pool.hh

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/*
 * Copyright 2010,
 * François Bleibel,
 * Olivier Stasse,
 *
 * CNRS/AIST
 *
 */

#ifndef __SOT_POOL_HH__
#define __SOT_POOL_HH__

/* --------------------------------------------------------------------- */
/* --- INCLUDE --------------------------------------------------------- */
/* --------------------------------------------------------------------- */

/* --- STD --- */
#include <map>
#include <sstream>
#include <string>

/* --- SOT --- */
#include <dynamic-graph/pool.h>
#include <dynamic-graph/signal-base.h>

#include <sot/core/exception-factory.hh>

#include "sot/core/api.hh"

/* --------------------------------------------------------------------- */
/* --- CLASS ----------------------------------------------------------- */
/* --------------------------------------------------------------------- */

namespace dynamicgraph {
namespace sot {

// Preliminary declarations
class FeatureAbstract;
class TaskAbstract;

class SOT_CORE_EXPORT PoolStorage {
 public:
  typedef std::map<std::string, TaskAbstract *> Tasks;

  typedef std::map<std::string, FeatureAbstract *> Features;
 protected:
  Tasks task;

  Features feature;
 public:
  ~PoolStorage(void);

  static PoolStorage *getInstance();

  static void destroy();

  void registerFeature(const std::string &entname, FeatureAbstract *ent);

  FeatureAbstract &getFeature(const std::string &name);
  void registerTask(const std::string &entname, TaskAbstract *ent);
  TaskAbstract &getTask(const std::string &name);
  void writeGraph(const std::string &aFileName);
  void writeCompletionList(std::ostream &os);

 private:
  PoolStorage();
  static PoolStorage *instance_;
};

} /* namespace sot */
} /* namespace dynamicgraph */

#endif /* #ifndef __SOT_POOL_HH__ */