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_ORCAIFACEIMPL_LOCALISE2D_IMPL_H
00012 #define ORCA_ORCAIFACEIMPL_LOCALISE2D_IMPL_H
00013 
00014 #include <orca/localise2d.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 Localise2dImpl : public IceUtil::Shared
00029 {
00030 friend class Localise2dI;
00031 
00032 public:
00034     Localise2dImpl( const orca::VehicleGeometryDescriptionPtr &geometry,
00035                     const std::string &interfaceTag,
00036                     const orcaice::Context &context );
00037     Localise2dImpl( const orca::VehicleGeometryDescriptionPtr &geometry,
00038                     const orcaice::Context &context,
00039                     const std::string &interfaceName );                    
00040     ~Localise2dImpl();
00041 
00042     // Local calls:
00044     void initInterface();
00045 
00048     void initInterface( gbxsickacfr::gbxiceutilacfr::Thread* thread, const std::string& subsysName="", int retryInterval=2 );
00049 
00051     void localSet( const orca::Localise2dData &data );
00052 
00055     void localSetAndSend( const orca::Localise2dData &data );
00056 
00057 private:
00058     // remote call implementations, mimic (but do not inherit) the orca interface
00059     ::orca::Localise2dData internalGetData() const;
00060     ::orca::VehicleGeometryDescriptionPtr internalGetVehicleGeometry() const;
00061     void internalSubscribe(const ::orca::Localise2dConsumerPrx& );
00062     void internalUnsubscribe(const ::orca::Localise2dConsumerPrx& );
00063     
00064     orca::VehicleGeometryDescriptionPtr geometry_;
00065 
00066     gbxsickacfr::gbxiceutilacfr::Store<orca::Localise2dData> dataStore_;
00067 
00068     orca::Localise2dConsumerPrx    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<Localise2dImpl> Localise2dImplPtr;
00079 
00080 } // namespace
00081 
00082 #endif
localise2dImpl.h
