ExecPNGraph.cpp

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

#include <boost/graph/graphviz.hpp>

#include <sstream>

using namespace labust::control;

ExecPNGraph::ExecPNGraph()
{
        //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]].place_num = add_place(dofs[i]);
}

void ExecPNGraph::addToGraph(const navcon_msgs::RegisterControllerRequest& info)
{
        //Build from scratch
        using namespace boost;
        GraphType::vertex_descriptor curr_place = add_place(info.name),
                        curr_en_t = add_transition(info.name+"_enable"),
                        curr_dis_t = add_transition(info.name+"_disable");

        nameMap[info.name].place_num = curr_place;
        nameMap[info.name].enable_t = curr_en_t;
        nameMap[info.name].disable_t = curr_dis_t;

        //Add local connections.
        add_edge(curr_en_t, curr_place);
        add_edge(curr_place, curr_dis_t);

        //Add basic dependencies.
        for (int i=0; i<info.used_dofs.size(); ++i)
        {
                if (info.used_dofs[i])
                {
                        add_edge(i,curr_en_t);
                        add_edge(curr_dis_t, i);
                }
        }

        //Add advanced dependencies
        for (int i=0; i<info.used_cnt.size(); ++i)
        {
                GraphType::vertex_descriptor place_num =
                                nameMap[info.used_cnt[i]].place_num;
                add_edge(place_num,curr_en_t);
                add_edge(curr_dis_t, place_num);
        }
}

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

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