OutputAction.hpp

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#ifndef ORG_EEROS_SAFETY_OUTPUTACTION_HPP_
#define ORG_EEROS_SAFETY_OUTPUTACTION_HPP_

#include <stdint.h>
#include <eeros/hal/HAL.hpp>

namespace eeros {
    namespace safety {

        class OutputAction {
        public:
            virtual ~OutputAction() { }
            virtual void set() { }
        };

        template < typename T >
        class LeaveOutputAction : public OutputAction {
        public:
            LeaveOutputAction(eeros::hal::PeripheralOutput<T>& output) : output(output) { }
            virtual ~LeaveOutputAction() { }
            virtual void set() { }
        private:
            eeros::hal::PeripheralOutput<T>& output;
        };

        template < typename T >
        class SetOutputAction : public OutputAction {
        public:
            SetOutputAction(eeros::hal::PeripheralOutput<T>& output, T value) : output(output), value(value) { }
            virtual ~SetOutputAction() { }
            virtual void set() { 
                output.set(value);
            }
        private:
            eeros::hal::PeripheralOutput<T>& output;
            T value;
        };
    
        template < typename T >
        class ToggleOutputAction : public OutputAction {
        public:
            ToggleOutputAction(eeros::hal::PeripheralOutput<T>& output, T low, T high) : output(output), value(low), low(low), high(high) { }
            virtual ~ToggleOutputAction() { }
            virtual void set() {
                output.set(value);
                if (value == low)
                    value = high;
                else
                    value = low;
            }
        private:
            eeros::hal::PeripheralOutput<bool>& output;
            T value;
            T low;
            T high;
        };

        template <typename T>
        SetOutputAction<T>* set(eeros::hal::PeripheralOutput<T>& output, T value) {
            return new SetOutputAction<T>(output, value);
        }
        
        template <typename T>
        SetOutputAction<T>* set(eeros::hal::PeripheralOutput<T>* output, T value) {
            return new SetOutputAction<T>(*output, value);
        }

        template <typename T>
        LeaveOutputAction<T>* leave(eeros::hal::PeripheralOutput<T>& output) {
            return new LeaveOutputAction<T>(output);
        }
        
        template <typename T>
        LeaveOutputAction<T>* leave(eeros::hal::PeripheralOutput<T>* output) {
            return new LeaveOutputAction<T>(*output);
        }
        
        template <typename T>
        ToggleOutputAction<T>* toggle(eeros::hal::PeripheralOutput<T>* output, T low = false, T high = true) {
            return new ToggleOutputAction<T>(*output, low, high );
        }
    };
};

#endif // ORG_EEROS_SAFETY_OUTPUTACTION_HPP_