Add entity Event

Author: jmirabel

include/CMakeLists.txt

@@ -22,6 +22,7 @@ SET(NEWHEADERS
   sot/core/matrix-svd.hh
   sot/core/contiifstream.hh
   sot/core/debug.hh
+  sot/core/event.hh
   sot/core/exception-abstract.hh
   sot/core/exception-dynamic.hh
   sot/core/exception-factory.hh

include/sot/core/event.hh

@@ -0,0 +1,116 @@
+// Copyright (c) 2018, Joseph Mirabel
+// Authors: Joseph Mirabel (joseph.mirabel@laas.fr)
+//
+// 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
+// General Lesser 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_EVENT_H__
+# define __SOT_EVENT_H__
+
+#include <dynamic-graph/entity.h>
+#include <dynamic-graph/signal.h>
+#include <dynamic-graph/signal-ptr.h>
+#include <dynamic-graph/signal-time-dependent.h>
+#include <dynamic-graph/pool.h>
+#include <dynamic-graph/command-bind.h>
+#include <dynamic-graph/command-getter.h>
+
+#include <sot/core/config.hh>
+
+namespace dynamicgraph {
+  namespace sot {
+    /// Event
+    class SOT_CORE_DLLAPI Event : public dynamicgraph::Entity
+    {
+      DYNAMIC_GRAPH_ENTITY_DECL();
+
+      Event (const std::string& name) :
+        Entity (name),
+        checkSOUT ("Event("+name+")::output(bool)::check"),
+        conditionSIN(NULL,"Event("+name+")::input(bool)::condition"),
+        lastVal_ (2) // lastVal_ should be different true and false.
+      {
+        checkSOUT.setFunction
+          (boost::bind (&Event::check, this, _1, _2));
+        signalRegistration (conditionSIN);
+        signalRegistration (checkSOUT);
+
+        using command::makeCommandVoid1;
+        std::string docstring =
+          "\n"
+          "    Add a signal\n";
+        addCommand ("addSignal", makeCommandVoid1
+            (*this, &Event::addSignal, docstring));
+
+        docstring =
+          "\n"
+          "    Get list of signals\n";
+        addCommand ("list", new command::Getter<Event, std::string>
+            (*this, &Event::getSignalsByName, docstring));
+      }
+
+      ~Event () {}
+
+      /// Header documentation of the python class
+      virtual std::string getDocString () const
+      {
+        return
+          "Send an event when the input changes\n\n"
+          "  The signal triggered is called whenever the condition is satisfied.\n";
+      }
+
+      void addSignal (const std::string& signal)
+      {
+        std::istringstream iss (signal);
+        triggers.push_back(&PoolStorage::getInstance()->getSignal (iss));
+      }
+
+      // Returns the Python string representation of the list of signal names.
+      std::string getSignalsByName () const
+      {
+        std::ostringstream oss;
+        oss << "(";
+        for (Triggers_t::const_iterator _sig = triggers.begin();
+            _sig != triggers.end(); ++_sig)
+          oss << '\'' << (*_sig)->getName() << "\', ";
+        oss << ")";
+        return oss.str();
+      }
+
+      private:
+      typedef SignalBase<int>* Trigger_t;
+      typedef std::vector<Trigger_t> Triggers_t;
+
+      bool& check (bool& ret, const int& time)
+      {
+        const bool& val = conditionSIN (time);
+        ret = (val != lastVal_);
+        if (ret) {
+          lastVal_ = val;
+          for (Triggers_t::const_iterator _s = triggers.begin();
+              _s != triggers.end(); ++_s)
+            (*_s)->recompute (time);
+        }
+        return ret;
+      }
+
+      Signal <bool, int> checkSOUT;
+
+      Triggers_t triggers;
+      SignalPtr <bool, int> conditionSIN;
+
+      bool lastVal_;
+    };
+  } // namespace sot
+} // namespace dynamicgraph
+#endif // __SOT_EVENT_H__

src/CMakeLists.txt

@@ -75,6 +75,7 @@ SET(plugins
 
   traces/reader
 
+  tools/event
   tools/time-stamp
   tools/timer
   tools/seq-play

src/tools/event.cpp

@@ -0,0 +1,25 @@
+// Copyright (c) 2017, Joseph Mirabel
+// Authors: Joseph Mirabel (joseph.mirabel@laas.fr)
+//
+// 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
+// General Lesser 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/event.hh>
+
+#include <dynamic-graph/factory.h>
+
+namespace dynamicgraph {
+  namespace sot {
+    DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (Event, "Event");
+  } // namespace sot
+} // namespace dynamicgraph