ChannelElement.hpp
Go to the documentation of this file.00001 /*************************************************************************** 00002 tag: Peter Soetens Thu Oct 22 11:59:07 CEST 2009 ChannelElement.hpp 00003 00004 ChannelElement.hpp - description 00005 ------------------- 00006 begin : Thu October 22 2009 00007 copyright : (C) 2009 Sylvain Joyeux 00008 email : sylvain.joyeux@m4x.org 00009 00010 *************************************************************************** 00011 * This library is free software; you can redistribute it and/or * 00012 * modify it under the terms of the GNU General Public * 00013 * License as published by the Free Software Foundation; * 00014 * version 2 of the License. * 00015 * * 00016 * As a special exception, you may use this file as part of a free * 00017 * software library without restriction. Specifically, if other files * 00018 * instantiate templates or use macros or inline functions from this * 00019 * file, or you compile this file and link it with other files to * 00020 * produce an executable, this file does not by itself cause the * 00021 * resulting executable to be covered by the GNU General Public * 00022 * License. This exception does not however invalidate any other * 00023 * reasons why the executable file might be covered by the GNU General * 00024 * Public License. * 00025 * * 00026 * This library is distributed in the hope that it will be useful, * 00027 * but WITHOUT ANY WARRANTY; without even the implied warranty of * 00028 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * 00029 * Lesser General Public License for more details. * 00030 * * 00031 * You should have received a copy of the GNU General Public * 00032 * License along with this library; if not, write to the Free Software * 00033 * Foundation, Inc., 59 Temple Place, * 00034 * Suite 330, Boston, MA 02111-1307 USA * 00035 * * 00036 ***************************************************************************/ 00037 00038 00039 #ifndef ORO_CHANNEL_ELEMENT_HPP 00040 #define ORO_CHANNEL_ELEMENT_HPP 00041 00042 #include <boost/intrusive_ptr.hpp> 00043 #include <boost/call_traits.hpp> 00044 #include "ChannelElementBase.hpp" 00045 #include "../FlowStatus.hpp" 00046 00047 namespace RTT { namespace base { 00048 00049 00053 template<typename T> 00054 class ChannelElement : public ChannelElementBase 00055 { 00056 public: 00057 typedef T value_t; 00058 typedef boost::intrusive_ptr< ChannelElement<T> > shared_ptr; 00059 typedef typename boost::call_traits<T>::param_type param_t; 00060 typedef typename boost::call_traits<T>::reference reference_t; 00061 00062 shared_ptr getOutput() 00063 { 00064 return boost::static_pointer_cast< base::ChannelElement<T> >( 00065 ChannelElementBase::getOutput()); 00066 } 00067 00068 shared_ptr getInput() 00069 { 00070 return boost::static_pointer_cast< base::ChannelElement<T> >( 00071 ChannelElementBase::getInput()); 00072 } 00073 00082 virtual bool data_sample(param_t sample) 00083 { 00084 typename ChannelElement<T>::shared_ptr output = boost::static_pointer_cast< ChannelElement<T> >(getOutput()); 00085 if (output) 00086 return output->data_sample(sample); 00087 return false; 00088 } 00089 00090 virtual value_t data_sample() 00091 { 00092 typename ChannelElement<T>::shared_ptr input = boost::static_pointer_cast< ChannelElement<T> >(getInput()); 00093 if (input) 00094 return input->data_sample(); 00095 return value_t(); 00096 } 00097 00103 virtual bool write(param_t sample) 00104 { 00105 typename ChannelElement<T>::shared_ptr output = boost::static_pointer_cast< ChannelElement<T> >(getOutput()); 00106 if (output) 00107 return output->write(sample); 00108 return false; 00109 } 00110 00116 virtual FlowStatus read(reference_t sample, bool copy_old_data) 00117 { 00118 typename ChannelElement<T>::shared_ptr input = this->getInput(); 00119 if (input) 00120 return input->read(sample, copy_old_data); 00121 else 00122 return NoData; 00123 } 00124 }; 00125 }} 00126 00127 #endif 00128