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/**
 * @file blocks.h
 *
 * Controller library code
 */

#pragma once

#include "BlockLimitSym.hpp"

#include "block/Block.hpp"
#include "block/BlockParam.hpp"

#include "matrix/math.hpp"

namespace control
{

/**
 * A rectangular integrator.
 * A limiter is built into the class to bound the
 * integral's internal state. This is important
 * for windup protection.
 * @see Limit
 */
class __EXPORT BlockIntegral: public SuperBlock
{
public:
// methods
	BlockIntegral(SuperBlock *parent, const char *name) :
		SuperBlock(parent, name),
		_y(0),
		_limit(this, "") {}
	virtual ~BlockIntegral() {}
	float update(float input);
// accessors
	float getY() {return _y;}
	float getMax() {return _limit.getMax();}
	void setY(float y) {_y = y;}
protected:
// attributes
	float _y; /**< previous output */
	BlockLimitSym _limit; /**< limiter */
};

} // namespace control