inputActions.hpp

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#ifndef ORG_EEROS_SAFETY_INPUTACTIONS_HPP_
#define ORG_EEROS_SAFETY_INPUTACTIONS_HPP_

#include <eeros/safety/InputAction.hpp>
#include <eeros/safety/SafetyContext.hpp>

namespace eeros {
    namespace safety {

        template <typename T>
        class IgnoreInputAction : public InputAction {
        public:
            IgnoreInputAction(eeros::hal::PeripheralInput<T>& input) : InputAction(input), input(input) { }
            virtual ~IgnoreInputAction() { }
            virtual bool check(SafetyContext* context) { return false; }

        private:
            eeros::hal::PeripheralInput<T>& input;
        };

        template <typename T>
        class CheckInputAction : public InputAction {
        public:
            CheckInputAction(eeros::hal::PeripheralInput<T>& input, T value, uint32_t event) : InputAction(input), input(input), value(value), event(event) { }
            virtual ~CheckInputAction() { }
            virtual bool check(SafetyContext* context) {
                if(input.get() != value) {
                    context->triggerEvent(event);
                    return true;
                }
                return false;
            }
            
        private:
            eeros::hal::PeripheralInput<T>& input;
            T value;
            uint32_t event;
        };

        template <typename T>
        class CheckRangeInputAction : public InputAction {
        public:
            CheckRangeInputAction(eeros::hal::PeripheralInput<T>& input, T min, T max, uint32_t event) : InputAction(input), input(input), min(min), max(max), event(event) { }
            virtual ~CheckRangeInputAction() { }
            virtual bool check(SafetyContext* context) {
                T value = input.get();
                if (value < min || value > max) {
                    context->triggerEvent(event);
                    return true;
                }
                return false;
            }

        private:
            eeros::hal::PeripheralInput<T>& input;
            T min;
            T max;
            uint32_t event;
        };

        template <typename T>
        IgnoreInputAction<T>* ignore(eeros::hal::PeripheralInput<T>& input) {
            return new IgnoreInputAction<T>(input);
        }
        
        template <typename T>
        IgnoreInputAction<T>* ignore(eeros::hal::PeripheralInput<T>* input) {
            return new IgnoreInputAction<T>(*input);
        }

        template <typename T>
        CheckInputAction<T>* check(eeros::hal::PeripheralInput<T>& input, T value, uint32_t event) {
            return new CheckInputAction<T>(input, value, event);
        }
        
        template <typename T>
        CheckInputAction<T>* check(eeros::hal::PeripheralInput<T>* input, T value, uint32_t event) {
            return new CheckInputAction<T>(*input, value, event);
        }

        template <typename T>
        CheckRangeInputAction<T>* range(eeros::hal::PeripheralInput<T>& input, T min, T max, uint32_t event) {
            return new CheckRangeInputAction<T>(input, min, max, event);
        }
        
        template <typename T>
        CheckRangeInputAction<T>* range(eeros::hal::PeripheralInput<T>* input, T min, T max, uint32_t event) {
            return new CheckRangeInputAction<T>(*input, min, max, event);
        }

    };
};

#endif // ORG_EEROS_SAFETY_INPUTACTIONS_HPP_