbstract(ExceptionAbstract::ABSTRACT,
+ "wrong number of parameters");
+ }
+ // Check that each parameter is of correct type
+ for (unsigned int iParam=0; iParam < values.size(); iParam++) {
+ if (values[iParam].type() != paramTypes[iParam]) {
+ std::stringstream ss;
+ ss << "argument " << iParam << "is of wrong type: "
+ << Value::typeName(paramTypes[iParam]) << " expected, got "
+ << Value::typeName(values[iParam].type());
+ throw ExceptionAbstract(ExceptionAbstract::TOOLS, ss.str());
+ }
+ }
+ // Copy vector of values in private part
+ valueVector_ = values;
+ }
+
+ const std::vector<Value> Command::getParameterValues()
+ {
+ return valueVector_;
+ }
+
+ Value Command::execute()
+ {
+ return doExecute();
+ }
+
+ Entity& Command::owner()
+ {
+ return owner_;
+ }
+ } // namespace command
+} //namespace dynamicgraph
diff --git a/src/command/value.cpp b/src/command/value.cpp
new file mode 100644
index 0000000..06fd51d
--- /dev/null
+++ b/src/command/value.cpp
@@ -0,0 +1,75 @@
+//
+// Copyright 2010 CNRS
+//
+// Author: Florent Lamiraux
+//
+// This file is part of dynamic-graph.
+// dynamic-graph is free software: you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public License
+// as published by the Free Software Foundation, either version 3 of
+// the License, or (at your option) any later version.
+// dynamic-graph is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details. You should
+// have received a copy of the GNU Lesser General Public License along
+// with dynamic-graph. If not, see <http://www.gnu.org/licenses/>.
+
+#include "dynamic-graph/value.h"
+#include "dynamic-graph/exception-abstract.h"
+
+namespace dynamicgraph {
+ namespace command {
+
+ Value::Value(const Value& value) : type_(value.type_),
+ value_(value.value_)
+ {
+ }
+
+ Value::Value() : type_(NONE), value_(NULL)
+ {
+ }
+
+ Value::Type Value::type() const
+ {
+ return type_;
+ }
+
+ const double& Value::doubleValue () const
+ {
+ if (type_ == DOUBLE)
+ return *(static_cast<const double*>(value_));
+ throw ExceptionAbstract(ExceptionAbstract::TOOLS,
+ "value is not a double");
+ }
+
+ const int& Value::intValue () const
+ {
+ if (type_ == INT)
+ return *(static_cast<const int*>(value_));
+ throw ExceptionAbstract(ExceptionAbstract::TOOLS,
+ "value is not an int");
+ }
+
+ const std::string& Value::stringValue () const
+ {
+ if (type_ == STRING)
+ return *(static_cast<const std::string*>(value_));
+ throw ExceptionAbstract(ExceptionAbstract::TOOLS,
+ "value is not an string");
+ }
+
+ std::string Value::typeName(Type type)
+ {
+ switch (type) {
+ case INT:
+ return std::string("int");
+ case DOUBLE:
+ return std::string("double");
+ case STRING:
+ return std::string("string");
+ }
+ return std::string("unknown");
+ }
+ } // namespace command
+} //namespace dynamicgraph
diff --git a/src/dgraph/entity.cpp b/src/dgraph/entity.cpp
index 02764fa..b71fdc6 100644
--- a/src/dgraph/entity.cpp
+++ b/src/dgraph/entity.cpp
@@ -23,6 +23,7 @@
#include <dynamic-graph/pool.h>
#include <dynamic-graph/pool.h>
#include <dynamic-graph/debug.h>
+#include <dynamic-graph/command.h>
/*! System includes */
#include <stdlib.h>
@@ -31,6 +32,7 @@
using namespace std;
using namespace dynamicgraph;
+using dynamicgraph::command::Command;
const std::string Entity::CLASS_NAME = "Entity";
@@ -70,6 +72,10 @@ Entity::
{
dgDEBUG(25) << "# In (" << name << " { " << endl;
entityDeregistration();
+ for (std::map<const std::string, Command*>::iterator it =
+ commandMap.begin(); it != commandMap.end(); it++) {
+ delete it->second;
+ }
dgDEBUGOUT(25);
}
@@ -267,3 +273,21 @@ commandLine( const std::string& cmdLine,std::istringstream& cmdArgs,std::ostream
}
}
+
+void Entity::
+addCommand(const std::string& inName, Command* command)
+{
+ if (commandMap.count(inName) != 0) {
+ DG_THROW ExceptionFactory(ExceptionFactory::OBJECT_CONFLICT,
+ "Command " + inName +
+ " already registered in Entity.");
+ }
+ std::pair<const std::string, Command*> item(inName, command);
+ commandMap.insert(item);
+}
+
+std::map<const std::string, Command*> Entity::
+getNewStyleCommandMap()
+{
+ return commandMap;
+}
--
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