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 ORCA_IMU_IMPL_H
00012 #define ORCA_IMU_IMPL_H
00013 
00014 #include <orca/imu.h>
00015 #include <IceStorm/IceStorm.h>
00016 
00017 // utilities
00018 #include <gbxsickacfr/gbxiceutilacfr/store.h>
00019 #include <orcaice/context.h>
00020 
00021 namespace gbxsickacfr { namespace gbxiceutilacfr { class Thread; } }
00022 
00023 namespace orcaifaceimpl {
00024 
00028 class ImuImpl : public IceUtil::Shared
00029 {
00030 friend class ImuI;
00031 
00032 public:
00034     ImuImpl( const orca::ImuDescription &descr,
00035                     const std::string              &interfaceTag, 
00036                     const orcaice::Context         &context );
00038     ImuImpl( const orca::ImuDescription &descr,
00039                     const orcaice::Context         &context,
00040                     const std::string              &interfaceName );
00041     ~ImuImpl();
00042 
00043     // local interface:
00045     void initInterface();
00046 
00049     void initInterface( gbxsickacfr::gbxiceutilacfr::Thread* thread, const std::string& subsysName="", int retryInterval=2 );
00050 
00052     void localSet( const orca::ImuData& data );
00053 
00056     void localSetAndSend( const orca::ImuData& data );
00057 
00058 private:
00059     // remote call implementations, mimic (but do not inherit) the orca interface
00060     ::orca::ImuData internalGetData() const;
00061     ::orca::ImuDescription internalGetDescription() const;
00062     void internalSubscribe(const ::orca::ImuConsumerPrx&);
00063     void internalUnsubscribe(const ::orca::ImuConsumerPrx&);
00064 
00065     orca::ImuDescription     descr_;
00066     gbxsickacfr::gbxiceutilacfr::Store<orca::ImuData> dataStore_;
00067 
00068     orca::ImuConsumerPrx    consumerPrx_;
00069     IceStorm::TopicPrx             topicPrx_;
00070 
00071     // Hang onto this so we can remove from the adapter and control when things get deleted
00072     Ice::ObjectPtr          ptr_;
00073 
00074     const std::string       interfaceName_;
00075     const std::string       topicName_;
00076     orcaice::Context        context_;
00077 };
00078 typedef IceUtil::Handle<ImuImpl> ImuImplPtr;
00079 
00080 }
00081 
00082 #endif
imuImpl.h
