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/* |
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* Copyright 2010, |
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* François Bleibel, |
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* Olivier Stasse, |
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* |
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* CNRS/AIST |
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* |
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*/ |
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#ifndef __SOT_PERIODICCALL_ENTITY_HH__ |
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#define __SOT_PERIODICCALL_ENTITY_HH__ |
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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/entity.h> |
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#include <sot/core/periodic-call-entity.hh> |
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#include <sot/core/periodic-call.hh> |
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/* STD */ |
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#include <list> |
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#include <map> |
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#include <string> |
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/* --------------------------------------------------------------------- */ |
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/* --- API ------------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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#if defined(WIN32) |
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#if defined(periodic_call_entity_EXPORTS) |
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#define PeriodicCallEntity_EXPORT __declspec(dllexport) |
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#else |
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#define PeriodicCallEntity_EXPORT __declspec(dllimport) |
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#endif |
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#else |
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#define PeriodicCallEntity_EXPORT |
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#endif |
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/* --------------------------------------------------------------------- */ |
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/* --- CLASS ----------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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namespace dynamicgraph { |
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namespace sot { |
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/*! |
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\class PeriodicCallEntity |
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The entity remembers a stack of signal and command to be executed or |
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refreshed at each iteration. The update is trigered by the triger signal. |
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If the trigerOnce is called, the stacks are flushed after the execution. |
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*/ |
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class PeriodicCallEntity_EXPORT PeriodicCallEntity |
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: public Entity, |
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protected sot::PeriodicCall { |
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public: |
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static const std::string CLASS_NAME; |
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virtual const std::string &getClassName(void) const { return CLASS_NAME; } |
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Signal<int, int> triger; |
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Signal<int, int> trigerOnce; |
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int &trigerCall(int &dummy, const int &time); |
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int &trigerOnceCall(int &dummy, const int &time); |
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/* --- FUNCTIONS ------------------------------------------------------------ |
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*/ |
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public: |
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PeriodicCallEntity(const std::string &name); |
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virtual ~PeriodicCallEntity(void) {} |
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virtual void display(std::ostream &os) const; |
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}; |
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} // namespace sot |
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} // namespace dynamicgraph |
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#endif // #ifndef __SOT_PERIODICCALL_ENTITY_HH__ |
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/* |
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* Local variables: |
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* c-basic-offset: 2 |
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* End: |
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*/ |