channel_element.hpp

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#ifndef ROSRTT_CHANNEL_ELEMENT_HPP
#define ROSRTT_CHANNEL_ELEMENT_HPP

#include <boost/intrusive_ptr.hpp>
#include <boost/call_traits.hpp>
#include "channel_element_base.hpp"
#include "../common.h"

namespace hpcl_rtt 
{   

template<typename T>
class ChannelElement : public ChannelElementBase
{
public:
  typedef T value_t;
  typedef boost::intrusive_ptr< ChannelElement<T> > shared_ptr;
  typedef typename boost::call_traits<T>::param_type param_t;
  typedef typename boost::call_traits<T>::reference reference_t;

  shared_ptr getOutput()
  {
    return boost::static_pointer_cast< ChannelElement<T> >(ChannelElementBase::getOutput());
  }

  shared_ptr getInput()
  {
    return boost::static_pointer_cast< ChannelElement<T> >(ChannelElementBase::getInput());
  }

  virtual bool data_sample(param_t sample)
  {
    typename ChannelElement<T>::shared_ptr output = boost::static_pointer_cast< ChannelElement<T> >(getOutput());
    if (output)
    {
      return output->data_sample(sample);
    }
    return false;
  }

  virtual value_t data_sample()
  {
    typename ChannelElement<T>::shared_ptr input = boost::static_pointer_cast< ChannelElement<T> >(getInput());
    if (input)
    {
      return input->data_sample();
    }
    return value_t();
  }

  virtual bool write(param_t sample)
  {
    typename ChannelElement<T>::shared_ptr output = boost::static_pointer_cast< ChannelElement<T> >(getOutput());
    if (output)
    {
      return output->write(sample);
    }
    return false;
  }

  virtual FlowStatus read(reference_t sample, bool copy_old_data)
  {
    typename ChannelElement<T>::shared_ptr input = this->getInput();
    if (input)
    {
      return input->read(sample, copy_old_data);
    }
    else
    {
      return NoData;
    }
  }
};

}

#endif