ExecPNGraph.hpp

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#ifndef EXECPNGRAPH_HPP_
#define EXECPNGRAPH_HPP_
#include <navcon_msgs/RegisterController.h>

#include <boost/config.hpp>
#include <boost/graph/adjacency_list.hpp>

#include <list>
#include <string>
#include <map>
#include <iosfwd>

namespace labust
{
        namespace control
        {
                class ExecPNGraph
                {
                        struct VertexProperty
                        {
                                enum {p=0, t=1};

                                VertexProperty():
                                        name("uninitialized"),
                                        type(0),
                                        marked(false){};

                                VertexProperty(const std::string& name, int type):
                                        name(name),
                                        type(type),
                                        marked(false){};

                                std::string name;
                                int type;
                                bool marked;
                        };

                        typedef boost::property < boost::edge_weight_t, int > EdgeProperty;
                        typedef boost::adjacency_list<boost::vecS, boost::vecS,
                                boost::directedS, VertexProperty,
                                EdgeProperty > GraphType;

                        struct PlaceInfo
                        {
                                PlaceInfo():
                                        place_num(-1),
                                        enable_t(-1),
                                        disable_t(-1){};

                                GraphType::vertex_descriptor
                                place_num,
                                enable_t,
                                disable_t;
                        };

                public:
                        ExecPNGraph();

                        void addToGraph(const navcon_msgs::RegisterControllerRequest& info);
                        void findPath(const std::string& start, const std::string& end,
                                        std::list<std::string>& path);
                        void getDotDesc(std::string& desc);

                private:
                        inline GraphType::vertex_descriptor
                        add_place(const std::string& name)
                        {
                                return boost::add_vertex(
                                                VertexProperty(name,VertexProperty::p),graph);
                        }
                        inline GraphType::vertex_descriptor
                        add_transition(const std::string& name)
                        {
                                return boost::add_vertex(
                                                VertexProperty(name,VertexProperty::t),graph);
                        }
                        inline std::pair<GraphType::edge_descriptor, bool>
                        add_edge(GraphType::vertex_descriptor from,
                                        GraphType::vertex_descriptor to, int weight = 1)
                        {
                                assert(((graph[from].type == VertexProperty::p) &&
                                                (graph[to].type == VertexProperty::t)) ||
                                                ((graph[from].type == VertexProperty::t)
                                                && (graph[to].type == VertexProperty::p)) &&
                                                "You can only connect places and transitions.");
                                return boost::add_edge(from,to, weight, graph);
                        }
                        struct pn_writer {
                                pn_writer(GraphType& graph):graph(graph){}
                                template <class Vertex>
                                void operator()(std::ostream &out, const Vertex& e) const
                                {

                                        out << "[label="<< graph[e].name;
                                        out << ((graph[e].type == VertexProperty::t)?", shape=rectangle":"") << "]";
                                }
                                GraphType& graph;
                        };
                        GraphType graph;
                        std::map<std::string,
                                PlaceInfo> nameMap;
                };
        }
}

/* EXECPNGRAPH_HPP_ */
#endif