This class builds a program consisting of data contained in a program graph tree, based on the Boost Graph Library. More...

#include <rtt/scripting/FunctionGraphBuilder.hpp>

Public Types
typedef EdgeCondition::EdgeProperty	EdgeProperty

typedef VertexNode::VertProperty	VertProperty

typedef boost::adjacency_list< boost::vecS, boost::listS, boost::directedS, VertProperty, EdgeProperty >	Graph

typedef boost::graph_traits< Graph >::vertex_descriptor	Vertex

typedef boost::graph_traits< Graph >::edge_descriptor	Edge

typedef FunctionGraph::Vertex	CommandNode
	A CommandNode serves as a token to construct a vertex or node, containing a command. More...

typedef FunctionGraph::Edge	ConditionEdge
	A ConditionEdge serves as a token to construct an edge, containing a condition. More...

Public Member Functions
	FunctionGraphBuilder ()
	Constructs a Function graph builder. More...

	~FunctionGraphBuilder ()

void	setLineNumber (int ln)
	Set the line number of the build command node. More...

void	setName (const std::string &_name)

FunctionGraphPtr	startFunction (const std::string &fname)
	Start building a new function. More...

void	returnFunction (ConditionInterface *cond, int line)
	Function return is detected inside the function. More...

FunctionGraphPtr	endFunction (int line=0)
	Finish building the function and return the result. More...

FunctionGraphPtr	getFunction ()
	Return a pointer to the function being built, zero if none. More...

void	startIfStatement (ConditionInterface *cond, int linenumber)

void	endIfBlock (int linenumber)

void	endElseBlock (int linenumber)

void	startWhileStatement (ConditionInterface *cond, int linenumber)

void	endWhileBlock (int linenumber)

bool	inLoop ()

bool	breakLoop ()

CommandNode	addCommand (ConditionInterface cond, base::ActionInterface com)
	Add a new command from the build CommandNode under a condition. More...

void	addConditionEdge (ConditionInterface *cond, CommandNode vert)
	Add an edge from the build CommandNode to the given CommandNode without changing the build CommandNode. More...

void	closeConditionEdge (CommandNode vert, ConditionInterface *cond)
	Add an edge between the given CommandNode and the build CommandNode. More...

CommandNode	moveTo (CommandNode _build, CommandNode _next, int linenr)
	Select an already added CommandNode. More...

void	setCommand (base::ActionInterface *comm)
	Sets a new Command on the build CommandNode. More...

base::ActionInterface *	getCommand (CommandNode cn)
	Get the Command on a given CommandNode. More...

void	setCommand (CommandNode vert, base::ActionInterface *comm)
	Sets a (new) command on a given CommandNode. More...

CommandNode	appendFunction (ConditionInterface *cond, FunctionGraphPtr fn, std::vector< base::DataSourceBase::shared_ptr > fnargs)
	Append a function to the build CommandNode. More...

CommandNode	setFunction (FunctionGraphPtr fn, std::vector< base::DataSourceBase::shared_ptr > fnargs)
	Put a function in the build CommandNode. More...

CommandNode	proceedToNext (int line_nr=0)
	Proceed to the 'next' CommandNode. More...

CommandNode	proceedToNext (ConditionInterface *cond, int line_nr=0)
	Proceed to the 'next' CommandNode and add an edge with a condition. More...

void	connectToNext (CommandNode v, ConditionInterface *cond)
	Connect the given CommandNode to the 'next' CommandNode. More...

CommandNode	buildNode () const
	Return the build CommandNode. More...

size_t	buildEdges () const
	Return the number of edges of the build CommandNode. More...

CommandNode	nextNode () const
	Return the next CommandNode. More...

Public Attributes
CommandNode	build
	The node which will be built next. More...

CommandNode	next
	The node which will be built next. More...

Detailed Description

This class builds a program consisting of data contained in a program graph tree, based on the Boost Graph Library.

Definition at line 59 of file FunctionGraphBuilder.hpp.

Member Typedef Documentation

typedef FunctionGraph::Vertex RTT::scripting::FunctionGraphBuilder::CommandNode

A CommandNode serves as a token to construct a vertex or node, containing a command.

Definition at line 74 of file FunctionGraphBuilder.hpp.

typedef FunctionGraph::Edge RTT::scripting::FunctionGraphBuilder::ConditionEdge

A ConditionEdge serves as a token to construct an edge, containing a condition.

