ExecPNGraph.cpp
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00034  *  Author: Dula Nad
00035  *  Created: 30.10.2013.
00036  *********************************************************************/
00037 #include <labust/control/ExecPNGraph.hpp>
00038 
00039 #include <boost/graph/graphviz.hpp>
00040 
00041 #include <sstream>
00042 
00043 using namespace labust::control;
00044 
00045 ExecPNGraph::ExecPNGraph()
00046 {
00047         //Add the basic vertices.
00048         std::string dofs[]={"X","Y","Z","K","M","N"};
00049         //Add DOFs to the name list
00050         for (int i=0; i<6;++i)  nameMap[dofs[i]].place_num = add_place(dofs[i]);
00051 }
00052 
00053 void ExecPNGraph::addToGraph(const navcon_msgs::RegisterControllerRequest& info)
00054 {
00055         //Build from scratch
00056         using namespace boost;
00057         GraphType::vertex_descriptor curr_place = add_place(info.name),
00058                         curr_en_t = add_transition(info.name+"_enable"),
00059                         curr_dis_t = add_transition(info.name+"_disable");
00060 
00061         nameMap[info.name].place_num = curr_place;
00062         nameMap[info.name].enable_t = curr_en_t;
00063         nameMap[info.name].disable_t = curr_dis_t;
00064 
00065         //Add local connections.
00066         add_edge(curr_en_t, curr_place);
00067         add_edge(curr_place, curr_dis_t);
00068 
00069         //Add basic dependencies.
00070         for (int i=0; i<info.used_dofs.size(); ++i)
00071         {
00072                 if (info.used_dofs[i])
00073                 {
00074                         add_edge(i,curr_en_t);
00075                         add_edge(curr_dis_t, i);
00076                 }
00077         }
00078 
00079         //Add advanced dependencies
00080         for (int i=0; i<info.used_cnt.size(); ++i)
00081         {
00082                 GraphType::vertex_descriptor place_num =
00083                                 nameMap[info.used_cnt[i]].place_num;
00084                 add_edge(place_num,curr_en_t);
00085                 add_edge(curr_dis_t, place_num);
00086         }
00087 }
00088 
00089 void ExecPNGraph::getDotDesc(std::string& desc)
00090 {
00091         using namespace boost;
00092         //Construct a label writer.
00093         std::ostringstream out;
00094         write_graphviz(out, graph,
00095                         pn_writer(graph));
00096         desc = out.str();
00097 }
00098 
00099 void ExecPNGraph::findPath(const std::string& start, const std::string& end,
00100                 std::list<std::string>& path){}


labust_execution
Author(s): Gyula Nagy
autogenerated on Fri Feb 7 2014 11:36:24