Mux.hpp

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#ifndef ORG_EEROS_CONTROL_MUX_HPP_
#define ORG_EEROS_CONTROL_MUX_HPP_

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

namespace eeros {
    namespace control {
        
        template < uint32_t N, typename T = double, typename C = eeros::math::Matrix<N,1,T> >
        class Mux: public Block {
            
        public:
            Mux() { 
                for(uint8_t i = 0; i < N; i++) in[i].setOwner(this);
            }
            
            virtual void run() {
                C newValue;
                for(int i = 0; i < N; i++) {
                    newValue(i) = in[i].getSignal().getValue();
                }
                out.getSignal().setValue(newValue);
                out.getSignal().setTimestamp(in[0].getSignal().getTimestamp());
            }
            
            virtual Input<T>& getIn(uint32_t index) {
                return in[index];
            }
            
            virtual Output<C>& getOut() {
                return out;
            }
            
        protected:
            Input<T> in[N];
            Output<C> out;
        };

    };
};

#endif /* ORG_EEROS_CONTROL_MUX_HPP_ */