periodic-call-entity.cpp

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/*
 * Copyright 2010,
 * François Bleibel,
 * Olivier Stasse,
 *
 * CNRS/AIST
 *
 */
 
/* --------------------------------------------------------------------- */
/* --- INCLUDE --------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
/* --- SOT --- */
#include <dynamic-graph/pool.h>
 
#include <sot/core/debug.hh>
#include <sot/core/factory.hh>
#include <sot/core/periodic-call-entity.hh>
 
using namespace std;
using namespace dynamicgraph::sot;
typedef dynamicgraph::size_type size_type;
 
DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(PeriodicCallEntity, "PeriodicCallEntity");
 
/* --------------------------------------------------------------------- */
/* --- CLASS ----------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
PeriodicCallEntity::PeriodicCallEntity(const string &fName)
    : Entity(fName),
      PeriodicCall(),
      triger("Tracer(" + fName + ")::triger"),
      trigerOnce("Tracer(" + fName + ")::trigerOnce") {
  signalRegistration(triger << trigerOnce);
 
  triger.setFunction(
      boost::bind(&PeriodicCallEntity::trigerCall, this, _1, _2));
  trigerOnce.setFunction(
      boost::bind(&PeriodicCallEntity::trigerOnceCall, this, _1, _2));
}
 
size_type &PeriodicCallEntity::trigerCall(size_type &dummy,
                                          const sigtime_t &time) {
  run(time);
  return dummy;
}
size_type &PeriodicCallEntity::trigerOnceCall(size_type &dummy,
                                              const sigtime_t &time) {
  run(time);
  clear();
  return dummy;
}
 
/* --------------------------------------------------------------------- */
/* --------------------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
void PeriodicCallEntity::display(std::ostream &os) const {
  os << "PeriodicCallEntity <" << name << "> ";
  PeriodicCall::display(os);
}