Orca Robotics

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 <IceStorm/IceStorm.h>
00016 
00017 #include <gbxsickacfr/gbxiceutilacfr/store.h>
00018 #include <gbxsickacfr/gbxiceutilacfr/notify.h>
00019 #include <orcaice/context.h>
00020 
00021 namespace gbxsickacfr { namespace gbxiceutilacfr { class Thread; } }
00022 
00023 namespace orcaifaceimpl {
00024 
00028 class ButtonImpl : public IceUtil::Shared,
00029                    public gbxsickacfr::gbxiceutilacfr::Notify<bool> // Note: the 'bool' here is meaningless.
00030 {
00031 friend class ButtonI;
00032 
00033 public:
00035     ButtonImpl( const std::string& interfaceTag,
00036                 const orcaice::Context& context );
00038     ButtonImpl( const orcaice::Context& context,
00039                 const std::string& interfaceName );
00040     ~ButtonImpl();
00041 
00043     void initInterface();
00044 
00047     void initInterface( gbxsickacfr::gbxiceutilacfr::Thread* thread, const std::string& subsysName="", int retryInterval=2 );
00048 
00049 private:
00050 
00051     // remote call implementations, mimic (but do not inherit) the orca interface
00052     void internalPress();
00053 
00054     const std::string                 interfaceName_;
00055 
00056     orcaice::Context                  context_;
00057 
00058     // Hang onto this so we can remove from the adapter and control when things get deleted
00059     Ice::ObjectPtr          ptr_;
00060 };
00061 typedef IceUtil::Handle<ButtonImpl> ButtonImplPtr;
00062 
00063 } // namespace
00064 
00065 #endif
buttonImpl.h
