ConditionDSDuration.hpp

/***************************************************************************
  tag: Peter Soetens  Wed Jan 18 14:11:39 CET 2006  ConditionDSDuration.hpp

                        ConditionDSDuration.hpp -  description
                           -------------------
    begin                : Wed January 18 2006
    copyright            : (C) 2006 Peter Soetens
    email                : peter.soetens@mech.kuleuven.be

 ***************************************************************************
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#ifndef CONDITION_DS_DURATION_HPP
#define CONDITION_DS_DURATION_HPP

#include "ConditionInterface.hpp"
#include "TimeService.hpp"
#include "DataSource.hpp"

namespace RTT
{

    class RTT_API ConditionDSDuration
        : public ConditionInterface
    {
        typedef TimeService::nsecs nsecs;
        typedef TimeService::ticks ticks;

    public:
        ConditionDSDuration( DataSource<double>::shared_ptr ds, bool invert = false );

        virtual ~ConditionDSDuration();

        virtual bool evaluate();

        virtual void reset();

        ConditionInterface* clone() const;

        virtual ConditionInterface* copy( std::map<const DataSourceBase*, DataSourceBase*>& alreadyCloned ) const;
    private:

        DataSource<double>::shared_ptr time;

        TimeService *hb;
        ticks mark;

        bool _invert;
    };

}

#endif