estopImpl.h

#ifndef ORCA_ESTOP_IMPL_H
#define ORCA_ESTOP_IMPL_H

#include <memory>
#include <orca/estop.h>
#include <gbxsickacfr/gbxiceutilacfr/store.h>
#include <gbxsickacfr/gbxiceutilacfr/notify.h>
#include <orcaice/context.h>
#include <orcaice/topichandler.h>

namespace gbxiceutilacfr { class Thread; }

namespace orcaifaceimpl
{

class AbstractEStopCallback {
public:
    virtual ~AbstractEStopCallback() {}

    virtual void activateEStop()=0;
    virtual void keepAlive()=0;
    virtual double getRequiredKeepAlivePeriodSec()=0;
    virtual void setToOperatingMode()=0;
};
    
class EStopImpl : public IceUtil::Shared
{
friend class EStopI;

public:
    EStopImpl( AbstractEStopCallback  &callback,
               const std::string      &interfaceTag, 
               const orcaice::Context &context );
    EStopImpl( AbstractEStopCallback  &callback,
               const orcaice::Context &context,
               const std::string      &interfaceName );
    ~EStopImpl();
    
    // local functions
    void initInterface();

    void initInterface( gbxiceutilacfr::Thread* thread, const std::string& subsysName="", int retryInterval=2 );

    void localSetAndSend( const orca::EStopData &data );

private:
    void init();

    // remote call implementations, mimic (but do not inherit) the orca interface
    ::orca::EStopData internalGetData() const;
    IceStorm::TopicPrx internalSubscribe(const orca::EStopConsumerPrx& subscriber);

    gbxiceutilacfr::Store<orca::EStopData> dataStore_;

    AbstractEStopCallback& callback_;

    typedef orcaice::TopicHandler<orca::EStopConsumerPrx,orca::EStopData> EStopTopicHandler;
    std::auto_ptr<EStopTopicHandler> topicHandler_;
    
    Ice::ObjectPtr ptr_;
    const std::string interfaceName_;
    orcaice::Context context_;
};
typedef IceUtil::Handle<EStopImpl> EStopImplPtr;

}

#endif