Constant.hpp

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#ifndef ORG_EEROS_CONTROL_CONSTANT_HPP_
#define ORG_EEROS_CONTROL_CONSTANT_HPP_

#include <type_traits>
#include <eeros/control/Block1o.hpp>
#include <eeros/core/System.hpp>

namespace eeros {
    namespace control {

        template < typename T = double >
        class Constant : public Block1o<T> {
        public:
            Constant() {
                _clear<T>();
            }
            
            Constant(T v) : value(v) { }
            
            virtual void run() {
                this->out.getSignal().setValue(value);
                this->out.getSignal().setTimestamp(System::getTimeNs());
            }
            
            virtual void setValue(T newValue) {
                value = newValue;
            }

            virtual T getValue() {
                return value;
            }

            template <typename X>
            friend std::ostream& operator<<(std::ostream& os, Constant<X>& c);

        protected:
            T value;
            
        private:
            template <typename S> typename std::enable_if<std::is_integral<S>::value>::type _clear() {
                value = std::numeric_limits<int32_t>::min();
            }
            template <typename S> typename std::enable_if<std::is_floating_point<S>::value>::type _clear() {
                value = std::numeric_limits<double>::quiet_NaN();
            }
            template <typename S> typename std::enable_if<!std::is_arithmetic<S>::value && std::is_integral<typename S::value_type>::value>::type _clear() {
                value.fill(std::numeric_limits<int32_t>::min());
            }
            template <typename S> typename std::enable_if<   !std::is_arithmetic<S>::value && std::is_floating_point<typename S::value_type>::value>::type _clear() {
                value.fill(std::numeric_limits<double>::quiet_NaN());
            }
        };
        
        /********** Print functions **********/
        template <typename T>
        std::ostream& operator<<(std::ostream& os, Constant<T>& c) {
            os << "Block constant: '" << c.getName() << "' init val = " << c.value; 
        }
    };
};

#endif /* ORG_EEROS_CONTROL_CONSTANT_HPP_ */