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Nicolas Mansard authoredNicolas Mansard authored
stack-template.h 6.21 KiB
/*
* Copyright 2011, Nicolas Mansard, LAAS-CNRS
*
* This file is part of sot-dyninv.
* sot-dyninv 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.
* sot-dyninv 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 sot-dyninv. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef __sot_dyninv_StackTemplate_H__
#define __sot_dyninv_StackTemplate_H__
/* --------------------------------------------------------------------- */
/* --- API ------------------------------------------------------------- */
/* --------------------------------------------------------------------- */
#if defined (WIN32)
# if defined (dynamic_interpretor_EXPORTS)
# define SOTSTACKTEMPLATE_EXPORT __declspec(dllexport)
# else
# define SOTSTACKTEMPLATE_EXPORT __declspec(dllimport)
# endif
#else
# define SOTSTACKTEMPLATE_EXPORT
#endif
/* --------------------------------------------------------------------- */
/* --- INCLUDE --------------------------------------------------------- */
/* --------------------------------------------------------------------- */
#include <sot-dyninv/signal-helper.h>
namespace dynamicgraph {
namespace sot {
/* --------------------------------------------------------------------- */
/* --- CLASS ----------------------------------------------------------- */
/* --------------------------------------------------------------------- */
namespace dg = dynamicgraph;
template< typename TaskGeneric >
class SOTSTACKTEMPLATE_EXPORT Stack
{
protected:
typedef std::vector<TaskGeneric*> Stack_t;
typedef typename Stack_t::iterator StackIterator_t;
typedef typename Stack_t::const_iterator StackConstIterator_t;
/*! \brief List of task (controllers) managed by the stack of tasks. */
Stack_t stack;
/*! \brief Number of joints to be used to compute the control law. */
int nbDofs;
public:
/*! \brief Number of joints by default. */
static const unsigned int NB_JOINTS_DEFAULT; // = 48;
public: /* --- Constructors --- */
Stack( void );
~Stack( void ) { /* TODO!! */ }
public: /* --- Modifiors --- */
/*! \name Methods to handle the stack.
@{
*/
/*! \brief Push the task in the stack.
It has a lowest priority than the previous ones.
If this is the first task, then it has the highest
priority. */
virtual void push( TaskGeneric& task );
/*! \brief Pop the task from the stack.
This method removes the task with the smallest
priority in the task. The other are projected
in the null-space of their predecessors. */
virtual TaskGeneric& pop( void );
/*! \brief same as pop, but no return. */
void pop0( void );
/*! \brief This method allows to know if a task exists or not */
virtual bool exist( const TaskGeneric& task );
/*! \brief Remove a task regardless to its position in the stack.
It removes also the signals connected to the output signal of this stack.*/
virtual void remove( const TaskGeneric& task );
/*! \brief This method makes the task to swap with the task having the
immediate superior priority. */
virtual void up( const TaskGeneric& task );
/*! \brief This method makes the task to swap with the task having the
immediate inferior priority. */
virtual void down( const TaskGeneric& task );
/*! \brief Remove all the tasks from the stack. */
virtual void clear( void );
/*! Change the number of DOF, ie the field nbDofs. */
virtual void defineNbDof( const int& nbDof );
/*! @} */
dg::SignalBase<int>* tatata;
int titit;
typedef std::list< const dg::SignalBase<int>* > TaskDependancyList_t;
int totol;
/*! \brief Return the signal to be added/removed from the dependancy
* list of the control signal. */
virtual TaskDependancyList_t getTaskDependancyList( const TaskGeneric& task ) = 0;
virtual void addDependancy( const TaskDependancyList_t& depList ) = 0;
virtual void removeDependancy( const TaskDependancyList_t& depList ) = 0;
virtual void resetReady( void ) = 0;
public: /* --- DISPLAY --- */
/*! \name Methods to display the stack of tasks.
@{
*/
/*! Display the stack of tasks in text mode as a tree. */
virtual void display( std::ostream& os ) const;
/*! \brief Write the priority between tasks in the outstream os. */
virtual std::ostream &
writeGraph(const std::string & name, std::ostream & os) const;
/*! @} */
public: /* --- COMMANDS --- */
/*! @{ */
/* To use the macro, the typedef sot::Stack<TaskSpec> stack_t has to be set,
* as well as the EntityClassName. */
//#define ADD_COMMANDS_FOR_THE_STACK /// Code in the .t.cpp
/*! \brief This method deals with the command line.
The command given in argument is send to the stack of tasks by the shell.
The command understood by sot are:
<ul>
<li> Tasks
<ul>
<li> push <task> : Push a task in the stack (FILO).
<li> pop : Remove the task push in the stack.
<li> down <task> : Make the task have a higher priority, i.e.
swap with the task immediatly superior in priority.
<li> up <task> : Make the task have a lowest priority, i.e.
swap with the task immediatly inferior in priority.
<li> rm <task> : Remove the task from the stack.
</ul>
*/
virtual bool stackCommandLine( const std::string& cmdLine,
std::istringstream& cmdArgs,
std::ostream& os );
void pushByTaskName( const std::string& taskName );
void removeByTaskName( const std::string& taskName );
void upByTaskName( const std::string& taskName );
void downByTaskName( const std::string& taskName );
/*! @} */
}; // class StackTemplate
template< typename TaskGeneric >
std::ostream&
operator<< ( std::ostream& os,const Stack<TaskGeneric>& sot )
{
sot.display(os);
return os;
}
} // namespace sot
} // namespace dynamicgraph
#include <sot-dyninv/stack-template.t.cpp>
#endif // #ifndef __sot_dyninv_StackTemplate_H__