Orca Robotics

00001 #ifndef ORCA_ESTOP_IMPL_H
00002 #define ORCA_ESTOP_IMPL_H
00003 
00004 // include defnition of Ice runtime
00005 #include <Ice/Ice.h>
00006 #include <IceStorm/IceStorm.h>
00007 
00008 // include provided interfaces
00009 #include <orca/estop.h>
00010 
00011 // utilities
00012 #include <gbxsickacfr/gbxiceutilacfr/store.h>
00013 #include <orcaice/context.h>
00014 
00015 namespace gbxsickacfr { namespace gbxiceutilacfr { class Thread; } }
00016 
00017 namespace orcaifaceimpl
00018 {
00019 
00023 class EStopNonStandardImpl {
00024 public:
00025     virtual ~EStopNonStandardImpl() {}
00026 
00027     virtual void activateEStop()=0;
00028     virtual void keepAlive()=0;
00029     virtual double getRequiredKeepAlivePeriodSec()=0;
00030     virtual void setToOperatingMode()=0;
00031 };
00032     
00036 class EStopImpl : public IceUtil::Shared
00037 {
00038 friend class EStopI;
00039 
00040 public:
00042     EStopImpl( EStopNonStandardImpl   &eStopNonStandardImpl,
00043                const std::string      &interfaceTag, 
00044                const orcaice::Context &context );
00046     EStopImpl( EStopNonStandardImpl   &eStopNonStandardImpl,
00047                const orcaice::Context &context,
00048                const std::string      &interfaceName );
00049     ~EStopImpl();
00050     
00051     // local functions
00053     void initInterface();
00054 
00057     void initInterface( gbxsickacfr::gbxiceutilacfr::Thread* thread, const std::string& subsysName="", int retryInterval=2 );
00058 
00061     void localSetAndSend( const orca::EStopData &data );
00062 
00063 private:
00064     // remote call implementations, mimic (but do not inherit) the orca interface
00065     ::orca::EStopData internalGetData() const;
00066     void internalSubscribe(const ::orca::EStopConsumerPrx&);
00067     void internalUnsubscribe(const ::orca::EStopConsumerPrx& );
00068 
00069     gbxsickacfr::gbxiceutilacfr::Store<orca::EStopData> dataStore_;
00070 
00071     orca::EStopConsumerPrx    consumerPrx_;
00072     IceStorm::TopicPrx       topicPrx_;
00073 
00074     // Hang onto this so we can remove from the adapter and control when things get deleted
00075     Ice::ObjectPtr          ptr_;
00076 
00077     const std::string        interfaceName_;
00078     const std::string        topicName_;
00079 
00080     EStopNonStandardImpl &eStopNonStandardImpl_;
00081     
00082     orcaice::Context         context_;
00083 };
00084 typedef IceUtil::Handle<EStopImpl> EStopImplPtr;
00085 
00086 }
00087 
00088 #endif
estopImpl.h
