drivebicycleImpl.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, Ben Upcroft
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_DRIVEBICYCLE_IMPL_H
00012 #define ORCA_ORCAIFACEIMPL_DRIVEBICYCLE_IMPL_H
00013 
00014 #include <memory>
00015 #include <orca/drivebicycle.h>
00016 #include <gbxsickacfr/gbxiceutilacfr/store.h>
00017 #include <gbxsickacfr/gbxiceutilacfr/notify.h>
00018 #include <orcaice/context.h>
00019 #include <orcaice/topichandler.h>
00020 
00021 namespace gbxiceutilacfr { class Thread; }
00022 
00023 namespace orcaifaceimpl {
00024 
00028 class DriveBicycleImpl : public IceUtil::Shared,
00029                          public gbxiceutilacfr::Notify<orca::DriveBicycleCommand>
00030 {
00031 friend class DriveBicycleI;
00032 
00033 public:
00034 
00036     DriveBicycleImpl( const orca::VehicleDescription& descr,
00037                       const std::string &interfaceTag,
00038                       const orcaice::Context &context );
00040     DriveBicycleImpl( const orca::VehicleDescription& descr,
00041                       const orcaice::Context &context,
00042                       const std::string &interfaceName );
00043     ~DriveBicycleImpl();
00044 
00045     // Local calls:
00047     void initInterface();
00048 
00051     void initInterface( gbxiceutilacfr::Thread* thread, const std::string& subsysName="", int retryInterval=2 );
00052 
00054     void localSet( const orca::DriveBicycleData &data );
00055 
00058     void localSetAndSend( const orca::DriveBicycleData &data );
00059 
00060 private:
00061     void init();
00062 
00063     // remote call implementations, mimic (but do not inherit) the orca interface
00064     ::orca::DriveBicycleData internalGetData() const;
00065     IceStorm::TopicPrx internalSubscribe(const orca::DriveBicycleConsumerPrx& subscriber);
00066     orca::VehicleDescription internalGetDescription() const
00067         { return description_; }
00068     void internalSetCommand( const ::orca::DriveBicycleCommand& );
00069 
00070     const orca::VehicleDescription    description_;
00071     gbxiceutilacfr::Store<orca::DriveBicycleData> dataStore_;
00072 
00073     typedef orcaice::TopicHandler<orca::DriveBicycleConsumerPrx,orca::DriveBicycleData> DriveBicycleTopicHandler;
00074     std::auto_ptr<DriveBicycleTopicHandler> topicHandler_;
00075 
00076     Ice::ObjectPtr ptr_;
00077     const std::string interfaceName_;
00078     orcaice::Context context_;
00079 };
00080 typedef IceUtil::Handle<DriveBicycleImpl> DriveBicycleImplPtr;
00081 
00082 } // namespace
00083 
00084 #endif