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_HOME_I_H
00012 #define ORCAICE_HOME_I_H
00013 
00014 #include <IceUtil/Mutex.h>
00015 
00016 #include <gbxsickacfr/gbxiceutilacfr/timer.h>
00017 #include <orca/home.h>
00018 #include "../home.h"
00019 #include "../component.h" // for ComponentInterfaceFlag
00020 #include "../context.h"
00021 
00022 namespace orcaice
00023 {
00024 
00025 // An implementation of the (remote) Home interface.
00026 class HomeI : public virtual orca::Home, public virtual orcaice::Home
00027 {
00028 public:
00029     HomeI( ComponentInterfaceFlag flag, const orcaice::Context& context );
00030 
00031     // orca::Home interface
00032     virtual orca::HomeData getInterfaces(const ::Ice::Current& ) const;
00033     virtual int getTimeUp(const ::Ice::Current& ) const;
00034     virtual orca::StringStringDict getProperties(const ::Ice::Current& ) const;
00035 
00036     // orcaice::Home interface
00037     virtual void addProvidedInterface( const orca::ProvidedInterface& iface );
00038     virtual void addRequiredInterface( const orca::RequiredInterface& iface );
00039     virtual void removeProvidedInterface( const std::string& name );
00040     virtual void removeRequiredInterface( const std::string& name );
00041 
00042 private:
00043     // we update the timeUp field every time getInterfaces() is called.
00044     mutable orca::HomeData homeData_;
00045     
00046     orca::StringStringDict properties_;
00047 
00048     // start time is initialized in the constructor. the component's up time
00049     // is counted from here.
00050     gbxsickacfr::gbxiceutilacfr::Timer upTimer_;
00051 
00052     // We may have multiple threads talking to us
00053     IceUtil::Mutex mutex_;
00054 };
00055 
00056 } // namespace
00057 
00058 #endif
homeI.h
