Merge pull request #47 from jmirabel/devel

Add command List to entity Task.

Author: proyan

include/sot/core/sot.hh

@@ -81,11 +81,10 @@ namespace dynamicgraph {
 	return CLASS_NAME;
       }
 
-    protected:
-
       /*! \brief Defines a type for a list of tasks */
       typedef std::list<TaskAbstract*> StackType;
 
+    protected:
 
       /*! \brief This field is a list of controllers
 	managed by the stack of tasks. */
@@ -149,6 +148,7 @@ namespace dynamicgraph {
       /*! \name Methods to handle the stack.
 	@{
       */
+      virtual const StackType& tasks () const { return stack; }
 
       /*! \brief Push the task in the stack.
 	It has a lowest priority than the previous ones.

src/sot/sot-command.h

@@ -183,6 +183,38 @@ namespace dynamicgraph { namespace sot {
 	}
       }; // class Display
 
+      // Command List
+      class List : public Command
+      {
+      public:
+	virtual ~List() {}
+	/// Create command and store it in Entity
+	/// \param entity instance of Entity owning this command
+	/// \param docstring documentation of the command
+      List(Sot& entity, const std::string& docstring) :
+	Command(entity, std::vector<Value::Type> (), docstring)
+	  {
+	  }
+	virtual Value doExecute()
+	{
+	  Sot& sot = static_cast<Sot&>(owner());
+	  typedef Sot::StackType StackType;
+          const StackType& stack = sot.tasks();
+
+	  std::stringstream returnString;
+          returnString << "( ";
+          for (StackType::const_iterator it = stack.begin();
+               it != stack.end(); ++it)
+          {
+            returnString << '"' << (*it)->getName() << "\", ";
+          }
+          returnString << ")";
+
+	  // return the stack
+	  return Value(returnString.str());
+	}
+      }; // class List
+
       // Command Clear
       class Clear : public Command
       {

src/sot/sot.cpp

@@ -161,6 +161,13 @@ Sot( const std::string& name )
   addCommand("clear",
 	     new command::classSot::Clear(*this, docstring));
 
+  // List
+  docstring ="    \n"
+    "    returns the list of tasks pushed inside the stack.\n"
+    "    \n";
+  addCommand("list",
+	     new command::classSot::List(*this, docstring));
+
 
 }