Definition at line 80 of file FunctionGraphBuilder.hpp.

typedef boost::graph_traits<Graph>::edge_descriptor RTT::scripting::FunctionGraphBuilder::Edge

Definition at line 68 of file FunctionGraphBuilder.hpp.

typedef EdgeCondition::EdgeProperty RTT::scripting::FunctionGraphBuilder::EdgeProperty

Definition at line 63 of file FunctionGraphBuilder.hpp.

typedef boost::adjacency_list<boost::vecS, boost::listS, boost::directedS, VertProperty, EdgeProperty> RTT::scripting::FunctionGraphBuilder::Graph

Definition at line 66 of file FunctionGraphBuilder.hpp.

typedef boost::graph_traits<Graph>::vertex_descriptor RTT::scripting::FunctionGraphBuilder::Vertex

Definition at line 67 of file FunctionGraphBuilder.hpp.

typedef VertexNode::VertProperty RTT::scripting::FunctionGraphBuilder::VertProperty

Definition at line 64 of file FunctionGraphBuilder.hpp.

Constructor & Destructor Documentation

RTT::FunctionGraphBuilder::FunctionGraphBuilder ( )

Constructs a Function graph builder.

Definition at line 65 of file FunctionGraphBuilder.cpp.

RTT::FunctionGraphBuilder::~FunctionGraphBuilder ( )

Definition at line 70 of file FunctionGraphBuilder.cpp.

Member Function Documentation

FunctionGraphBuilder::CommandNode RTT::FunctionGraphBuilder::addCommand	(	ConditionInterface *	cond,
		base::ActionInterface *	com
	)

Add a new command from the build CommandNode under a condition.

Returns: the 'new' build CommandNode.

Definition at line 120 of file FunctionGraphBuilder.cpp.

References build, next, RTT::scripting::VertexNode::normal_node, setCommand(), and RTT::scripting::vertex_exec.

void RTT::FunctionGraphBuilder::addConditionEdge	(	ConditionInterface *	cond,
		CommandNode	vert
	)

Add an edge from the build CommandNode to the given CommandNode without changing the build CommandNode.

Definition at line 130 of file FunctionGraphBuilder.cpp.

References build.

Referenced by appendFunction(), breakLoop(), endElseBlock(), endIfBlock(), endWhileBlock(), startIfStatement(), and startWhileStatement().

FunctionGraphBuilder::CommandNode RTT::FunctionGraphBuilder::appendFunction	(	ConditionInterface *	cond,
		FunctionGraphPtr	fn,
		std::vector< base::DataSourceBase::shared_ptr >	fnargs
	)

Append a function to the build CommandNode.

Parameters

fn	The Function to append from the build CommandNode
cond	The 'enter' condition

Returns: the last CommandNode of the appended function.

This can be used if a function must be called conditionally.

Definition at line 233 of file FunctionGraphBuilder.cpp.

References RTT::scripting::CommandComposite::add(), addConditionEdge(), build, buildNode(), connectToNext(), RTT::scripting::VertexNode::func_exit_node, RTT::scripting::VertexNode::func_start_node, getCommand(), RTT::scripting::VertexNode::normal_node, setCommand(), and RTT::scripting::vertex_exec.

Referenced by setFunction().

bool RTT::FunctionGraphBuilder::breakLoop ( )

Definition at line 468 of file FunctionGraphBuilder.cpp.

References addConditionEdge(), build, inLoop(), RTT::scripting::VertexNode::normal_node, RTT::scripting::VertexNode::setLineNumber(), RTT::scripting::vertex_command, and RTT::scripting::vertex_exec.

size_t RTT::FunctionGraphBuilder::buildEdges ( ) const

Return the number of edges of the build CommandNode.

Definition at line 202 of file FunctionGraphBuilder.cpp.

References build.

FunctionGraphBuilder::CommandNode RTT::FunctionGraphBuilder::buildNode ( ) const

Return the build CommandNode.

Definition at line 197 of file FunctionGraphBuilder.cpp.

References build.

Referenced by appendFunction().

void RTT::FunctionGraphBuilder::closeConditionEdge	(	CommandNode	vert,
		ConditionInterface *	cond
	)

Add an edge between the given CommandNode and the build CommandNode.

Definition at line 135 of file FunctionGraphBuilder.cpp.

References build.

void RTT::FunctionGraphBuilder::connectToNext	(	CommandNode	v,
		ConditionInterface *	cond
	)

Connect the given CommandNode to the 'next' CommandNode.

Definition at line 192 of file FunctionGraphBuilder.cpp.

References next.

Referenced by appendFunction().

void RTT::FunctionGraphBuilder::endElseBlock ( int linenumber )

Definition at line 426 of file FunctionGraphBuilder.cpp.

References addConditionEdge(), moveTo(), and next.

FunctionGraphPtr RTT::FunctionGraphBuilder::endFunction ( int line = 0 )

Finish building the function and return the result.

