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_CAMERA_IMPL_H
00012 #define ORCA_CAMERA_IMPL_H
00013 
00014 #include <orca/camera.h>
00015 #include <IceStorm/IceStorm.h>
00016 
00017 // utilities
00018 #include <gbxsickacfr/gbxiceutilacfr/store.h>
00019 #include <orcaice/context.h>
00020 
00021 namespace gbxsickacfr { namespace gbxiceutilacfr { class Thread; } }
00022 
00023 namespace orcaifaceimpl {
00024 
00028 class CameraImpl : public IceUtil::Shared
00029 {
00030 friend class CameraI;
00031 
00032 public:
00033 
00035     CameraImpl( const orca::CameraDescriptionSequence &descr,
00036                 const std::string             &interfaceTag, 
00037                 const orcaice::Context        &context );
00039     CameraImpl( const orca::CameraDescriptionSequence &descr,
00040                 const orcaice::Context        &context,
00041                 const std::string             &interfaceName );
00042     ~CameraImpl();
00043 
00044     // local interface:
00046     void initInterface();
00047 
00050     void initInterface( gbxsickacfr::gbxiceutilacfr::Thread* thread, const std::string& subsysName="", int retryInterval=2 );
00051 
00053     void localSet( const orca::CameraDataSequence& data );
00054 
00057     void localSetAndSend( const orca::CameraDataSequence& data );
00058 
00059 private:
00060     // remote call implementations, mimic (but do not inherit) the orca interface
00061     ::orca::CameraDataSequence internalGetData() const;
00062     ::orca::CameraDescriptionSequence internalGetDescription() const;
00063     void internalSubscribe(const ::orca::CameraConsumerPrx&);
00064     void internalUnsubscribe(const ::orca::CameraConsumerPrx&);
00065 
00066     orca::CameraDescriptionSequence     descr_;
00067     gbxsickacfr::gbxiceutilacfr::Store<orca::CameraDataSequence> dataStore_;
00068 
00069     orca::CameraConsumerPrx    consumerPrx_;
00070     IceStorm::TopicPrx             topicPrx_;
00071 
00072     // Hang onto this so we can remove from the adapter and control when things get deleted
00073     Ice::ObjectPtr          ptr_;
00074 
00075     const std::string              interfaceName_;
00076     const std::string              topicName_;
00077     orcaice::Context               context_;
00078 };
00079 
00080 typedef IceUtil::Handle<CameraImpl> CameraImplPtr;
00081 
00082 }
00083 
00084 #endif
cameraImpl.h
