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__ */