include/barrett/systems/callback.h

/*
        Copyright 2009, 2010 Barrett Technology <support@barrett.com>

        This file is part of libbarrett.

        This version of libbarrett is free software: you can redistribute it
        and/or modify it under the terms of the GNU General Public License as
        published by the Free Software Foundation, either version 3 of the
        License, or (at your option) any later version.

        This version of libbarrett 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 Public License for more details.

        You should have received a copy of the GNU General Public License along
        with this version of libbarrett.  If not, see
        <http://www.gnu.org/licenses/>.

        Further, non-binding information about licensing is available at:
        <http://wiki.barrett.com/libbarrett/wiki/LicenseNotes>
*/

/*
 * callback.h
 *
 *  Created on: Nov 16, 2009
 *      Author: dc
 */

#ifndef BARRETT_SYSTEMS_CALLBACK_H_
#define BARRETT_SYSTEMS_CALLBACK_H_


#include <boost/function.hpp>
#include <Eigen/Core>

#include <barrett/detail/ca_macro.h>
#include <barrett/math/traits.h>
#include <barrett/systems/abstract/single_io.h>


namespace barrett {
namespace systems {


template<typename InputType, typename OutputType = InputType, bool RequiresAlignment = math::Traits<OutputType>::RequiresAlignment>
class Callback : public SingleIO<InputType, OutputType> {
public:
        typedef boost::function<OutputType (const InputType&)> callback_type;

        explicit Callback(callback_type operateCallback, const std::string& sysName = "Callback") :
                SingleIO<InputType, OutputType>(sysName), callback(operateCallback), data() {}
        virtual ~Callback() { this->mandatoryCleanUp(); }

protected:
        virtual void operate() {
                data = callback(this->input.getValue());
                this->outputValue->setData(&data);
        }

        callback_type callback;
        OutputType data;

private:
        DISALLOW_COPY_AND_ASSIGN(Callback);

public:
        EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF(RequiresAlignment)
};


}
}


#endif /* BARRETT_SYSTEMS_CALLBACK_H_ */