PeripheralInput.hpp

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#ifndef ORG_EEROS_CONTROL_PERIPHERALINPUT_HPP
#define ORG_EEROS_CONTROL_PERIPHERALINPUT_HPP

#include <eeros/control/Block1o.hpp>
#include <eeros/hal/HAL.hpp>
#include <eeros/hal/PeripheralInput.hpp>
#include <eeros/core/EEROSException.hpp>

namespace eeros {
    namespace control {

        template < typename T = double >
        class PeripheralInput : public Block1o<T> {

        public:
            PeripheralInput(std::string id) : hal(hal::HAL::instance()) {
                systemInput = dynamic_cast<eeros::hal::PeripheralInput<T>*>(hal.getPeripheralInput(id));
                if(systemInput == nullptr) throw EEROSException("Peripheral input '" + id + "' not found!");
            }
            
            virtual void run() {
                this->out.getSignal().setValue(systemInput->get());
                this->out.getSignal().setTimestamp(System::getTimeNs());
            }

        private:
            hal::HAL& hal;
            hal::PeripheralInput<T>* systemInput;
        };

    };
};

#endif // ORG_EEROS_CONTROL_PERIPHERALINPUT_HPP