AssignCommand.hpp

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/***************************************************************************
  tag: Peter Soetens  Mon Jun 26 13:25:56 CEST 2006  AssignCommand.hpp

                        AssignCommand.hpp -  description
                           -------------------
    begin                : Mon June 26 2006
    copyright            : (C) 2006 Peter Soetens
    email                : peter.soetens@fmtc.be

 ***************************************************************************
 *   This library is free software; you can redistribute it and/or         *
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 *   version 2 of the License.                                             *
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#include "DataSource.hpp"

#ifndef ORO_ASSIGNCOMMAND_HPP
#define ORO_ASSIGNCOMMAND_HPP

#include "../base/ActionInterface.hpp"

namespace RTT
{
    namespace internal {

        template<typename T, typename S = T>
        class AssignCommand
            : public base::ActionInterface
        {
        public:
            typedef typename AssignableDataSource<T>::shared_ptr LHSSource;
            typedef typename DataSource<S>::shared_ptr RHSSource;
        private:
            LHSSource lhs;
            RHSSource rhs;
        public:
            AssignCommand( LHSSource l, RHSSource r )
                : lhs( l ), rhs( r )
            {
            }

            void readArguments() {
            }

            bool execute()
            {
                // we ignore evaluate, which return value is legacy
                // we always assign the current state of rhs
                rhs->evaluate();
                lhs->set( rhs->rvalue() );
                return true;
            }

            void reset() {
                rhs->reset();
            }

            virtual base::ActionInterface* clone() const
            {
                return new AssignCommand( lhs.get(), rhs.get() );
            }

            virtual base::ActionInterface* copy( std::map<const base::DataSourceBase*, base::DataSourceBase*>& alreadyCloned ) const {
                return new AssignCommand( lhs->copy( alreadyCloned ), rhs->copy( alreadyCloned ) );
            }
        };
    }
}

#endif