DeMux.hpp

Go to the documentation of this file.

#ifndef ORG_EEROS_CONTROL_DEMUX_HPP_
#define ORG_EEROS_CONTROL_DEMUX_HPP_

#include <eeros/control/Block.hpp>
#include <eeros/math/Matrix.hpp>
#include <eeros/control/Input.hpp>
#include <eeros/control/Output.hpp>

namespace eeros {
    namespace control {
        
        template < uint32_t N, typename T = double, typename C = eeros::math::Matrix<N,1,T> >
        class DeMux: public Block {
        public:
            DeMux() { }
            
            virtual void run() {
                for(int i = 0; i < N; i++) {
                    out[i].getSignal().setValue(in.getSignal().getValue()(i));
                    out[i].getSignal().setTimestamp(in.getSignal().getTimestamp());
                }
            }
            
            virtual Input<C>& getIn() {
                return in;
            }
            
            virtual Output<T>& getOut(uint32_t index) {
                return out[index];
            }
            
        protected:
            Input<C> in;
            Output<T> out[N];
        };

    };
};

#endif /* ORG_EEROS_CONTROL_DEMUX_HPP_ */