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_LASER2D_LASERSCANNER2D_IMPL_H
00012 #define ORCA_LASER2D_LASERSCANNER2D_IMPL_H
00013 
00014 #include <IceStorm/IceStorm.h>
00015 
00016 // include provided interfaces
00017 #include <orca/laserscanner2d.h>
00018 
00019 // utilities
00020 #include <orcaice/ptrstore.h>
00021 #include <orcaice/context.h>
00022 
00023 namespace gbxsickacfr { namespace gbxiceutilacfr { class Thread; } }
00024 
00025 namespace orcaifaceimpl {
00026 
00030 class LaserScanner2dImpl : public IceUtil::Shared
00031 {
00032 friend class LaserScanner2dI;
00033 
00034 public:
00035 
00037     LaserScanner2dImpl( const orca::RangeScanner2dDescription &descr,
00038                         const std::string                     &interfaceTag,
00039                         const orcaice::Context                &context );
00041     LaserScanner2dImpl( const orca::RangeScanner2dDescription &descr,
00042                         const orcaice::Context                &context,
00043                         const std::string                     &interfaceName );
00044     ~LaserScanner2dImpl();
00045 
00046     // local interface:
00048     void initInterface();
00049 
00054     void initInterface( gbxsickacfr::gbxiceutilacfr::Thread* thread, const std::string& subsysName="", int retryInterval=2 );
00055 
00057     void localSet( const orca::LaserScanner2dDataPtr& data );
00058 
00061     void localSetAndSend( const ::orca::LaserScanner2dDataPtr &data );
00062 
00063 private:
00064     // remote call implementations, mimic (but do not inherit) the orca interface
00065     ::orca::RangeScanner2dDataPtr     internalGetData() const;
00066     ::orca::RangeScanner2dDescription internalGetDescription() const;
00067     void internalSubscribe(const ::orca::RangeScanner2dConsumerPrx& );
00068     void internalUnsubscribe(const ::orca::RangeScanner2dConsumerPrx& );
00069 
00070     // Holds the latest data
00071     orcaice::PtrStore<orca::LaserScanner2dDataPtr> dataStore_;
00072 
00073     orca::RangeScanner2dDescription descr_;
00074 
00075     // The topic to which we'll publish
00076     IceStorm::TopicPrx              topicPrx_;
00077     // The interface to which we'll publish
00078     orca::RangeScanner2dConsumerPrx consumerPrx_;
00079 
00080     // Hang onto this so we can remove from the adapter and control when things get deleted
00081     Ice::ObjectPtr          ptr_;
00082 
00083     const std::string        interfaceName_;
00084     const std::string        topicName_;
00085     orcaice::Context   context_;
00086 };
00087 typedef IceUtil::Handle<LaserScanner2dImpl> LaserScanner2dImplPtr;
00088 
00089 } // namespace
00090 
00091 #endif
laserscanner2dImpl.h
