[Personalrobots-commit] SF.net SVN: personalrobots:[2725] pkg/trunk

[<stu...@us...>]

Revision: 2725
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=2725&view=rev
Author:   stuglaser
Date:     2008-08-07 18:57:41 +0000 (Thu, 07 Aug 2008)

Log Message:
-----------
Added a factory for registering and instantiating controllers.

Modified Paths:
--------------
    pkg/trunk/controllers/generic_controllers/include/generic_controllers/controller.h
    pkg/trunk/controllers/generic_controllers/manifest.xml
    pkg/trunk/controllers/generic_controllers/src/joint_controller.cpp
    pkg/trunk/mechanism/mechanism_control/manifest.xml

Modified: pkg/trunk/controllers/generic_controllers/include/generic_controllers/controller.h
===================================================================
--- pkg/trunk/controllers/generic_controllers/include/generic_controllers/controller.h	2008-08-07 18:55:46 UTC (rev 2724)
+++ pkg/trunk/controllers/generic_controllers/include/generic_controllers/controller.h	2008-08-07 18:57:41 UTC (rev 2725)
@@ -42,6 +42,7 @@
  */
 /***************************************************/
 
+#include <misc_utils/factory.h>
 #include <mechanism_model/robot.h>
 
 class TiXmlElement;
@@ -63,6 +64,14 @@
   CONTROLLER_VELOCITY, CONTROLLER_AUTOMATIC, ETHERDRIVE_SPEED
 };
 
+class Controller;
+typedef Factory<Controller> ControllerFactory;
+
+#define ROS_REGISTER_CONTROLLER(c) \
+  controller::Controller *ROS_New_##c() { return new c(); }             \
+  bool ROS_CONTROLLER_##c = \
+    controller::ControllerFactory::instance().registerType(#c, ROS_New_##c);
+
 class Controller
 {
 public:

Modified: pkg/trunk/controllers/generic_controllers/manifest.xml
===================================================================
--- pkg/trunk/controllers/generic_controllers/manifest.xml	2008-08-07 18:55:46 UTC (rev 2724)
+++ pkg/trunk/controllers/generic_controllers/manifest.xml	2008-08-07 18:57:41 UTC (rev 2725)
@@ -7,6 +7,7 @@
   <depend package="mechanism_model" />
   <depend package="wg_robot_description_parser" />
   <depend package="stl_utils" />
+  <depend package="misc_utils" />
   <url>http://pr.willowgarage.com</url>
   <repository>http://pr.willowgarage.com/repos</repository>
   <export>

Modified: pkg/trunk/controllers/generic_controllers/src/joint_controller.cpp
===================================================================
--- pkg/trunk/controllers/generic_controllers/src/joint_controller.cpp	2008-08-07 18:55:46 UTC (rev 2724)
+++ pkg/trunk/controllers/generic_controllers/src/joint_controller.cpp	2008-08-07 18:57:41 UTC (rev 2725)
@@ -41,6 +41,8 @@
 
 using namespace controller;
 
+ROS_REGISTER_CONTROLLER(JointController)
+
 //-------------------------------------------------------------------------//
 //CONSTRUCTION/DESTRUCTION CALLS
 //-------------------------------------------------------------------------//

Modified: pkg/trunk/mechanism/mechanism_control/manifest.xml
===================================================================
--- pkg/trunk/mechanism/mechanism_control/manifest.xml	2008-08-07 18:55:46 UTC (rev 2724)
+++ pkg/trunk/mechanism/mechanism_control/manifest.xml	2008-08-07 18:57:41 UTC (rev 2725)
@@ -9,6 +9,7 @@
 <depend package="tinyxml"/>
 <depend package="mechanism_model"/>
 <depend package="generic_controllers"/>
+<depend package="misc_utils" />
 <export>
     <cpp cflags='-I${prefix}/include' lflags='-Wl,-rpath,${prefix}/lib -L${prefix}/lib -lmechanism_control'/>
 </export>


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