00001 /* 00002 * Copyright 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA) 00003 * 00004 * Licensed under the Apache License, Version 2.0 (the "License"); 00005 * you may not use this file except in compliance with the License. 00006 * You may obtain a copy of the License at 00007 * 00008 * http://www.apache.org/licenses/LICENSE-2.0 00009 00010 * Unless required by applicable law or agreed to in writing, software 00011 * distributed under the License is distributed on an "AS IS" BASIS, 00012 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 00013 * See the License for the specific language governing permissions and 00014 * limitations under the License. 00015 */ 00016 00017 00018 #ifndef STATICMODE_H 00019 #define STATICMODE_H 00020 00021 #include <mode.h> 00022 00023 class StaticMode : public Mode 00024 { 00025 public: 00026 StaticMode(color::rgba color, int priority = 0, double freq = 0, int pulses = 0, double timeout = 0) 00027 :Mode(priority, freq, pulses, timeout), _timer_inc(0) 00028 { 00029 _color = color; 00030 _inc = (1. / UPDATE_RATE_HZ) * _freq; 00031 } 00032 00033 void execute() 00034 { 00035 if(_timer_inc == 0.0) 00036 m_sigColorReady(_color); 00037 if(_timer_inc >= 1.0) 00038 _timer_inc = 0.0; 00039 else 00040 _timer_inc += _inc; 00041 } 00042 00043 std::string getName(){ return std::string("StaticMode"); } 00044 00045 private: 00046 double _timer_inc; 00047 double _inc; 00048 }; 00049 00050 #endif