Orocos Real-Time Toolkit  2.6.0
AssignCommand.hpp
00001 /***************************************************************************
00002   tag: Peter Soetens  Mon Jun 26 13:25:56 CEST 2006  AssignCommand.hpp
00003 
00004                         AssignCommand.hpp -  description
00005                            -------------------
00006     begin                : Mon June 26 2006
00007     copyright            : (C) 2006 Peter Soetens
00008     email                : peter.soetens@fmtc.be
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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00035  *                                                                         *
00036  ***************************************************************************/
00037 
00038 #include "DataSource.hpp"
00039 
00040 #ifndef ORO_ASSIGNCOMMAND_HPP
00041 #define ORO_ASSIGNCOMMAND_HPP
00042 
00043 #include "../base/ActionInterface.hpp"
00044 
00045 namespace RTT
00046 {
00047     namespace internal {
00048 
00059         template<typename T, typename S = T>
00060         class AssignCommand
00061             : public base::ActionInterface
00062         {
00063         public:
00064             typedef typename AssignableDataSource<T>::shared_ptr LHSSource;
00065             typedef typename DataSource<S>::const_ptr RHSSource;
00066         private:
00067             LHSSource lhs;
00068             RHSSource rhs;
00069             bool news;
00070         public:
00074             AssignCommand( LHSSource l, RHSSource r )
00075                 : lhs( l ), rhs( r ), news(false)
00076             {
00077             }
00078 
00079             void readArguments() {
00080                 news = rhs->evaluate();
00081             }
00082 
00083             bool execute()
00084             {
00085                 if (news) {
00086                     lhs->set( rhs->rvalue() );
00087                     news=false;
00088                     return true;
00089                 }
00090                 return false;
00091             }
00092 
00093             virtual base::ActionInterface* clone() const
00094             {
00095                 return new AssignCommand( lhs.get(), rhs.get() );
00096             }
00097 
00098             virtual base::ActionInterface* copy( std::map<const base::DataSourceBase*, base::DataSourceBase*>& alreadyCloned ) const {
00099                 return new AssignCommand( lhs->copy( alreadyCloned ), rhs->copy( alreadyCloned ) );
00100             }
00101         };
00102     }
00103 }
00104 
00105 #endif
00106