PeripheralOutput.hpp

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#ifndef ORG_EEROS_CONTROL_PERIPHERALOUTPUT_HPP
#define ORG_EEROS_CONTROL_PERIPHERALOUTPUT_HPP

#include <eeros/control/Block1i.hpp>
#include <eeros/hal/HAL.hpp>
#include <eeros/core/EEROSException.hpp>

namespace eeros {
    namespace control {

        template < typename T = double >
        class PeripheralOutput : public Block1i<T> {

        public:
            PeripheralOutput(std::string id) : hal(hal::HAL::instance()) {
                systemOutput = dynamic_cast<hal::PeripheralOutput<T>*>(hal.getPeripheralOutput(id));
                if(systemOutput == nullptr) throw EEROSException("Peripheral output '" + id + "' not found!");
            }
            
            virtual void run() {
                systemOutput->set(this->in.getSignal().getValue());
            }
            
        private:
            hal::HAL& hal;
            hal::PeripheralOutput<T>* systemOutput;
        };

    };
};

#endif // ORG_EEROS_CONTROL_PERIPHERALOUTPUT_HPP