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 ORCAICE_COMPONENT_THREAD_H
00012 #define ORCAICE_COMPONENT_THREAD_H
00013 
00014 #include <gbxsickacfr/gbxiceutilacfr/safethread.h>
00015 #include <gbxsickacfr/gbxutilacfr/status.h>
00016 #include <orcaice/context.h>
00017 #include <orcaice/component.h>
00018 
00019 namespace orcaice {
00020 
00021 //
00022 // This thread is started by the component, and used to:
00023 // - repeatedly try to register the Home interface, if the first one failed.
00024 // - check on component Status.
00025 //
00026 // @author Alex Brooks
00027 //
00028 class ComponentThread : public gbxsickacfr::gbxiceutilacfr::SafeThread
00029 {
00030 
00031 public: 
00032 
00033     ComponentThread( const Ice::ObjectPrx   &homePrx,
00034                      gbxsickacfr::gbxutilacfr::Status    &status,
00035                      ComponentInterfaceFlag  interfaceFlag,
00036                      const orcaice::Context &context );
00037     ~ComponentThread();
00038 
00039     virtual void walk();
00040 
00041 private: 
00042 
00043     // Returns: true = success
00044     bool tryRegisterHome();
00045 
00046     bool registeredHome_;
00047 
00048     Ice::ObjectPrx          homePrx_;
00049     gbxsickacfr::gbxutilacfr::Status    &status_;
00050     ComponentInterfaceFlag  interfaceFlag_;
00051     orcaice::Context        context_;
00052 };
00053 
00054 }
00055 
00056 #endif
componentthread.h
