Sum.hpp

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#ifndef ORG_EEROS_CONTROL_SUM_HPP_
#define ORG_EEROS_CONTROL_SUM_HPP_

#include <eeros/control/Block1o.hpp>
#include <eeros/control/Input.hpp>

namespace eeros {
    namespace control {

        template < uint8_t N = 2, typename T = double >
        class Sum : public Block1o<T> {

        public:
            Sum() {
                for(uint8_t i = 0; i < N; i++) {
                    negated[i] = false;
                    in[i].setOwner(this);
                }
            }

            virtual void run() {
                T sum; sum = 0; // TODO works only with primitive types or eeros::math::Matrix -> make specialization and use fill() for compatibility with std::array;
                for(uint8_t i = 0; i < N; i++) {
                    if(negated[i]) sum -= in[i].getSignal().getValue();
                    else sum += in[i].getSignal().getValue();
                }
                this->out.getSignal().setValue(sum);
                this->out.getSignal().setTimestamp(in[0].getSignal().getTimestamp());
            }
            
            virtual Input<T>& getIn(uint8_t index) {
                if (index >= N) throw eeros::Fault("index too big in sum block '" + this->getName() + "'");
                return in[index];
            }
            
            virtual void negateInput(uint8_t index) {
                if (index >= N) throw eeros::Fault("index too big in sum block '" + this->getName() + "'");
                negated[index] = true;
            }

        protected:
            Input<T> in[N];
            bool negated[N];
        };
        
        /********** Print functions **********/
        template <uint8_t N, typename T>
        std::ostream& operator<<(std::ostream& os, Sum<N,T>& sum) {
            os << "Block sum: '" << sum.getName() << "'"; 
        }

    };
};

#endif /* ORG_EEROS_CONTROL_SUM_HPP_ */