PeripheralOutput.hpp

Go to the documentation of this file.

#ifndef ORG_EEROS_CONTROL_PERIPHERALOUTPUT_HPP
#define ORG_EEROS_CONTROL_PERIPHERALOUTPUT_HPP

#include <cmath>
#include <eeros/control/Block1i.hpp>
#include <eeros/hal/HAL.hpp>
#include <eeros/core/Fault.hpp>
#include <eeros/control/NaNOutputFault.hpp>

namespace eeros {
    namespace control {

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

        public:
            PeripheralOutput(std::string id, bool exclusive = true) : hal(hal::HAL::instance()) {
                systemOutput = dynamic_cast<hal::Output<T>*>(hal.getOutput(id, exclusive));
                if(systemOutput == nullptr) throw Fault("Peripheral output '" + id + "' not found!");
            }
            
            virtual void run() {
                T val = this->in.getSignal().getValue();
                if(std::isnan(val)) throw NaNOutputFault("NaN written to output");
                systemOutput->set(val);
                systemOutput->setTimestampSignalIn(this->in.getSignal().getTimestamp());
            }
            
            template<typename ... ArgTypesOut>
            void callOutputFeature(std::string featureName, ArgTypesOut... args){
                hal.callOutputFeature(systemOutput, featureName, args...);
            }
            
        private:
            hal::HAL& hal;
            hal::Output<T>* systemOutput;
        };

    };
};

#endif // ORG_EEROS_CONTROL_PERIPHERALOUTPUT_HPP