00001 /*************************************************************************** 00002 tag: Peter Soetens Thu Oct 22 11:59:08 CEST 2009 InputPortSource.hpp 00003 00004 InputPortSource.hpp - description 00005 ------------------- 00006 begin : Thu October 22 2009 00007 copyright : (C) 2009 Peter Soetens 00008 email : peter@thesourcworks.com 00009 00010 *************************************************************************** 00011 * This library is free software; you can redistribute it and/or * 00012 * modify it under the terms of the GNU General Public * 00013 * License as published by the Free Software Foundation; * 00014 * version 2 of the License. * 00015 * * 00016 * As a special exception, you may use this file as part of a free * 00017 * software library without restriction. Specifically, if other files * 00018 * instantiate templates or use macros or inline functions from this * 00019 * file, or you compile this file and link it with other files to * 00020 * produce an executable, this file does not by itself cause the * 00021 * resulting executable to be covered by the GNU General Public * 00022 * License. This exception does not however invalidate any other * 00023 * reasons why the executable file might be covered by the GNU General * 00024 * Public License. * 00025 * * 00026 * This library is distributed in the hope that it will be useful, * 00027 * but WITHOUT ANY WARRANTY; without even the implied warranty of * 00028 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * 00029 * Lesser General Public License for more details. * 00030 * * 00031 * You should have received a copy of the GNU General Public * 00032 * License along with this library; if not, write to the Free Software * 00033 * Foundation, Inc., 59 Temple Place, * 00034 * Suite 330, Boston, MA 02111-1307 USA * 00035 * * 00036 ***************************************************************************/ 00037 00038 00039 #ifndef ORO_INPUT_PORT_SOURCE_HPP 00040 #define ORO_INPUT_PORT_SOURCE_HPP 00041 00042 #include "Channels.hpp" 00043 #include "../base/PortInterface.hpp" 00044 00045 namespace RTT 00046 { namespace internal { 00047 00066 template<typename T> 00067 class InputPortSource : public AssignableDataSource<T> 00068 { 00069 InputPort<T>* port; 00070 mutable T mvalue; 00071 00072 public: 00073 typedef typename boost::intrusive_ptr<InputPortSource<T> > shared_ptr; 00074 00075 InputPortSource(InputPort<T>& port) 00076 : port(&port), mvalue() { 00077 port.getDataSample( mvalue ); 00078 } 00079 00080 void reset() { port->clear(); } 00081 bool evaluate() const 00082 { 00083 return port->read(mvalue, false) == NewData; 00084 } 00085 00086 typename DataSource<T>::result_t value() const 00087 { return mvalue; } 00088 typename DataSource<T>::const_reference_t rvalue() const 00089 { return mvalue; } 00090 typename DataSource<T>::result_t get() const 00091 { 00092 if ( evaluate() ) 00093 return value(); 00094 else 00095 return T(); 00096 } 00097 virtual void set( typename AssignableDataSource<T>::param_t t ) { 00098 mvalue = t; 00099 } 00100 00101 virtual typename AssignableDataSource<T>::reference_t set() { 00102 return mvalue; 00103 } 00104 00105 AssignableDataSource<T>* clone() const 00106 { return new InputPortSource<T>(*port); } 00107 AssignableDataSource<T>* copy( std::map<const base::DataSourceBase*, base::DataSourceBase*>& alreadyCloned ) const 00108 { return const_cast<InputPortSource<T>*>(this); } 00109 }; 00110 }} 00111 00112 #endif 00113