InputPortSource.hpp
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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             *
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00033  *   Foundation, Inc., 59 Temple Place,                                    *
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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 


rtt
Author(s): RTT Developers
autogenerated on Sat Jun 8 2019 18:46:12