delay.hh

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// Copyright 2018 CNRS - Airbus SAS
// Author: Joseph Mirabel
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
 
// 1. Redistributions of source code must retain the above copyright
// notice, this list of conditions and the following disclaimer.
 
// 2. Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
 
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
#ifndef __sot_talos_balance_delay_H__
#define __sot_talos_balance_delay_H__
 
#include <dynamic-graph/command-bind.h>
#include <dynamic-graph/entity.h>
#include <dynamic-graph/factory.h>
#include <dynamic-graph/signal-ptr.h>
#include <dynamic-graph/signal.h>
 
#if defined(WIN32)
#if defined(delay_EXPORTS)
#define DELAY_EXPORT __declspec(dllexport)
#else
#define DELAY_EXPORT __declspec(dllimport)
#endif
#else
#define DELAY_EXPORT
#endif
 
namespace dynamicgraph {
namespace sot {
namespace talos_balance {
template <typename Value, typename Time = int>
class DELAY_EXPORT Delay : public dynamicgraph::Entity {
  DYNAMIC_GRAPH_ENTITY_DECL();
 
  Delay(const std::string& name)
      : Entity(name),
        sin(NULL, "Delay(" + name + ")::input(unspecified)::sin"),
        currentOUT("Delay(" + name + ")::output(unspecified)::current"),
        previousOUT("Delay(" + name + ")::output(unspecified)::previous") {
    currentOUT.setFunction(boost::bind(&Delay::current, this, _1, _2));
    previousOUT.setFunction(boost::bind(&Delay::previous, this, _1, _2));
    signalRegistration(sin << currentOUT << previousOUT);
 
    using command::makeCommandVoid1;
    std::string docstring =
        "\n"
        "    Set current value in memory\n";
    addCommand("setMemory",
               makeCommandVoid1(*this, &Delay::setMemory, docstring));
  }
 
  ~Delay() {}
 
  virtual std::string getDocString() const {
    return "Enable delayed signal in SoT.\n"
           "Signal previous at time t+1 will return the value of signal "
           "current "
           " at time <= t (the last time signal current was called).";
  }
 
  void setMemory(const Value& val) { mem = val; }
 
 private:
  Value& current(Value& res, const Time& time) {
    previousOUT.access(time);
    res = sin.access(time);
    mem = res;
    return res;
  }
 
  Value& previous(Value& res, const Time&) {
    res = mem;
    return res;
  }
 
  Value mem;
  SignalPtr<Value, Time> sin;
  Signal<Value, Time> currentOUT, previousOUT;
};
 
typedef Delay<Vector, int> DelayVector;
}  // namespace talos_balance
}  // namespace sot
}  // namespace dynamicgraph
 
#endif  // #ifndef __sot_talos_balance_simple_pid_H__