Orocos Real-Time Toolkit  2.8.3
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 
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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  bool news;
70  public:
74  AssignCommand( LHSSource l, RHSSource r )
75  : lhs( l ), rhs( r ), news(false)
76  {
77  }
78 
79  void readArguments() {
80  news = rhs->evaluate();
81  }
82 
83  bool execute()
84  {
85  if (news) {
86  lhs->set( rhs->rvalue() );
87  news=false;
88  return true;
89  }
90  return false;
91  }
92 
93  virtual base::ActionInterface* clone() const
94  {
95  return new AssignCommand( lhs.get(), rhs.get() );
96  }
97 
98  virtual base::ActionInterface* copy( std::map<const base::DataSourceBase*, base::DataSourceBase*>& alreadyCloned ) const {
99  return new AssignCommand( lhs->copy( alreadyCloned ), rhs->copy( alreadyCloned ) );
100  }
101  };
102  }
103 }
104 
105 #endif
106 
DataSource is a base class representing a generic way to read data of type T.
Definition: DataSource.hpp:94
DataSource< S >::const_ptr RHSSource
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:51
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...