ChannelDataElement.hpp

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/***************************************************************************
  tag: Peter Soetens  Thu Oct 22 11:59:08 CEST 2009  ChannelDataElement.hpp

                        ChannelDataElement.hpp -  description
                           -------------------
    begin                : Thu October 22 2009
    copyright            : (C) 2009 Sylvain Joyeux
    email                : sylvain.joyeux@m4x.org

 ***************************************************************************
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 *   version 2 of the License.                                             *
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#ifndef ORO_CHANNEL_DATA_ELEMENT_HPP
#define ORO_CHANNEL_DATA_ELEMENT_HPP

#include "../base/ChannelElement.hpp"
#include "../base/DataObjectInterface.hpp"
#include "../ConnPolicy.hpp"

namespace RTT { namespace internal {

    template<typename T>
    class ChannelDataElement : public base::ChannelElement<T>
    {
        typename base::DataObjectInterface<T>::shared_ptr data;
        const ConnPolicy policy;

    public:
        typedef typename base::ChannelElement<T>::value_t value_t;
        typedef typename base::ChannelElement<T>::param_t param_t;
        typedef typename base::ChannelElement<T>::reference_t reference_t;

        ChannelDataElement(typename base::DataObjectInterface<T>::shared_ptr sample, const ConnPolicy& policy = ConnPolicy())
            : data(sample), policy(policy) {}

        virtual WriteStatus write(param_t sample)
        {
            if (!data->Set(sample)) return WriteFailure;
            return this->signal() ? WriteSuccess : NotConnected;
        }

        virtual FlowStatus read(reference_t sample, bool copy_old_data)
        {
            return data->Get(sample, copy_old_data);
        }

        virtual void clear()
        {
            data->clear();
            base::ChannelElement<T>::clear();
        }

        virtual WriteStatus data_sample(param_t sample, bool reset = true)
        {
            if (!data->data_sample(sample, reset)) return WriteFailure;
            return base::ChannelElement<T>::data_sample(sample, reset);
        }

        virtual value_t data_sample()
        {
            return data->data_sample();
        }

        virtual const ConnPolicy* getConnPolicy() const
        {
            return &policy;
        }

        virtual std::string getElementName() const
        {
            return "ChannelDataElement";
        };
    };
}}

#endif