include/barrett/systems/abstract/single_io.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>
*/

/*
 * single_io.h
 *
 *  Created on: Sep 12, 2009
 *      Author: dc
 */

#ifndef BARRETT_SYSTEMS_ABSTRACT_SINGLE_IO_H_
#define BARRETT_SYSTEMS_ABSTRACT_SINGLE_IO_H_


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


namespace barrett {
namespace systems {


template<typename InputType>
class SingleInput {  // not a System in order to avoid diamond inheritance
// IO
public: System::Input<InputType> input;


public:
        explicit SingleInput(System* parentSys) :
                input(parentSys) {}

private:
        DISALLOW_COPY_AND_ASSIGN(SingleInput);
};


template<typename OutputType>
class SingleOutput {  // not a System in order to avoid diamond inheritance
// IO
public:         System::Output<OutputType> output;
protected:      typename System::Output<OutputType>::Value* outputValue;


public:
        explicit SingleOutput(System* parentSys) :
                output(parentSys, &outputValue) {}

private:
        DISALLOW_COPY_AND_ASSIGN(SingleOutput);
};


template<typename InputType, typename OutputType>
class SingleIO :        public System, public SingleInput<InputType>,
                                        public SingleOutput<OutputType>,
                                        public Conversion<OutputType> {
public:
        explicit SingleIO(const std::string& sysName = "SingleIO") :
                System(sysName),
                SingleInput<InputType>(this), SingleOutput<OutputType>(this) {}
        virtual ~SingleIO() { mandatoryCleanUp(); }

        virtual System::Input<InputType>* getConversionInput() {
                return &(this->input);
        }
        virtual System::Output<OutputType>& getConversionOutput() {
                return this->output;
        }

private:
        DISALLOW_COPY_AND_ASSIGN(SingleIO);
};


}
}


#endif /* BARRETT_SYSTEMS_ABSTRACT_SINGLE_IO_H_ */