[tools/switch] Create a switch entity. Returns a boolean on/off output signal

Author: proyan

include/CMakeLists.txt

@@ -31,6 +31,7 @@ SET(NEWHEADERS
   sot/core/exception-tools.hh
   sot/core/binary-op.hh
   sot/core/derivator.hh
+  sot/core/switch.hh
   sot/core/fir-filter.hh
   sot/core/integrator-abstract.hh
   sot/core/integrator-euler.hh

include/sot/core/switch.hh

@@ -0,0 +1,82 @@
+/*
+ * Copyright 2017-, Rohan Budhiraja, CNRS
+ *
+ * This file is part of sot-core.
+ * sot-core is free software: you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public License
+ * as published by the Free Software Foundation, either version 3 of
+ * the License, or (at your option) any later version.
+ * sot-core is distributed in the hope that it will be
+ * useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+ * of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU Lesser General Public License for more details.  You should
+ * have received a copy of the GNU Lesser General Public License along
+ * with sot-core.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#ifndef __SOT_SWITCH_H__
+#define __SOT_SWITCH_H__
+
+/* --------------------------------------------------------------------- */
+/* --- INCLUDE --------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
+
+/* SOT */
+#include <dynamic-graph/command-bind.h>
+#include <sot/core/pool.hh>
+#include <dynamic-graph/entity.h>
+#include <dynamic-graph/all-signals.h>
+
+/* STD */
+#include <string>
+
+namespace dynamicgraph { 
+  namespace sot {
+    
+    /* --------------------------------------------------------------------- */
+    /* --- CLASS ----------------------------------------------------------- */
+    /* --------------------------------------------------------------------- */
+    using dynamicgraph::Entity;
+    using dynamicgraph::command::makeCommandVoid0;
+    using dynamicgraph::command::docCommandVoid0;
+
+    class Switch : public Entity
+    {
+     
+    public: /* --- SIGNAL --- */
+      DYNAMIC_GRAPH_ENTITY_DECL();
+      dynamicgraph::SignalTimeDependent<bool,int> outSOUT;
+      
+    protected:
+      bool signalOutput;
+      void turnOn(){ signalOutput = true; }
+
+      void turnOff(){ signalOutput = false; }
+
+      bool& switchOutput(bool& res, int){ res = signalOutput; return res; }
+
+    public:
+      Switch( const std::string& name )
+	: Entity(name)
+	,outSOUT( boost::bind(&Switch::switchOutput,this,_1,_2),
+                  sotNOSIGNAL,"Switch("+name+")::output(bool)::out")
+      {
+        signalOutput = false;
+        signalRegistration (outSOUT );
+        addCommand ("turnOn",
+                    makeCommandVoid0 (*this, &Switch::turnOn,
+                                      docCommandVoid0 ("Turn on the switch")));
+        addCommand ("turnOff",
+                    makeCommandVoid0 (*this, &Switch::turnOff,
+                                      docCommandVoid0 ("Turn off the switch")));
+      }
+      
+        virtual ~Switch( void ) {};
+
+};
+} /* namespace sot */
+} /* namespace dynamicgraph */
+
+
+
+#endif // #ifndef __SOT_SWITCH_H__

src/CMakeLists.txt

@@ -91,6 +91,7 @@ SET(plugins
   tools/binary-int-to-uint
   tools/periodic-call-entity
   tools/joint-trajectory-entity
+  tools/switch
 
   control/control-gr
   control/control-pd

src/tools/switch.cpp

@@ -0,0 +1,26 @@
+/*
+ * Copyright 2017-, Rohan Budhiraja, CNRS
+ *
+ * CNRS/AIST
+ *
+ * This file is part of sot-core.
+ * sot-core is free software: you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public License
+ * as published by the Free Software Foundation, either version 3 of
+ * the License, or (at your option) any later version.
+ * sot-core is distributed in the hope that it will be
+ * useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+ * of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU Lesser General Public License for more details.  You should
+ * have received a copy of the GNU Lesser General Public License along
+ * with sot-core.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <sot/core/switch.hh>
+#include <sot/core/factory.hh>
+
+namespace dynamicgraph {
+  namespace sot {
+    DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (Switch, "Switch");
+  } // namespace sot
+} // namespace dynamicgraph