50 lines
865 B
C++
50 lines
865 B
C++
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/*
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* BrakeProxy.cpp
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*
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* Created on: 7 <EFBFBD><EFBFBD><EFBFBD>. 2020 <EFBFBD>.
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* Author: LeonidTitov
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*/
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#include "BrakeProxy.hh"
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technological::proxy::BrakeProxy::BrakeProxy(
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ResourceKeeper<driver::IBrake> & brake ) : brake(brake), intention(false) {}
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void technological::proxy::BrakeProxy::engage() {
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intention = false;
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if( brake ) {
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brake->engage();
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brake.unlock();
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}
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}
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void technological::proxy::BrakeProxy::disengage() {
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intention = true;
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if( brake or brake.try_lock() )
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brake->disengage();
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}
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bool technological::proxy::BrakeProxy::isApplied() const {
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return (brake) ? brake->isApplied() : false;
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}
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bool technological::proxy::BrakeProxy::isFree() const {
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return (brake) ? brake->isFree() : false;
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}
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bool technological::proxy::BrakeProxy::isBlocked() const {
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return not( brake ) and intention;
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}
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