channel_element.hpp

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/* 
 *  channel_element.hpp - micros channel element
 *  Copyright (C) 2015 Zaile Jiang
 *  
 *  This program is free software; you can redistribute it and/or
 *  modify it under the terms of the GNU General Public License
 *  as published by the Free Software Foundation; either version 2
 *  of the License, or (at your option) any later version.
 *  
 *  This program is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *  GNU General Public License for more details.
 *  
 *  You should have received a copy of the GNU General Public License
 *  along with this program; if not, write to the Free Software
 *  Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
*/
#ifndef MICROSRTT_CHANNEL_ELEMENT_HPP
#define MICROSRTT_CHANNEL_ELEMENT_HPP

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

namespace micros_rtt 
{   

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

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

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

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

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

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

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

}

#endif