Input.hpp

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#ifndef ORG_EEROS_CONTROL_INPUT_HPP_
#define ORG_EEROS_CONTROL_INPUT_HPP_

#include <eeros/control/Signal.hpp>
#include <eeros/control/Output.hpp>

namespace eeros {
    namespace control {

        template < typename T = double >
        class Input {
        public:
            Input() : connectedOutput(nullptr) { }

            virtual bool connect(Output<T>& output) {
                if(connectedOutput != nullptr) return false;
                connectedOutput = &output;
                return true;
            }
            
            virtual bool connect(Output<T>* output) {
                if(connectedOutput != nullptr) return false;
                connectedOutput = output;
                return true;
            }

            virtual void disconnect() {
                connectedOutput = nullptr;
            }

            virtual bool isConnected() const {
                return connectedOutput != nullptr;
            }
            
            virtual Signal<T>& getSignal() {
                if(isConnected()) return connectedOutput->getSignal();
                // TODO error message or throw exception
                return Signal<T>::getIllegalSignal();
            }
            
        protected:
            Output<T>* connectedOutput;
        };

    };
};

#endif /* ORG_EEROS_CONTROL_INPUT_HPP_ */