sot-command.h

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/*
 * Copyright 2010,
 * Florent Lamiraux
 *
 * CNRS
 *
 */
 
#ifndef SOT_COMMAND_H
#define SOT_COMMAND_H
 
#include <dynamic-graph/command-getter.h>
#include <dynamic-graph/command-setter.h>
#include <dynamic-graph/command.h>
 
#include <boost/assign/list_of.hpp>
 
namespace dynamicgraph {
namespace sot {
namespace command {
namespace classSot {
using ::dynamicgraph::command::Command;
using ::dynamicgraph::command::Value;
 
// Command Push
class Push : public Command {
 public:
  virtual ~Push() {}
  Push(Sot &entity, const std::string &docstring)
      : Command(entity, boost::assign::list_of(Value::STRING), docstring) {}
  virtual Value doExecute() {
    Sot &sot = static_cast<Sot &>(owner());
    std::vector<Value> values = getParameterValues();
    std::string taskName = values[0].value();
 
    TaskAbstract &task = PoolStorage::getInstance()->getTask(taskName);
    sot.push(task);
    // return void
    return Value();
  }
};  // class Push
 
// Command Remove
class Remove : public Command {
 public:
  virtual ~Remove() {}
  Remove(Sot &entity, const std::string &docstring)
      : Command(entity, boost::assign::list_of(Value::STRING), docstring) {}
  virtual Value doExecute() {
    Sot &sot = static_cast<Sot &>(owner());
    std::vector<Value> values = getParameterValues();
    std::string taskName = values[0].value();
 
    TaskAbstract &task = PoolStorage::getInstance()->getTask(taskName);
    sot.remove(task);
    // return void
    return Value();
  }
};  // class Remove
 
// Command Up
class Up : public Command {
 public:
  virtual ~Up() {}
  Up(Sot &entity, const std::string &docstring)
      : Command(entity, boost::assign::list_of(Value::STRING), docstring) {}
  virtual Value doExecute() {
    Sot &sot = static_cast<Sot &>(owner());
    std::vector<Value> values = getParameterValues();
    std::string taskName = values[0].value();
 
    TaskAbstract &task = PoolStorage::getInstance()->getTask(taskName);
    sot.up(task);
    // return void
    return Value();
  }
};  // class Remove
 
// Command Down
class Down : public Command {
 public:
  virtual ~Down() {}
  Down(Sot &entity, const std::string &docstring)
      : Command(entity, boost::assign::list_of(Value::STRING), docstring) {}
  virtual Value doExecute() {
    Sot &sot = static_cast<Sot &>(owner());
    std::vector<Value> values = getParameterValues();
    std::string taskName = values[0].value();
 
    TaskAbstract &task = PoolStorage::getInstance()->getTask(taskName);
    sot.down(task);
    // return void
    return Value();
  }
};  // class Down
 
// Command Display
class Display : public Command {
 public:
  virtual ~Display() {}
  Display(Sot &entity, const std::string &docstring)
      : Command(entity, std::vector<Value::Type>(), docstring) {}
  virtual Value doExecute() {
    std::stringstream returnString;
    Sot &sot = static_cast<Sot &>(owner());
    sot.display(returnString);
 
    // return the stack
    return Value(returnString.str());
  }
};  // class Display
 
// Command List
class List : public Command {
 public:
  virtual ~List() {}
  List(Sot &entity, const std::string &docstring)
      : Command(entity, std::vector<Value::Type>(), docstring) {}
  virtual Value doExecute() {
    Sot &sot = static_cast<Sot &>(owner());
    typedef Sot::StackType StackType;
    const StackType &stack = sot.tasks();
 
    std::stringstream returnString;
    returnString << "( ";
    for (StackType::const_iterator it = stack.begin(); it != stack.end();
         ++it) {
      returnString << '"' << (*it)->getName() << "\", ";
    }
    returnString << ")";
 
    // return the stack
    return Value(returnString.str());
  }
};  // class List
 
// Command Clear
class Clear : public Command {
 public:
  virtual ~Clear() {}
  Clear(Sot &entity, const std::string &docstring)
      : Command(entity, std::vector<Value::Type>(), docstring) {}
  virtual Value doExecute() {
    std::stringstream returnString;
    Sot &sot = static_cast<Sot &>(owner());
    sot.clear();
    // return the stack
    return Value();
  }
};  // class Clear
 
}  // namespace classSot
}  // namespace command
} /* namespace sot */
} /* namespace dynamicgraph */
 
#endif  // SOT_COMMAND_H