Switch.hpp

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#ifndef ORG_EEROS_CONTROL_SWITCH_HPP_
#define ORG_EEROS_CONTROL_SWITCH_HPP_

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

namespace eeros {
    namespace control {

        template < uint8_t N = 2, typename T = double >
        class Switch : public Block {
        public:
            Switch(uint8_t initInputIndex) : currentInput(initInputIndex) { }
            
            virtual void run() {
                this->out.getSignal().setValue(this->in[currentInput].getSignal().getValue());
                this->out.getSignal().setTimestamp(this->in[currentInput].getSignal().getTimestamp());
            }
            
            virtual Input<T>& getIn(uint8_t index) {
                return in[index];
            }
            
            virtual Output<T>& getOut() {
                return out;
            }
            
            virtual bool switchToInput(uint8_t index) {
                if(index >= 0 && index < N) {
                    currentInput = index;
                    return true;
                }
                return false;
            }
            
            virtual uint8_t getCurrentInput() const {
                return currentInput;
            }
            
        protected:
            Input<T> in[N];
            Output<T> out;
            uint8_t currentInput;
        };
    };
};

#endif /* ORG_EEROS_CONTROL_SWITCH_HPP_ */