Returns: the finished function.

Definition at line 98 of file FunctionGraphBuilder.cpp.

References build, next, and RTT::scripting::vertex_command.

void RTT::FunctionGraphBuilder::endIfBlock ( int linenumber )

Definition at line 411 of file FunctionGraphBuilder.cpp.

References addConditionEdge(), moveTo(), and next.

void RTT::FunctionGraphBuilder::endWhileBlock ( int linenumber )

Definition at line 451 of file FunctionGraphBuilder.cpp.

References addConditionEdge(), moveTo(), and next.

ActionInterface * RTT::FunctionGraphBuilder::getCommand ( CommandNode cn )

Get the Command on a given CommandNode.

Definition at line 149 of file FunctionGraphBuilder.cpp.

References RTT::scripting::vertex_command.

Referenced by appendFunction().

FunctionGraphPtr RTT::FunctionGraphBuilder::getFunction ( )

Return a pointer to the function being built, zero if none.

Definition at line 93 of file FunctionGraphBuilder.cpp.

bool RTT::FunctionGraphBuilder::inLoop ( )

Definition at line 463 of file FunctionGraphBuilder.cpp.

Referenced by breakLoop().

FunctionGraphBuilder::CommandNode RTT::FunctionGraphBuilder::moveTo	(	CommandNode	_build,
		CommandNode	_next,
		int	linenr
	)

Select an already added CommandNode.

Returns: the previous CommandNode.

Definition at line 140 of file FunctionGraphBuilder.cpp.

References build, next, and setLineNumber().

Referenced by endElseBlock(), endIfBlock(), and endWhileBlock().

FunctionGraphBuilder::CommandNode RTT::FunctionGraphBuilder::nextNode ( ) const

Return the next CommandNode.

Definition at line 207 of file FunctionGraphBuilder.cpp.

References next.

FunctionGraphBuilder::CommandNode RTT::FunctionGraphBuilder::proceedToNext ( int line_nr = 0 )

Proceed to the 'next' CommandNode.

Parameters

line_nr The line number of the 'build' command.

Returns: The new build CommandNode.

Definition at line 182 of file FunctionGraphBuilder.cpp.

References build, next, RTT::scripting::VertexNode::normal_node, setLineNumber(), and RTT::scripting::vertex_exec.

Referenced by proceedToNext(), startIfStatement(), and startWhileStatement().

FunctionGraphBuilder::CommandNode RTT::FunctionGraphBuilder::proceedToNext	(	ConditionInterface *	cond,
		int	line_nr = `0`
	)

Proceed to the 'next' CommandNode and add an edge with a condition.

Parameters

cond	The condition under which to proceed to the next node.
line_nr	The line number of the 'build' command.

Returns: The new build CommandNode.

Definition at line 176 of file FunctionGraphBuilder.cpp.

References build, next, and proceedToNext().

void RTT::FunctionGraphBuilder::returnFunction	(	ConditionInterface *	cond,
		int	line
	)

Function return is detected inside the function.

Do not confuse with endFunction().

Parameters

cond	The Condition under which to return.
line	The line number of that line in the function.

Definition at line 86 of file FunctionGraphBuilder.cpp.

References build.

void RTT::FunctionGraphBuilder::setCommand ( base::ActionInterface * comm )

Sets a new Command on the build CommandNode.

Definition at line 158 of file FunctionGraphBuilder.cpp.

References build.

Referenced by addCommand(), and appendFunction().

void RTT::FunctionGraphBuilder::setCommand	(	CommandNode	vert,
		base::ActionInterface *	comm
	)

Sets a (new) command on a given CommandNode.

Parameters

vert	The CommandNode to be adapted
comm	The new Command to be executed in that node.

Definition at line 163 of file FunctionGraphBuilder.cpp.

References RTT::scripting::vertex_command.

FunctionGraphBuilder::CommandNode RTT::FunctionGraphBuilder::setFunction	(	FunctionGraphPtr	fn,
		std::vector< base::DataSourceBase::shared_ptr >	fnargs
	)

Put a function in the build CommandNode.

Parameters

fn	The Function to append from the build CommandNode

Returns: the last CommandNode of the appended function.

This function must/should be used when build has no edges yet leaving. Off course, edges can already be pointing to build of the previous command. That's why build can not be overwritten with the first node of the function, and we need to insert an extra edge from build to funcStart. That is why we use (until better solution found) the append Function.

Definition at line 373 of file FunctionGraphBuilder.cpp.

References appendFunction().

void RTT::FunctionGraphBuilder::setLineNumber ( int ln )

Set the line number of the build command node.

Parameters