include/barrett/systems/print_to_stream.h

/*
        Copyright 2009, 2010 Barrett Technology <support@barrett.com>

        This file is part of libbarrett.

        This version of libbarrett is free software: you can redistribute it
        and/or modify it under the terms of the GNU General Public License as
        published by the Free Software Foundation, either version 3 of the
        License, or (at your option) any later version.

        This version of libbarrett is distributed in the hope that it will be
        useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
        MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
        GNU General Public License for more details.

        You should have received a copy of the GNU General Public License along
        with this version of libbarrett.  If not, see
        <http://www.gnu.org/licenses/>.

        Further, non-binding information about licensing is available at:
        <http://wiki.barrett.com/libbarrett/wiki/LicenseNotes>
*/

/*
 * print_to_screen.h
 *
 *  Created on: Sep 4, 2009
 *      Author: dc
 */

#ifndef BARRETT_SYSTEMS_PRINT_TO_STREAM_H_
#define BARRETT_SYSTEMS_PRINT_TO_STREAM_H_


#include <iostream>
#include <string>

#include <barrett/detail/ca_macro.h>
#include <barrett/systems/abstract/system.h>
#include <barrett/systems/abstract/single_io.h>


namespace barrett {
namespace systems {


template<typename T>
class PrintToStream : public System, public SingleInput<T> {
public:
        explicit PrintToStream(ExecutionManager* em, const std::string& prependedLabel = "",
                        std::ostream& ostream = std::cout, const std::string& sysName = "PrintToStream") :
                System(sysName), SingleInput<T>(this), label(prependedLabel), os(ostream)
        {
                if (em != NULL) {
                        em->startManaging(*this);
                }
        }
        virtual ~PrintToStream() {
                mandatoryCleanUp();
        }

protected:
        std::string label;
        std::ostream& os;

        virtual void operate() {
                os << label << this->input.getValue() << std::endl;
        }

private:
        DISALLOW_COPY_AND_ASSIGN(PrintToStream);
};


}
}


#endif /* BARRETT_SYSTEMS_PRINT_TO_STREAM_H_ */