switch.hh

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// Copyright (c) 2018, Joseph Mirabel
// Authors: Joseph Mirabel (joseph.mirabel@laas.fr)
 
#ifndef __SOT_SWITCH_H__
#define __SOT_SWITCH_H__
 
#include <dynamic-graph/command-bind.h>
#include <dynamic-graph/command-getter.h>
#include <dynamic-graph/entity.h>
#include <dynamic-graph/pool.h>
#include <dynamic-graph/signal-ptr.h>
#include <dynamic-graph/signal-time-dependent.h>
#include <dynamic-graph/signal.h>
 
#include <sot/core/config.hh>
#include <sot/core/variadic-op.hh>
 
namespace dynamicgraph {
namespace sot {
template <typename Value, typename Time = int>
class SOT_CORE_DLLAPI Switch : public VariadicAbstract<Value, Value, Time> {
  DYNAMIC_GRAPH_ENTITY_DECL();
 
 public:
  typedef VariadicAbstract<Value, Value, Time> Base;
 
  Switch(const std::string &name)
      : Base(name, CLASS_NAME),
        selectionSIN(NULL, "Switch(" + name + ")::input(int)::selection"),
        boolSelectionSIN(NULL,
                         "Switch(" + name + ")::input(bool)::boolSelection") {
    this->signalRegistration(selectionSIN << boolSelectionSIN);
    this->SOUT.setFunction(boost::bind(&Switch::signal, this, _1, _2));
    this->SOUT.addDependency(selectionSIN);
    this->SOUT.addDependency(boolSelectionSIN);
 
    using command::makeCommandVoid1;
    std::string docstring =
        "\n"
        "    Set number of input signals\n";
    this->addCommand(
        "setSignalNumber",
        makeCommandVoid1(*(Base *)this, &Base::setSignalNumber, docstring));
 
    docstring =
        "\n"
        "    Get number of input signals\n";
    this->addCommand("getSignalNumber",
                     new command::Getter<Base, int>(
                         *this, &Base::getSignalNumber, docstring));
  }
 
  ~Switch() {}
 
  virtual std::string getDocString() const {
    return "Dynamically select a given signal based on a input information.\n";
  }
 
  SignalPtr<int, Time> selectionSIN;
  SignalPtr<bool, Time> boolSelectionSIN;
 
 private:
  Value &signal(Value &ret, const Time &time) {
    int sel;
    if (selectionSIN.isPlugged()) {
      sel = selectionSIN(time);
    } else {
      const bool &b = boolSelectionSIN(time);
      sel = b ? 1 : 0;
    }
    if (sel < 0 || sel >= int(this->signalsIN.size()))
      throw std::runtime_error("Signal selection is out of range.");
 
    ret = this->signalsIN[sel]->access(time);
    return ret;
  }
};
}  // namespace sot
}  // namespace dynamicgraph
#endif  // __SOT_SWITCH_H__