binary-int-to-uint.cpp

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/*
 * Copyright 2010,
 * François Bleibel,
 * Olivier Stasse,
 *
 * CNRS/AIST
 *
 */

/* --- SOT --- */
#include <sot/core/binary-int-to-uint.hh>
#include <sot/core/debug.hh>
#include <sot/core/exception-feature.hh>
#include <sot/core/pool.hh>
using namespace std;

#include <dynamic-graph/factory.h>

using namespace dynamicgraph::sot;
using namespace dynamicgraph;

DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(BinaryIntToUint, "BinaryIntToUint");

/* --------------------------------------------------------------------- */
/* --- CLASS ----------------------------------------------------------- */
/* --------------------------------------------------------------------- */

BinaryIntToUint::BinaryIntToUint(const string &fname)
    : Entity(fname),
      binaryIntSIN(NULL, "BinaryIntToUint(" + name + ")::input(int)::sin"),
      binaryUintSOUT(
          boost::bind(&BinaryIntToUint::computeOutput, this, _1, _2),
          binaryIntSIN,
          "BinaryIntToUint(" + name + ")::output(unsigned int)::sout") {
  signalRegistration(binaryIntSIN << binaryUintSOUT);
}

/* --------------------------------------------------------------------- */
/* --------------------------------------------------------------------- */
/* --------------------------------------------------------------------- */

unsigned &BinaryIntToUint::computeOutput(unsigned &res, int time) {
  sotDEBUGIN(15);

  int in = binaryIntSIN.access(time);
  if (in < 0) {
    res = 0;
  } else {
    res = 1;
  }

  sotDEBUGOUT(15);
  return res;
}

void BinaryIntToUint::display(std::ostream &os) const {
  os << "BinaryIntToUint <" << name << "> TODO..." << endl;
}