default_controller.hpp

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/*
 * Copyright (c) 2012, Yujin Robot.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of Yujin Robot nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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 */

/*****************************************************************************
** Ifdefs
*****************************************************************************/

#ifndef DEFAULT_CONTROLLER_HPP_
#define DEFAULT_CONTROLLER_HPP_

/*****************************************************************************
** Includes
*****************************************************************************/

namespace yocs
{

class Controller
{
public:
  Controller() : controller_active_(false)
  {};
  virtual ~Controller(){};
  virtual bool init() = 0;

  bool enable()
  {
    if (controller_active_)
    {
      return false;
    }
    else
    {
      controller_active_ = true;
      return true;
    }
  };

  bool disable()
  {
    if (!controller_active_)
    {
      return false;
    }
    else
    {
      controller_active_ = false;
      return true;
    }
  };

  bool getState()
  {
    return controller_active_;
  }
  virtual void spin()
  {
    // do nothing
  };

private:
  bool controller_active_;
};

} // namespace yocs

#endif /* DEFAULT_CONTROLLER_HPP_ */