PIDModule.H

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/*! @file
    @author Unknown
    @copyright GNU Public License (GPL v3)
    @section License
    @verbatim
    // ////////////////////////////////////////////////////////////////////////
    //              The iLab Neuromorphic Robotics Toolkit (NRT)             //
    // Copyright 2010-2012 by the University of Southern California (USC)    //
    //                          and the iLab at USC.                         //
    //                                                                       //
    //                iLab - University of Southern California               //
    //                Hedco Neurociences Building, Room HNB-10               //
    //                    Los Angeles, Ca 90089-2520 - USA                   //
    //                                                                       //
    //      See http://ilab.usc.edu for information about this project.      //
    // ////////////////////////////////////////////////////////////////////////
    // This file is part of The iLab Neuromorphic Robotics Toolkit.          //
    //                                                                       //
    // The iLab Neuromorphic Robotics Toolkit 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.      //
    //                                                                       //
    // The iLab Neuromorphic Robotics Toolkit 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 The iLab Neuromorphic Robotics Toolkit.  If not, see       //
    // <http://www.gnu.org/licenses/>.                                       //
    // ////////////////////////////////////////////////////////////////////////
    @endverbatim */
#ifndef INCLUDE_NRT_ROBOTICS_MODULES_PIDMODULE_H
#define INCLUDE_NRT_ROBOTICS_MODULES_PIDMODULE_H

#include <nrt/Core/Blackboard/Module.H>
#include <nrt/Robotics/Components/PIDComponent.H>

namespace nrt
{
  NRT_DECLARE_MESSAGESUBSCRIBER_PORT( DesiredValuePort, nrt::Message<double>, void, "The desired value for the control loop" );
  NRT_DECLARE_MESSAGESUBSCRIBER_PORT( ObservedValuePort, nrt::Message<double>, void, "The raw observed value to be used for the control loop" );
  NRT_DECLARE_MESSAGEPOSTER_PORT( OutputValuePort, nrt::Message<double>, void, "The control loop output" );

  class PIDModule : public nrt::Module,
                    public nrt::MessageSubscriber<DesiredValuePort, ObservedValuePort>,
                    public nrt::MessagePoster<OutputValuePort>
  {
    public:
      PIDModule( std::string const & instanceName = "" );

      virtual void onMessage(DesiredValuePort::InPtr port);
      virtual void onMessage(ObservedValuePort::InPtr port);

    private:
      nrt::PIDComponent itsPidComponent;
  };
}

#endif // INCLUDE_NRT_ROBOTICS_MODULES_PIDMODULE_H