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/* |
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* Copyright 2017-, Rohan Budhiraja, Joseph Mirabel, CNRS |
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* |
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*/ |
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#ifndef __SOT_LATCH_H__ |
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#define __SOT_LATCH_H__ |
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/* --------------------------------------------------------------------- */ |
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/* --- INCLUDE --------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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/* SOT */ |
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#include <dynamic-graph/all-signals.h> |
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#include <dynamic-graph/command-bind.h> |
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#include <dynamic-graph/entity.h> |
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#include <sot/core/pool.hh> |
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/* STD */ |
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#include <string> |
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namespace dynamicgraph { |
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namespace sot { |
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/* --------------------------------------------------------------------- */ |
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/* --- CLASS ----------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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using dynamicgraph::Entity; |
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using dynamicgraph::command::docCommandVoid0; |
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using dynamicgraph::command::makeCommandVoid0; |
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class Latch : public Entity { |
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public: /* --- SIGNAL --- */ |
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DYNAMIC_GRAPH_ENTITY_DECL(); |
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Signal<bool, int> outSOUT; |
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Signal<bool, int> turnOnSOUT; |
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Signal<bool, int> turnOffSOUT; |
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protected: |
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bool signalOutput; |
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void turnOn() { signalOutput = true; } |
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bool &turnOnLatch(bool &res, int) { |
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res = signalOutput = true; |
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return res; |
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} |
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void turnOff() { signalOutput = false; } |
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bool &turnOffLatch(bool &res, int) { |
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res = signalOutput = false; |
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return res; |
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} |
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bool &latchOutput(bool &res, int) { |
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res = signalOutput; |
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return res; |
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} |
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public: |
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Latch(const std::string &name) |
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: Entity(name), |
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outSOUT("Latch(" + name + ")::output(bool)::out"), |
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turnOnSOUT("Latch(" + name + ")::output(bool)::turnOnSout"), |
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turnOffSOUT("Latch(" + name + ")::output(bool)::turnOffSout") { |
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outSOUT.setFunction(boost::bind(&Latch::latchOutput, this, _1, _2)); |
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turnOnSOUT.setFunction(boost::bind(&Latch::turnOnLatch, this, _1, _2)); |
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turnOffSOUT.setFunction(boost::bind(&Latch::turnOffLatch, this, _1, _2)); |
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signalOutput = false; |
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signalRegistration(outSOUT << turnOnSOUT << turnOffSOUT); |
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addCommand("turnOn", |
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makeCommandVoid0(*this, &Latch::turnOn, |
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docCommandVoid0("Turn on the latch"))); |
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addCommand("turnOff", |
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makeCommandVoid0(*this, &Latch::turnOff, |
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docCommandVoid0("Turn off the latch"))); |
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} |
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virtual ~Latch(void){}; |
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}; |
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} /* namespace sot */ |
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} /* namespace dynamicgraph */ |
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#endif // #ifndef __SOT_LATCH_H__ |