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 #ifndef MAIN_THREAD_H
00011 #define MAIN_THREAD_H
00012 
00013 #include <memory>
00014 #include <gbxsickacfr/gbxiceutilacfr/subsystemthread.h>
00015 #include <orcaice/context.h>
00016 #include <orcaifaceimpl/propertiesImpl.h>
00017 #include "propertydb.h"
00018 
00019 namespace propserver {
00020 
00021 //
00022 // @brief the main executing loop of this component.
00023 //
00024 class MainThread : public gbxsickacfr::gbxiceutilacfr::SubsystemThread
00025 {
00026 
00027 public:
00028 
00029     MainThread( const orcaice::Context &context );
00030 
00031     // from SubsystemThread
00032     virtual void walk();
00033 
00034 private:
00035 
00036     // Loops until established
00037     void initNetworkInterface();
00038     void initPropertiesDb();
00039 
00040     // The interface
00041     orcaifaceimpl::PropertiesImplPtr propertiesInterface_;
00042 
00043     // The database of properties
00044     PropertyDb propertyDb_;
00045 
00046     orcaice::Context context_;
00047 };
00048 
00049 } // namespace
00050 
00051 #endif
components/propertyserver/mainthread.h
