ChannelHysteresis.h

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/*
 * Copyright (C) 2012 by
 *   MetraLabs GmbH (MLAB), GERMANY
 * and
 *   Neuroinformatics and Cognitive Robotics Labs (NICR) at TU Ilmenau, GERMANY
 * All rights reserved.
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 * Contact: info@mira-project.org
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#ifndef _MIRA_CHANNELHYSTERESIS_H_
#define _MIRA_CHANNELHYSTERESIS_H_

#include <math/SchmittTriggerHysteresis.h>
#include <fw/Framework.h>

namespace mira {


template <typename T>
class ChannelHysteresis
{
public:
    ChannelHysteresis(const T& lower, const T& upper) :
        mHysteresis(lower, upper)
    {}

    Channel<T> subscribe(Authority& authority,
                         const std::string& channelID,
                         boost::function<void (typename SchmittTriggerHysteresis<T>::State,
                                               ChannelRead<T>)> fn)
    {
        mFunction = fn;
        return authority.subscribe<T>(channelID, &ChannelHysteresis<T>::callback, this);
    }

    template<typename Class>
    Channel<T> subscribe(Authority& authority,
                         const std::string& channelID,
                         void (Class::*f)(typename SchmittTriggerHysteresis<T>::State, ChannelRead<T>),
                         Class* obj)
    {
        return subscribe(authority, channelID, boost::bind(f, obj, _1, _2));
    }

    void callback(ChannelRead<T> value)
    {
        if (mHysteresis.update(value->value()))
            mFunction(mHysteresis.getState(), value);
    }

private:
    boost::function<void (typename SchmittTriggerHysteresis<T>::State, ChannelRead<T>)> mFunction;
    SchmittTriggerHysteresis<T> mHysteresis;
};


}

#endif