Instruction Class Reference
[libipsaViewer classes, IPSRV remote instructions]
Parent class of all IPSRV instructions.
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#include <Instruction.h>
Public Types | |
Public Member Functions | |
| bool | findAndExecute (std::vector< std::string > &instr, std::ostringstream &answer, unsigned int &numberOfReturnValues) |
| std::string | getCmdHelpString () |
| std::string | getCmdString () |
| unsigned int | getCommandParameterCount () |
| Instruction (const std::string &code) | |
| virtual | ~Instruction () |
Static Public Member Functions | |
| template<typename T > | |
| static std::map< std::string, std::string > | GetAllNodesOfTypeFromViewer (IpsaSimulator *simulator) |
| template<typename T > | |
| static T | GetNodeOfTypeByName (const std::string &name) |
Protected Member Functions | |
| virtual tExecResultType | vExecute (std::vector< std::string > &Instr, std::ostringstream &answer, unsigned int &numberOfReturnValues) |
Protected Attributes | |
| const std::string | I_CODE |
| std::vector< std::string > | instrdata |
Detailed Description
Parent class of all IPSRV instructions.Every instruction available for IPSRV is a subclass of Instruction. All instructions are stored in $(IPSA_HOME)/include/IPSA/viewer/instructions and $(IPSA_HOME)/source/viewer/instructions.
See How to create new IPSRV instructions on how to create new IPSRV instructions.
Definition at line 39 of file Instruction.h.
Member Enumeration Documentation
- Enumerator:
-
eOK eUNKNOWN_ERROR eJOINT_NOT_FOUND eBODY_NOT_FOUND eJOINT_TYPE_INCOMPATIBLE eNODE_IS_NOT_A_BODY eNO_ODE_BODY_FOUND eBAD_FILENAME
Definition at line 46 of file Instruction.h.
Constructor & Destructor Documentation
| Instruction::Instruction | ( | const std::string & | code | ) |
- Parameters:
-
code name and parameters of the IPSRV command of format "commandName <parameter1> <parameter2> ... <parameterN>"
Definition at line 151 of file Instruction.cpp.
| virtual Instruction::~Instruction | ( | ) | [inline, virtual] |
Definition at line 43 of file Instruction.h.
Member Function Documentation
| bool Instruction::findAndExecute | ( | std::vector< std::string > & | instr, | |
| std::ostringstream & | answer, | |||
| unsigned int & | numberOfReturnValues | |||
| ) |
Checks if there are enough parameter values and then calls Instruction::vExecute().
- Parameters:
-
instr vector of strings where instr[0] is the command name and the rest are the parameter values answer stringstream where the answer of the command gets written to numberOfReturnValues stores the number expected return values
- Returns:
- true if the command was executed successfully and false otherwise
Definition at line 183 of file Instruction.cpp.
References eBODY_NOT_FOUND, eJOINT_NOT_FOUND, eJOINT_TYPE_INCOMPATIBLE, eNODE_IS_NOT_A_BODY, eOK, eUNKNOWN_ERROR, instrdata, and vExecute().
Referenced by IpsaDialog::getSetValue().
| std::map< std::string, std::string > Instruction::GetAllNodesOfTypeFromViewer | ( | IpsaSimulator * | simulator | ) | [inline, static] |
| std::string Instruction::getCmdHelpString | ( | ) |
- Returns:
- the full help string of the command including parameter hints (that is Instruction::I_CODE)
Definition at line 235 of file Instruction.cpp.
References I_CODE.
Referenced by ViewerHelp::vExecute().
| std::string Instruction::getCmdString | ( | ) |
- Returns:
- the name of the command as string (Instruction::instrdata[0])
Definition at line 225 of file Instruction.cpp.
References instrdata.
Referenced by NVInstructions::AddEntry().
| unsigned int Instruction::getCommandParameterCount | ( | ) |
- Returns:
- number of parameters needed by the command (Instruction::instrdata[0] - 1)
Definition at line 244 of file Instruction.cpp.
References instrdata.
Referenced by IpsaDialog::getSetValue().
| Instruction::GetNodeOfTypeByName | ( | const std::string & | name | ) | [inline, static] |
Calls SoNode::getByName() and returns a pointer which is dynamic_cast'ed to type T.
- Template Parameters:
-
T the type into which the found node should be cast to
- Parameters:
-
name name of the node to find.
- Returns:
- NULL if node was not found or not of type T and a pointer to the node of type T otherwise
Definition at line 76 of file Instruction.h.
| Instruction::vExecute | ( | std::vector< std::string > & | Instr, | |
| std::ostringstream & | answer, | |||
| unsigned int & | numberOfReturnValues | |||
| ) | [inline, protected, virtual] |
Virtual method which must be overridden by any subclass. It does the "real" execution of the command and is called by Instruction::findAndExecute().
- Parameters:
-
Instr instruction vector which is build like Instruction::instrdata of the specific subclass of Instruction answer a stringstream where the answer of Instruction::vExecute() gets written to numberOfReturnValues tells the method how many values should be stored in answer.
- Returns:
- a value from the enum Instruction::tExecResultType
Reimplemented in GetBodyForce, GetBodyPosition, GetBodyRotation, GetBodyTorque, GetJointAngle, GetJointAngleRate, GetJointForce, GetJointPosition, GetJointPositionRate, GetJointTorque, ListAllBodies, ListAllJoints, ListBody2BodyContacts, ListBody2BodyForces, ListBodyContacts, QuitViewer, RemoveJoint, ResetIPSA, ResetViewer, SaveIVFile, ScheduleIPSA, SetBodyForce, SetBodyRelForce, SetBodyVelocity, SetDrawShape, SetJointForce, SetJointMaxForce, SetJointMaxForce2, SetJointSpeed, SetJointSpeed2, SetJointTorque, SetJointTorque2, SetStepsizeIPSA, SetVerbosity, ShowJoints, StepIPSA, UnscheduleIPSA, and ViewerHelp.
Definition at line 71 of file Instruction.h.
Referenced by findAndExecute().
Member Data Documentation
Instruction::I_CODE [protected] |
One string which contains the name and parameters of the IPSRV command. The string is of the following format "commandName <parameter1> <parameter2> ... <parameterN>".
Definition at line 69 of file Instruction.h.
Referenced by getCmdHelpString(), and Instruction().
Instruction::instrdata [protected] |
The parsed Instruction::I_CODE is stored in here and has the following format:
Instruction::instrdata[0] = "commandName"
Instruction::instrdata[1] = "parameter1"
Instruction::instrdata[2] = "parameter2"
...
Instruction::instrdata[N] = "parameterN"
Definition at line 70 of file Instruction.h.
Referenced by findAndExecute(), getCmdString(), getCommandParameterCount(), and Instruction().
The documentation for this class was generated from the following files:
- include/IPSA/viewer/instructions/Instruction.h
- source/viewer/instructions/Instruction.cpp
