OutputAction.hpp

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#ifndef ORG_EEROS_SAFETY_OUTPUTACTION_HPP_
#define ORG_EEROS_SAFETY_OUTPUTACTION_HPP_

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

namespace eeros {
    namespace safety {

        class OutputAction {
        public:
            OutputAction(hal::OutputInterface* out) : output(out) { }
            virtual ~OutputAction() { }
            virtual void set() = 0;
            virtual hal::OutputInterface* getOutput() {return output;}
        protected:
            hal::OutputInterface* output;
        };
        
        template <typename T>
        class LeaveOutputAction : public OutputAction {
        public:
            LeaveOutputAction(hal::Output<T>* output) : OutputAction(output) { }
            virtual ~LeaveOutputAction() { }
            virtual void set() { }
        };

        template < typename T >
        class SetOutputAction : public OutputAction {
        public:
            SetOutputAction(hal::Output<T>* output, T value) : OutputAction(output), value(value) { }
            virtual ~SetOutputAction() { }
            virtual void set() { 
                dynamic_cast<hal::Output<T>*>(output)->set(value);
            }
        private:
            T value;
        };
    
        template < typename T >
        class ToggleOutputAction : public OutputAction {
        public:
            ToggleOutputAction(hal::Output<T>* output, T low, T high) : OutputAction(output), value(low), low(low), high(high) { }
            virtual ~ToggleOutputAction() { }
            virtual void set() {
                dynamic_cast<hal::Output<T>*>(output)->set(value);
                if (value == low)
                    value = high;
                else
                    value = low;
            }
        private:
            T value;
            T low;
            T high;
        };

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

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

#endif // ORG_EEROS_SAFETY_OUTPUTACTION_HPP_