FunctionGraph.hpp

/***************************************************************************
  tag: Peter Soetens  Mon Jan 19 14:11:21 CET 2004  FunctionGraph.hpp

                        FunctionGraph.hpp -  description
                           -------------------
    begin                : Mon January 19 2004
    copyright            : (C) 2004 Peter Soetens
    email                : peter.soetens@mech.kuleuven.ac.be

 ***************************************************************************
 *   This library is free software; you can redistribute it and/or         *
 *   modify it under the terms of the GNU General Public                   *
 *   License as published by the Free Software Foundation;                 *
 *   version 2 of the License.                                             *
 *                                                                         *
 *   As a special exception, you may use this file as part of a free       *
 *   software library without restriction.  Specifically, if other files   *
 *   instantiate templates or use macros or inline functions from this     *
 *   file, or you compile this file and link it with other files to        *
 *   produce an executable, this file does not by itself cause the         *
 *   resulting executable to be covered by the GNU General Public          *
 *   License.  This exception does not however invalidate any other        *
 *   reasons why the executable file might be covered by the GNU General   *
 *   Public License.                                                       *
 *                                                                         *
 *   This library 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.                       *
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 *   You should have received a copy of the GNU General Public             *
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 *   Foundation, Inc., 59 Temple Place,                                    *
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 ***************************************************************************/

#ifndef FUNCTION_GRAPH_HPP
#define FUNCTION_GRAPH_HPP

#include "VertexNode.hpp"
#include "EdgeCondition.hpp"
#include "CommandNOP.hpp"
#include "AttributeBase.hpp"
#include "ProgramInterface.hpp"

namespace RTT
{
    class FunctionGraph;
    typedef boost::shared_ptr<FunctionGraph> FunctionGraphPtr;
    typedef boost::weak_ptr<FunctionGraph> FunctionGraphWPtr;
    class TaskObject;

    class RTT_API FunctionGraph
        :public ProgramInterface
    {
    public:
        typedef EdgeCondition::EdgeProperty EdgeProperty;
        typedef VertexNode::VertProperty    VertProperty;

        typedef boost::adjacency_list<boost::vecS,
                                      boost::listS,
                                      boost::directedS,
                                      VertProperty,
                                      EdgeProperty> Graph;
        typedef boost::graph_traits<Graph>::vertex_descriptor Vertex;
        typedef boost::graph_traits<Graph>::edge_descriptor Edge;

    private:
        Vertex current;

        Vertex previous;

    protected:
        Graph program;

        Vertex startv;
        Vertex exitv;

        std::string myName;

        std::string _text;

        std::vector<AttributeBase*> args;

        bool pausing;
        bool mstep;

        bool executeUntil();
        bool executeStep();

        virtual void handleUnload();

        TaskObject* context;
    public:
        FunctionGraph( const std::string& _name );

        FunctionGraph( const FunctionGraph& orig );

        ~FunctionGraph();

        void setProgramTask(TaskObject* mytask);

        void finish();

        virtual bool start();

        virtual bool execute();

        virtual bool stop();

        virtual bool pause();

        virtual bool step();

        virtual bool stepDone() const;

        virtual void reset();

        virtual int  getLineNumber() const;

        virtual const std::string& getName() const;

        virtual FunctionGraph* copy( std::map<const DataSourceBase*, DataSourceBase*>& replacementdss ) const;

        virtual FunctionGraph* clone() const;

        void setName(const std::string& _name);

        void setText( const std::string& t);

        std::string getText() const;

        void debugPrintout() const;

        Vertex startNode() const
        {
            return startv;
        }

        Vertex exitNode() const
        {
            return exitv;
        }

        const Graph& getGraph() const
        {
            return program;
        }

        Graph& getGraph()
        {
            return program;
        }

        std::vector<AttributeBase*> getArguments() const {
            return args;
        }

        void addArgument( AttributeBase* a) {
            args.push_back(a);
        }

        void clearArguments();
    };


}

#endif