text: /*
   * Copyright 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA)
   *
   * Licensed under the Apache License, Version 2.0 (the "License");
   * you may not use this file except in compliance with the License.
   * You may obtain a copy of the License at
   *
   *   http://www.apache.org/licenses/LICENSE-2.0
  
   * Unless required by applicable law or agreed to in writing, software
   * distributed under the License is distributed on an "AS IS" BASIS,
   * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   * See the License for the specific language governing permissions and
   * limitations under the License.
   */
  
  
  #ifndef GLOWCOLORMODE_H
  #define GLOWCOLORMODE_H
  
  #include <mode.h>
  
  class GlowColorMode : public Mode
  {
  public:
      GlowColorMode(color::rgba color, int priority = 0, double freq = 0.25, int pulses = 0, double timeout = 0)
          :Mode(priority, freq, pulses, timeout), _timer_inc(0.0)
      {
          _color = color;
          h = 0.0;
          _inc = (1. / UPDATE_RATE_HZ) * _freq;
          h_inc=0;
          color::Color::rgb2hsv(color.r, color.g, color.b, h, s, v);
      }
  
      void execute()
      {
          static int sign = 1;
          float r = 0;
          float g = 0;
          float b = 0;
  
          if(_timer_inc >= 1.0)
          {
              double tmp = h;
  
              h_inc += 0.001 * sign;
              if(h_inc >= 0.01 || h_inc <= -0.01)
              {
                  sign *= -1;
                  _pulsed++;
              }
              h += h_inc;
              if( h < 0)
                  h = 1 + h;
              
              //double fV = (exp(sin(_timer_inc))-1.0/M_E)*(1.000/(M_E-1.0/M_E));
              double fV = (exp(sin( (M_PI/2)+h_inc*60 ))-0.36787944)*0.42545906411;
  
              color::Color::hsv2rgb(h, s, v, r, g, b);
  
              color::rgba col;
              col.r = r;
              col.g = g;
              col.b = b;
              col.a = fV;
  
              _timer_inc = 0.0;
              m_sigColorReady(col);
              h = tmp;
          }
          else
              _timer_inc += _inc;
      }
  
      std::string getName(){ return std::string("GlowColorMode"); }
  
  private:
      double _timer_inc;
      double _inc;
      float h, s, v;
      double h_inc;
  };
  
  #endif
  