ExecDepGraph.cpp

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 *  Author: Dula Nad
 *  Created: 30.10.2013.
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#include <labust/control/ExecDepGraph.hpp>

#include <boost/graph/graphviz.hpp>

#include <sstream>

using namespace labust::control;

ExecDepGraph::ExecDepGraph()
{
        //Add the basic vertices.
        std::string dofs[]={"X","Y","Z","K","M","N"};
        //Add DOFs to the name list
        for (int i=0; i<6;++i) nameMap[dofs[i]] = boost::add_vertex(dofs[i], graph);
}

void ExecDepGraph::addToGraph(const navcon_msgs::RegisterControllerRequest& info)
{
        //Build from scratch
        using namespace boost;
        GraphType::vertex_descriptor curr_vert = boost::add_vertex(info.name,graph);
        nameMap[info.name] = curr_vert;
        //Add basic dependencies.
        for (int i=0; i<info.used_dofs.size(); ++i)
                if (info.used_dofs[i]) boost::add_edge(curr_vert,i, 1, graph);

        //Add advanced dependencies
        for (int i=0; i<info.used_cnt.size(); ++i)
                boost::add_edge(curr_vert,nameMap[info.used_cnt[i]], 1, graph);
}

void ExecDepGraph::getDotDesc(std::string& desc)
{
        using namespace boost;
        //Construct a label writer.
        std::ostringstream out;
        write_graphviz(out, graph,
                        make_label_writer(get(vertex_name_t(), graph)));
        desc = out.str();
}

void ExecDepGraph::findPath(const std::string& start, const std::string& end,
                std::list<std::string>& path){}