In the EEROS library you will find a directory with examples. Open a shell in the build directory of your EEROS library and run

$ sudo ./examples/block/BlockTest

This examples shows how single blocks can be instantiated. They can be named and their inputs and outputs can be connected to other blocks. The signals in between can be named as well. Note that this example doesn't include a control system nor an executor which runs the blocks. The blocks are run by calling their run methods manually.

The output signals of a newly created block carries a value of NaN (Not a Number). Please note that any block will output a meaningful value only after its run method processes its input values and inner state and finally writes its resulting values to its outputs.

There is another example examples/controlsystem/BlockTest2. This example encompasses a safety system and a control system. It demonstrates what happens …

1. if you forget to connect an input to an output
2. if you try to write a NaN value to a peripheral output