Orca Robotics

00001 /*
00002  * Orca-Robotics Project: Components for robotics 
00003  *               http://orca-robotics.sf.net/
00004  * Copyright (c) 2004-2008 Alexei Makarenko
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_ORCAPROBE_INTERFACE_PROBE_H
00012 #define ORCA_ORCAPROBE_INTERFACE_PROBE_H
00013 
00014 #include <orca/orca.h>
00015 #include <orcacm/types.h>
00016 #include <orcaice/context.h>
00017 
00018 namespace orcaprobe
00019 {
00020 
00021 class IDisplay;
00022 
00023 enum OperationIndex
00024 {
00025     IcePingIndex=0,
00026     UserIndex
00027 };
00028 
00029 class InterfaceProbe
00030 {
00031 
00032 public:
00034     InterfaceProbe( const orca::FQInterfaceName & name, IDisplay & display,
00035                                 const orcaice::Context & context );
00036         
00037     virtual ~InterfaceProbe() {};
00038 
00040     std::vector<orcacm::OperationHeader> operations() { return operations_; };
00041 
00046     int loadOperation( const int index, orcacm::OperationData & data );
00047 
00048 protected:
00049 
00051     orca::FQInterfaceName name_;
00052 
00054     std::string id_;
00055 
00059     IDisplay & display_;
00060 
00062     orcaice::Context context_;
00063 
00065     Ice::ObjectPrx prx_;
00066 
00069     void addOperation( const std::string & name, const std::string & signature="" );
00070 
00072     virtual int loadOperationEvent( const int index, orcacm::OperationData & data );
00073 
00075     void fillOperationData( const int index, orcacm::OperationData & data );
00076 
00077 private:
00078     std::vector<orcacm::OperationHeader> operations_;
00079 
00080     // Pings the remote interface.
00081     int loadIcePing( orcacm::OperationData & data );
00082 
00083 };
00084 
00085 } // namespace
00086 
00087 #endif
interfaceprobe.h
