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// Copyright (c) 2018, Joseph Mirabel |
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// Authors: Joseph Mirabel (joseph.mirabel@laas.fr) |
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#ifndef __SOT_EVENT_H__ |
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#define __SOT_EVENT_H__ |
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#include <dynamic-graph/command-bind.h> |
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#include <dynamic-graph/command-getter.h> |
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#include <dynamic-graph/command-setter.h> |
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#include <dynamic-graph/entity.h> |
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#include <dynamic-graph/pool.h> |
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#include <dynamic-graph/signal-ptr.h> |
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#include <dynamic-graph/signal-time-dependent.h> |
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#include <dynamic-graph/signal.h> |
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#include <sot/core/config.hh> |
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namespace dynamicgraph { |
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namespace sot { |
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/// Event |
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/// |
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/// This entity detects changes in value of an input boolean signal |
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/// |
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/// Input signal is |
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/// - condition (boolean), |
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/// Output signal is |
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/// - check |
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/// output value is true if value of input signal changes with respect to the |
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/// evaluation. |
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/// |
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/// Method addSignal stores signals that are recomputed each time the output |
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/// signal is recomputed and the value is true. One typical use case of this |
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/// feature consists in plugging the output signal to a ROS topic using |
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/// dynamicgraph::RosPublish entity (see dynamic_graph_bridge) and to call |
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/// addSignal with the trigger signal of the RosPublish entity as the input. |
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/// Thus each time the output signal changes value, the new value is published |
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/// to the ROS topic. |
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/// |
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/// If command setOnlyUp is called with true as input, signals are recomputed |
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/// only if the output value switches from false to true. |
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class SOT_CORE_DLLAPI Event : public dynamicgraph::Entity { |
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DYNAMIC_GRAPH_ENTITY_DECL(); |
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Event(const std::string &name) |
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: Entity(name), |
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checkSOUT("Event(" + name + ")::output(bool)::check"), |
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conditionSIN(NULL, "Event(" + name + ")::input(bool)::condition"), |
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lastVal_(2), // lastVal_ should be different true and false. |
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timeSinceUp_(0), |
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repeatAfterNIterations_(0) { |
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checkSOUT.setFunction(boost::bind(&Event::check, this, _1, _2)); |
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signalRegistration(conditionSIN); |
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signalRegistration(checkSOUT); |
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using command::makeCommandVoid1; |
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std::string docstring = |
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"\n" |
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" Add a signal\n"; |
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addCommand("addSignal", |
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makeCommandVoid1(*this, &Event::addSignal, docstring)); |
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docstring = |
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"\n" |
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" Get list of signals\n"; |
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addCommand("list", new command::Getter<Event, std::string>( |
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*this, &Event::getSignalsByName, docstring)); |
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docstring = |
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"\n" |
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" Repease event if input signal remains True for a while\n" |
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" Input: number of iterations before repeating output\n." |
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" 0 for no repetition"; |
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addCommand("repeat", new command::Setter<Event, int>(*this, &Event::repeat, |
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docstring)); |
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} |
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~Event() {} |
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/// Header documentation of the python class |
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virtual std::string getDocString() const { |
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return "Send an event when the input changes\n\n" |
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" The signal triggered is called whenever the condition is " |
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"satisfied.\n"; |
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} |
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void addSignal(const std::string &signal) { |
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std::istringstream iss(signal); |
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triggers.push_back(&PoolStorage::getInstance()->getSignal(iss)); |
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} |
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// Returns the Python string representation of the list of signal names. |
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std::string getSignalsByName() const { |
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std::ostringstream oss; |
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oss << "("; |
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for (Triggers_t::const_iterator _sig = triggers.begin(); |
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_sig != triggers.end(); ++_sig) |
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oss << '\'' << (*_sig)->getName() << "\', "; |
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oss << ")"; |
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return oss.str(); |
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} |
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void repeat(const int &nbIterations) { |
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repeatAfterNIterations_ = nbIterations; |
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} |
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private: |
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typedef SignalBase<int> *Trigger_t; |
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typedef std::vector<Trigger_t> Triggers_t; |
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bool &check(bool &ret, const int &time); |
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Signal<bool, int> checkSOUT; |
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Triggers_t triggers; |
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SignalPtr<bool, int> conditionSIN; |
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bool lastVal_; |
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int timeSinceUp_, repeatAfterNIterations_; |
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}; |
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} // namespace sot |
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} // namespace dynamicgraph |
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#endif // __SOT_EVENT_H__ |
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