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

 ***************************************************************************
 *   This library is free software; you can redistribute it and/or         *
 *   modify it under the terms of the GNU General Public                   *
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 *   version 2 of the License.                                             *
 *                                                                         *
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 *   software library without restriction.  Specifically, if other files   *
 *   instantiate templates or use macros or inline functions from this     *
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 *   resulting executable to be covered by the GNU General Public          *
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 *   Public 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"

namespace RTT { namespace internal {

    template<typename T>
    class ChannelDataElement : public base::ChannelElement<T>
    {
        bool written, mread;
        typename base::DataObjectInterface<T>::shared_ptr data;

    public:
        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)
            : written(false), mread(false), data(sample) {}

        virtual bool write(param_t sample)
        {
            data->Set(sample);
            written = true;
            mread = false;
            return this->signal();
        }

        virtual FlowStatus read(reference_t sample, bool copy_old_data)
        {
            if (written)
            {
                if ( !mread ) {
            data->Get(sample);
                    mread = true;
                    return NewData;
                }

        if(copy_old_data)
            data->Get(sample);

                return OldData;
            }
            return NoData;
        }

        virtual void clear()
        {
            written = false;
            mread = false;
            base::ChannelElement<T>::clear();
        }

        virtual bool data_sample(param_t sample)
        {
            data->data_sample(sample);
            return base::ChannelElement<T>::data_sample(sample);
        }

        virtual T data_sample()
        {
            return data->Get();
        }

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

#endif