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/core/Fault.hpp>

namespace eeros {
    namespace control {

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

        public:
            PeripheralInput(std::string id, bool exclusive = true) : hal(hal::HAL::instance()) {
                systemInput = dynamic_cast<eeros::hal::Input<T>*>(hal.getInput(id, exclusive));
                if(systemInput == nullptr) throw Fault("Peripheral input '" + id + "' not found!");
            }
            
            virtual void run() {
                this->out.getSignal().setValue(systemInput->get());
//              this->out.getSignal().setTimestamp(System::getTimeNs());
                this->out.getSignal().setTimestamp(systemInput->getTimestamp());
            }
            
            template<typename ... ArgTypesIn>
            void callInputFeature(std::string featureName, ArgTypesIn... args){
                hal.callInputFeature(systemInput, featureName, args...);
            }

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

    };
};

#endif // ORG_EEROS_CONTROL_PERIPHERALINPUT_HPP