InputPortSource.hpp

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

                        InputPortSource.hpp -  description
                           -------------------
    begin                : Thu October 22 2009
    copyright            : (C) 2009 Peter Soetens
    email                : peter@thesourcworks.com

 ***************************************************************************
 *   This library is free software; you can redistribute it and/or         *
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#ifndef ORO_INPUT_PORT_SOURCE_HPP
#define ORO_INPUT_PORT_SOURCE_HPP

#include "Channels.hpp"
#include "../base/PortInterface.hpp"

namespace RTT
{ namespace internal {

    template<typename T>
    class InputPortSource : public AssignableDataSource<T>
    {
        InputPort<T>* port;
        mutable T mvalue;

    public:
        typedef typename boost::intrusive_ptr<InputPortSource<T> > shared_ptr;

        InputPortSource(InputPort<T>& port)
            : port(&port), mvalue() { 
            port.getDataSample( mvalue );
        }

        void reset() { port->clear(); }
        bool evaluate() const
        {
            return port->read(mvalue, false) == NewData;
        }

        typename DataSource<T>::result_t value() const
        { return mvalue; }
        typename DataSource<T>::const_reference_t rvalue() const
        { return mvalue; }
        typename DataSource<T>::result_t get() const
        {
            if ( evaluate() )
                return value();
            else
                return T();
        }
        virtual void set( typename AssignableDataSource<T>::param_t t ) {
            mvalue = t;
        }

        virtual typename AssignableDataSource<T>::reference_t set() {
            return mvalue;
        }

        AssignableDataSource<T>* clone() const
        { return new InputPortSource<T>(*port); }
        AssignableDataSource<T>* copy( std::map<const base::DataSourceBase*, base::DataSourceBase*>& alreadyCloned ) const
        { return const_cast<InputPortSource<T>*>(this); }
    };
}}

#endif