latch.hh

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/*
 * Copyright 2017-, Rohan Budhiraja, Joseph Mirabel, CNRS
 *
 */

#ifndef __SOT_LATCH_H__
#define __SOT_LATCH_H__

/* --------------------------------------------------------------------- */
/* --- INCLUDE --------------------------------------------------------- */
/* --------------------------------------------------------------------- */

/* SOT */
#include <dynamic-graph/all-signals.h>
#include <dynamic-graph/command-bind.h>
#include <dynamic-graph/entity.h>

#include <sot/core/pool.hh>

/* STD */
#include <string>

namespace dynamicgraph {
namespace sot {

/* --------------------------------------------------------------------- */
/* --- CLASS ----------------------------------------------------------- */
/* --------------------------------------------------------------------- */
using dynamicgraph::Entity;
using dynamicgraph::command::docCommandVoid0;
using dynamicgraph::command::makeCommandVoid0;

class Latch : public Entity {
 public: /* --- SIGNAL --- */
  DYNAMIC_GRAPH_ENTITY_DECL();
  Signal<bool, int> outSOUT;
  Signal<bool, int> turnOnSOUT;
  Signal<bool, int> turnOffSOUT;

 protected:
  bool signalOutput;
  void turnOn() { signalOutput = true; }
  bool &turnOnLatch(bool &res, int) {
    res = signalOutput = true;
    return res;
  }

  void turnOff() { signalOutput = false; }
  bool &turnOffLatch(bool &res, int) {
    res = signalOutput = false;
    return res;
  }

  bool &latchOutput(bool &res, int) {
    res = signalOutput;
    return res;
  }

 public:
  Latch(const std::string &name)
      : Entity(name),
        outSOUT("Latch(" + name + ")::output(bool)::out"),
        turnOnSOUT("Latch(" + name + ")::output(bool)::turnOnSout"),
        turnOffSOUT("Latch(" + name + ")::output(bool)::turnOffSout") {
    outSOUT.setFunction(boost::bind(&Latch::latchOutput, this, _1, _2));
    turnOnSOUT.setFunction(boost::bind(&Latch::turnOnLatch, this, _1, _2));
    turnOffSOUT.setFunction(boost::bind(&Latch::turnOffLatch, this, _1, _2));
    signalOutput = false;
    signalRegistration(outSOUT << turnOnSOUT << turnOffSOUT);
    addCommand("turnOn",
               makeCommandVoid0(*this, &Latch::turnOn,
                                docCommandVoid0("Turn on the latch")));
    addCommand("turnOff",
               makeCommandVoid0(*this, &Latch::turnOff,
                                docCommandVoid0("Turn off the latch")));
  }

  virtual ~Latch(void){};
};
} /* namespace sot */
} /* namespace dynamicgraph */

#endif  // #ifndef __SOT_LATCH_H__