Step.hpp

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#ifndef ORG_EEROS_CONTROL_STEP_HPP_
#define ORG_EEROS_CONTROL_STEP_HPP_

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

namespace eeros {
    namespace control {

        template < typename T = double >
        class Step : public Block1o<T> {
            
        public:
            Step(T initValue = 0, T stepHeight = 1, double delayTime = 1) : initValue(initValue), stepHeight(stepHeight), delayTime(delayTime) {
                first = true;
            }
            
            
            virtual void run() {
                if(first) {
                    delayTime += System::getTime();
                    this->out.getSignal().setValue(initValue);
                    first = false;
                }
                else if(!stepDone && System::getTime() >= delayTime) {
                    this->out.getSignal().setValue(initValue + stepHeight);
                    stepDone = true;
                }
                this->out.getSignal().setTimestamp(System::getTimeNs());
            }
            
            virtual void reset() {
                stepDone = false;
                first = true;
            }
            
            virtual void setInitValue(T initValue) {
                this->initValue = initValue;
            }
            
            virtual void setStepHeight(T stepHeight) {
                this->stepHeight = stepHeight;
            }
            
            virtual void setDelayTime(double delayTime) {
                this->delayTime = delayTime;
            }

            template <typename X>
            friend std::ostream& operator<<(std::ostream& os, Step<X>& step);
            
        protected:
            T initValue;
            T stepHeight;
            double delayTime;
            bool stepDone;
            bool first;
        };

        /********** Print functions **********/
        template <typename T>
        std::ostream& operator<<(std::ostream& os, Step<T>& step) {
            os << "Block step: '" << step.getName() << "' init val = " << step.initValue << " step height = " << step.stepHeight << " delay time = " << step.delayTime; 
        }

    };
};

#endif /* ORG_EEROS_CONTROL_STEP_HPP_ */