buttonImpl.h

00001 /*
00002  * Orca-Robotics Project: Components for robotics 
00003  *               http://orca-robotics.sf.net/
00004  * Copyright (c) 2004-2008 Alex Brooks, Alexei Makarenko, Tobias Kaupp
00005  *
00006  * This copy of Orca is licensed to you under the terms described in
00007  * the LICENSE file included in this distribution.
00008  *
00009  */
00010 
00011 #ifndef ORCA_ORCAIFACEIMPL_BUTTON_IMPL_H
00012 #define ORCA_ORCAIFACEIMPL_BUTTON_IMPL_H
00013 
00014 #include <orca/button.h>
00015 #include <gbxsickacfr/gbxiceutilacfr/notify.h>
00016 #include <orcaice/context.h>
00017 
00018 namespace gbxiceutilacfr { class Thread; }
00019 
00020 namespace orcaifaceimpl {
00021 
00025 class ButtonImpl : public IceUtil::Shared,
00026                    public gbxiceutilacfr::Notify<bool> // Note: the 'bool' here is meaningless.
00027 {
00028 friend class ButtonI;
00029 
00030 public:
00032     ButtonImpl( const std::string& interfaceTag,
00033                 const orcaice::Context& context );
00035     ButtonImpl( const orcaice::Context& context,
00036                 const std::string& interfaceName );
00037     ~ButtonImpl();
00038 
00040     void initInterface();
00041 
00044     void initInterface( gbxiceutilacfr::Thread* thread, const std::string& subsysName="", int retryInterval=2 );
00045 
00046 private:
00047 
00048     // remote call implementations, mimic (but do not inherit) the orca interface
00049     void internalPress();
00050 
00051     Ice::ObjectPtr ptr_;
00052     const std::string interfaceName_;
00053     orcaice::Context context_;
00054 };
00055 typedef IceUtil::Handle<ButtonImpl> ButtonImplPtr;
00056 
00057 } // namespace
00058 
00059 #endif