Merge pull request #44 from jmirabel/master

Add command Task.list to list the features

Author: Olivier Stasse

src/task/task-command.h

@@ -32,30 +32,32 @@ namespace dynamicgraph { namespace sot {
       using ::dynamicgraph::command::Command;
       using ::dynamicgraph::command::Value;
 
-      // Command AddFeature
-      class AddFeature : public Command
+      // Command ListFeatures
+      class ListFeatures : public Command
       {
       public:
-	virtual ~AddFeature() {}
+	virtual ~ListFeatures() {}
 	/// Create command and store it in Entity
 	/// \param entity instance of Entity owning this command
 	/// \param docstring documentation of the command
-      AddFeature(Task& entity, const std::string& docstring) :
-	Command(entity, boost::assign::list_of(Value::STRING), docstring)
+      ListFeatures(Task& entity, const std::string& docstring) :
+	Command(entity, std::vector<Value::Type> (), docstring)
 	  {
 	  }
 	virtual Value doExecute()
 	{
-	  Task& task = static_cast<Task&>(owner());
-	  std::vector<Value> values = getParameterValues();
-	  std::string featureName = values[0].value();
-	  FeatureAbstract& feature =
-	    PoolStorage::getInstance()->getFeature(featureName);
-	  task.addFeature(feature);
-	  // return void
-	  return Value();
+          typedef Task::FeatureList_t FeatureList_t;
+          Task& task = static_cast<Task&>(owner());
+          const FeatureList_t& fl = task.getFeatureList();
+          std::string result("[");
+          for (FeatureList_t::const_iterator it = fl.begin ();
+              it != fl.end (); it++) {
+            result += "'" + (*it)->getName() + "',";
+          }
+          result += "]";
+          return Value(result);
 	}
-      }; // class AddFeature
+      }; // class ListFeatures
     } // namespace task
   } // namespace command
 } /* namespace sot */} /* namespace dynamicgraph */

src/task/task.cpp

@@ -106,6 +106,13 @@ void Task::initCommands( void )
 
   addCommand("clear",
 	     makeCommandVoid0(*this,&Task::clearFeatureList, docstring));
+  // List features
+  docstring = "    \n"
+    "    Returns the list of features of the task\n"
+    "    \n";
+
+  addCommand("list",
+	     new command::task::ListFeatures (*this, docstring));
 }