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, Ben Upcroft
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_DRIVEBICYCLE_IMPL_H
00012 #define ORCA_ORCAIFACEIMPL_DRIVEBICYCLE_IMPL_H
00013 
00014 #include <orca/drivebicycle.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 DriveBicycleImpl : public IceUtil::Shared,
00029                           public gbxsickacfr::gbxiceutilacfr::Notify<orca::DriveBicycleCommand>
00030 {
00031 friend class DriveBicycleI;
00032 
00033 public:
00034 
00036     DriveBicycleImpl( const orca::VehicleDescription& descr,
00037                       const std::string &interfaceTag,
00038                       const orcaice::Context &context );
00040     DriveBicycleImpl( const orca::VehicleDescription& descr,
00041                       const orcaice::Context &context,
00042                       const std::string &interfaceName );
00043     ~DriveBicycleImpl();
00044 
00045     // Local calls:
00047     void initInterface();
00048 
00051     void initInterface( gbxsickacfr::gbxiceutilacfr::Thread* thread, const std::string& subsysName="", int retryInterval=2 );
00052 
00054     void localSet( const orca::DriveBicycleData &data );
00055 
00058     void localSetAndSend( const orca::DriveBicycleData &data );
00059 
00060 private:
00061 
00062     // remote call implementations, mimic (but do not inherit) the orca interface
00063     ::orca::DriveBicycleData internalGetData() const;
00064     void internalSubscribe(const ::orca::DriveBicycleConsumerPrx& );
00065     void internalUnsubscribe(const ::orca::DriveBicycleConsumerPrx& );
00066     orca::VehicleDescription internalGetDescription() const
00067         { return description_; }
00068     void internalSetCommand( const ::orca::DriveBicycleCommand& );
00069 
00070     const orca::VehicleDescription    description_;
00071     const std::string                 interfaceName_;
00072     const std::string                 topicName_;
00073     IceStorm::TopicPrx                topicPrx_;
00074 
00075     // outgoing data
00076     gbxsickacfr::gbxiceutilacfr::Store<orca::DriveBicycleData> dataPipe_;
00077 
00078     orcaice::Context                  context_;
00079 
00080     orca::DriveBicycleConsumerPrx     consumerPrx_;
00081 
00082     // Hang onto this so we can remove from the adapter and control when things get deleted
00083     Ice::ObjectPtr          ptr_;
00084 };
00085 typedef IceUtil::Handle<DriveBicycleImpl> DriveBicycleImplPtr;
00086 
00087 } // namespace
00088 
00089 #endif
drivebicycleImpl.h
