From bbbed27023d7205683637e75770d23416aed4fe3 Mon Sep 17 00:00:00 2001
From: Florent Lamiraux <florent@laas.fr>
Date: Mon, 27 Jun 2022 15:47:35 +0000
Subject: [PATCH] [Event] Allow to periodically broadcast event when input
remains to true.
This enables us to rebroadcast some events that are not captured.
---
include/sot/core/event.hh | 22 ++++++++++++++--------
src/tools/event.cpp | 21 +++++++++++++++------
2 files changed, 29 insertions(+), 14 deletions(-)
diff --git a/include/sot/core/event.hh b/include/sot/core/event.hh
index 0acb429a..64633611 100644
--- a/include/sot/core/event.hh
+++ b/include/sot/core/event.hh
@@ -45,7 +45,8 @@ class SOT_CORE_DLLAPI Event : public dynamicgraph::Entity {
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.
+ lastVal_(2), // lastVal_ should be different true and false.
+ timeSinceUp_(0), repeatAfterNIterations_(0)
{
checkSOUT.setFunction(boost::bind(&Event::check, this, _1, _2));
signalRegistration(conditionSIN);
@@ -63,10 +64,12 @@ class SOT_CORE_DLLAPI Event : public dynamicgraph::Entity {
*this, &Event::getSignalsByName, docstring));
docstring =
- "\n"
- " Triggers an event only when condition goes from False to True\n";
- addCommand("setOnlyUp", new command::Setter<Event, bool>(
- *this, &Event::setOnlyUp, docstring));
+ "\n"
+ " Repease event if input signal remains True for a while\n"
+ " Input: number of iterations before repeating output\n."
+ " 0 for no repetition";
+ addCommand("repeat", new command::Setter<Event, int>(*this, &Event::repeat,
+ docstring));
}
~Event() {}
@@ -94,8 +97,10 @@ class SOT_CORE_DLLAPI Event : public dynamicgraph::Entity {
return oss.str();
}
- void setOnlyUp(const bool &up) { onlyUp_ = up; }
-
+ void repeat(const int& nbIterations)
+ {
+ repeatAfterNIterations_ = nbIterations;
+ }
private:
typedef SignalBase<int> *Trigger_t;
typedef std::vector<Trigger_t> Triggers_t;
@@ -107,7 +112,8 @@ private:
Triggers_t triggers;
SignalPtr<bool, int> conditionSIN;
- bool lastVal_, onlyUp_;
+ bool lastVal_;
+ int timeSinceUp_, repeatAfterNIterations_;
};
} // namespace sot
} // namespace dynamicgraph
diff --git a/src/tools/event.cpp b/src/tools/event.cpp
index c62aa3d1..9fa7295d 100644
--- a/src/tools/event.cpp
+++ b/src/tools/event.cpp
@@ -11,14 +11,23 @@ namespace sot {
bool &Event::check(bool &ret, const int &time) {
const bool &val = conditionSIN(time);
ret = (val != lastVal_);
- bool trigger = onlyUp_ ? (!lastVal_ && val) : ret;
+ bool up = (!lastVal_ && val);
+ if (up) {
+ timeSinceUp_ = 0;
+ } else if (val) {
+ ++timeSinceUp_;
+ }
+ // If repetition is activated, trigger again after given number of iterations
+ bool trigger = up || (repeatAfterNIterations_ > 0 &&
+ timeSinceUp_ >= repeatAfterNIterations_);
if (ret) {
lastVal_ = val;
- if (trigger) {
- for (Triggers_t::const_iterator _s = triggers.begin();
- _s != triggers.end(); ++_s)
- (*_s)->recompute(time);
- }
+ }
+ if (trigger) {
+ for (Triggers_t::const_iterator _s = triggers.begin();
+ _s != triggers.end(); ++_s)
+ (*_s)->recompute(time);
+ timeSinceUp_ = 0;
}
return ret;
}
--
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