Orocos Real-Time Toolkit  2.9.0
AssignCommand.hpp
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1 /***************************************************************************
2  tag: Peter Soetens Mon Jun 26 13:25:56 CEST 2006 AssignCommand.hpp
3 
4  AssignCommand.hpp - description
5  -------------------
6  begin : Mon June 26 2006
7  copyright : (C) 2006 Peter Soetens
8  email : peter.soetens@fmtc.be
9 
10  ***************************************************************************
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37 
38 #include "DataSource.hpp"
39 
40 #ifndef ORO_ASSIGNCOMMAND_HPP
41 #define ORO_ASSIGNCOMMAND_HPP
42 
43 #include "../base/ActionInterface.hpp"
44 
45 namespace RTT
46 {
47  namespace internal {
48 
59  template<typename T, typename S = T>
61  : public base::ActionInterface
62  {
63  public:
66  private:
67  LHSSource lhs;
68  RHSSource rhs;
69  public:
73  AssignCommand( LHSSource l, RHSSource r )
74  : lhs( l ), rhs( r )
75  {
76  }
77 
78  void readArguments() {
79  }
80 
81  bool execute()
82  {
83  // we ignore evaluate, which return value is legacy
84  // we always assign the current state of rhs
85  rhs->evaluate();
86  lhs->set( rhs->rvalue() );
87  return true;
88  }
89 
90  void reset() {
91  rhs->reset();
92  }
93 
94  virtual base::ActionInterface* clone() const
95  {
96  return new AssignCommand( lhs.get(), rhs.get() );
97  }
98 
99  virtual base::ActionInterface* copy( std::map<const base::DataSourceBase*, base::DataSourceBase*>& alreadyCloned ) const {
100  return new AssignCommand( lhs->copy( alreadyCloned ), rhs->copy( alreadyCloned ) );
101  }
102  };
103  }
104 }
105 
106 #endif
107 
DataSource is a base class representing a generic way to read data of type T.
Definition: DataSource.hpp:94
DataSource< S >::shared_ptr RHSSource
void reset()
Reset this action.
AssignableDataSource< T >::shared_ptr LHSSource
AssignCommand(LHSSource l, RHSSource r)
Assign r (rvalue) to l (lvalue);.
virtual base::ActionInterface * clone() const
The Clone Software Pattern.
Based on the software pattern &#39;command&#39;, this interface allows execution of action objects...
boost::intrusive_ptr< AssignableDataSource< T > > shared_ptr
Use this type to store a pointer to an AssignableDataSource.
Definition: DataSource.hpp:198
bool execute()
Execute the functionality of this action.
Contains TaskContext, Activity, OperationCaller, Operation, Property, InputPort, OutputPort, Attribute.
Definition: Activity.cpp:52
This is a command that will assign the value of an expression to another at runtime.
virtual base::ActionInterface * copy(std::map< const base::DataSourceBase *, base::DataSourceBase * > &alreadyCloned) const
When copying an Orocos program, we want identical internal::DataSource&#39;s to be mapped to identical Da...
void readArguments()
This is invoked some time before execute() at a time when the action may read its function arguments...