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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_SWITCH_H__ |
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#define __SOT_SWITCH_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/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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#include <sot/core/variadic-op.hh> |
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namespace dynamicgraph { |
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namespace sot { |
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/// Switch |
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template <typename Value, typename Time = int> |
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class SOT_CORE_DLLAPI Switch : public VariadicAbstract<Value, Value, Time> { |
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DYNAMIC_GRAPH_ENTITY_DECL(); |
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public: |
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typedef VariadicAbstract<Value, Value, Time> Base; |
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Switch(const std::string &name) |
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: Base(name, CLASS_NAME), |
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selectionSIN(NULL, "Switch(" + name + ")::input(int)::selection"), |
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boolSelectionSIN(NULL, |
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"Switch(" + name + ")::input(bool)::boolSelection") { |
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this->signalRegistration(selectionSIN << boolSelectionSIN); |
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this->SOUT.setFunction(boost::bind(&Switch::signal, this, _1, _2)); |
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this->SOUT.addDependency(selectionSIN); |
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this->SOUT.addDependency(boolSelectionSIN); |
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using command::makeCommandVoid1; |
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std::string docstring = |
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"\n" |
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" Set number of input signals\n"; |
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this->addCommand( |
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"setSignalNumber", |
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makeCommandVoid1(*(Base *)this, &Base::setSignalNumber, docstring)); |
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docstring = |
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"\n" |
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" Get number of input signals\n"; |
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this->addCommand("getSignalNumber", |
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new command::Getter<Base, int>( |
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*this, &Base::getSignalNumber, docstring)); |
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} |
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~Switch() {} |
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/// Header documentation of the python class |
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virtual std::string getDocString() const { |
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return "Dynamically select a given signal based on a input information.\n"; |
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} |
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SignalPtr<int, Time> selectionSIN; |
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SignalPtr<bool, Time> boolSelectionSIN; |
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private: |
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Value &signal(Value &ret, const Time &time) { |
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int sel; |
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if (selectionSIN.isPlugged()) { |
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sel = selectionSIN(time); |
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} else { |
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const bool &b = boolSelectionSIN(time); |
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sel = b ? 1 : 0; |
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} |
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if (sel < 0 || sel >= int(this->signalsIN.size())) |
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throw std::runtime_error("Signal selection is out of range."); |
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ret = this->signalsIN[sel]->access(time); |
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return ret; |
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} |
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}; |
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} // namespace sot |
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} // namespace dynamicgraph |
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#endif // __SOT_SWITCH_H__ |