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--- eeros_architecture:control_system:available_blocks:generic [2021/07/08 19:14] – ursgraf
+++ eeros_architecture:control_system:available_blocks:generic [2025/08/08 15:37] (current) – ursgraf
@@ Line 1: / Line 1: @@
 ====== Basic Block ======
-This is the basic block from which all other blocks inherit.
+Blockio is the basic block from which all other blocks inherit. See [[eeros_architecture:control_system:custom_blocks|]] to learn how to use this basic blocks for your custom made blocks. \\
+However, you can use this block directly and set its specific algorithm that will run whenever the block runs within a timedomain. Use the template parameters to choose any number of input and output signals together with their associated types. The algorithm can be passed to the constructor of the block with a lambda function.
+Define such a block with an example algorithm as follows:
+<code cpp>
+  Blockio<1,1,Vector2,Vector2> block([&]() {
+    auto val = (block.getIn().getSignal().getValue() + 0.5) * 2;
+    block.getOut().getSignal().setValue(val);
+    block.getOut().getSignal().setTimestamp(gen.getIn(0).getSignal().getTimestamp());
+  });
+</code>
-A generic block simply runs a predefined algorithm which can be passed to the constructor of the block. Such an algorithm could theoretically calculate any output from a given set of inputs. It can be especially valuable for cases like the following. A signal value must be applied with an offset and a scale. How to achieve this?
+Such an algorithm could theoretically calculate any output from a given set of inputs. Choose this method when the algorithm is simple and one wants to avoid using several other blocks doing a simple algorithm, e.g. adding a offset and scale to a signal as given in the example above.
-  - Use a constant block delivering the offset together with a sum block which adds the offset to the signal. Finally, a gain block applies the desired scale. All in all, you will use three different blocks.
-  - Use a generic block and define the necessary algorithm as follows <code cpp>GenericBlock<> gen([&]() {
-  gen.getOut(0).getSignal().setValue(gen.getIn(0).getSignal().getValue() + 0.1) * 1.1);
-  gen.getOut(0).getSignal().setTimestamp(gen.getIn(0).getSignal().getTimestamp());
-})</code>
-Such a generic block can save valuable execution time in reducing the number of necessary blocks. It can also be useful when a given algorithm cannot be stitched together from predefined blocks.
+How could this be solved with predefined block from [[eeros_architecture:control_system:available_blocks|]]?
+Use a constant block delivering the offset together with a sum block which adds the offset to the signal. Finally, a gain block applies the desired scale. All in all, you will use three different blocks.
+Using a basic block with a lambda function as given in the example above saves valuable execution time in reducing the number of necessary blocks. It can also be useful when a given algorithm cannot be stitched together from predefined blocks.