hmi_contact.hpp File Reference

#include <cmath>
#include <map>
#include <memory>
#include <string>
#include <type_traits>
#include <utility>
#include <boost/algorithm/string.hpp>
#include <cloe/core.hpp>
#include <cloe/trigger.hpp>

Include dependency graph for hmi_contact.hpp:

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Classes
class	cloe::utility::Contact< D >
class	cloe::utility::ContactMap< D >
class	cloe::utility::UseContact< D >
class	cloe::utility::ContactFactory< D >
class	cloe::utility::Switch< D >
class	cloe::utility::PushButton< D >

Namespaces
	cloe::utility::contact

Functions
template<typename N >
std::enable_if< std::is_integral< N >::value, N >::type	cloe::utility::contact::round_step (N target, N increment)
template<typename N >
std::enable_if< std::is_floating_point< N >::value, N >::type	cloe::utility::contact::round_step (N target, N increment)
template<typename D = Duration>
Switch< D > *	cloe::utility::contact::make_switch (bool *ptr)
template<typename D = Duration>
PushButton< D >	cloe::utility::contact::make_toggle (bool *ptr)
template<typename D = Duration, typename N >
PushButton< D >	cloe::utility::contact::make_step (N *ptr, N single)
template<typename D = Duration, typename N >
PushButton< D >	cloe::utility::contact::make_step (N *ptr, N single, N multiple)
template<typename D = Duration, typename N >
PushButton< D >	cloe::utility::contact::make_round_step (N *ptr, N single)
template<typename D = Duration, typename N >
PushButton< D >	cloe::utility::contact::make_round_step (N *ptr, N single, N multiple)
template<typename D = Duration, typename N >
PushButton< D >	cloe::utility::contact::make_round_step_nonnegative (N *ptr, N single)
template<typename D = Duration, typename N >
PushButton< D >	cloe::utility::contact::make_round_step_nonnegative (N *ptr, N single, N multiple)

Detailed Description

This file defines several HMI (electric) contacts that allow intuitive triggering across multiple cycles.

Note: this header file and the associated test are not specific to the basic controller, but they are currently placed here until further use-cases present themselves.

Two electrical contacts are modelled in this file:

• Switch, which can either be ON or OFF
• PushButton, which can trigger a repeating and a release action

The classes defined in this header should be used in roughly the following way:

class Controller {
  ContactMap hmi_;
  bool active{false};
  double target_speed{0.0};

 public:
  Controller() {
    // clang-format off
    hmi_.add("power", PushButton{
      [&]() { active = true; },
    });
    hmi_.add("plus", PushButton{
      [&]() { target_speed += 10.0; },
      [&]() { target_speed += 5.0; },
    });
    hmi_.add("minus", PushButton{
      [&]() { target_speed = max(0.0, target_speed - 10.0); },
      [&]() { target_speed = max(0.0, target_speed - 5.0); },
    });
    // clang-format on
  }

  void init(Registrar* r) {
    r->register_factory("hmi", ContactFactory(&hmi_));
    r->register_handler("/state/hmi", handler::ToJson<ContactMap>(&hmi_));
    r->register_handler("/state/hmi/set", handler::FromConf<ContactMap>(&hmi_));
  }

  Duration control(const Sync& sync) { hmi_.update(sync.time()); }
};