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_LOCALISE3D_IMPL_H
00012 #define ORCA_ORCAIFACEIMPL_LOCALISE3D_IMPL_H
00013 
00014 #include <orca/localise3d.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 Localise3dImpl : public IceUtil::Shared
00029 {
00030 friend class Localise3dI;
00031 
00032 public:
00034     Localise3dImpl( const orca::VehicleGeometryDescriptionPtr &geometry,
00035                     const std::string &interfaceTag,
00036                     const orcaice::Context &context );
00038     Localise3dImpl( const orca::VehicleGeometryDescriptionPtr &geometry,
00039                     const orcaice::Context &context,
00040                     const std::string &interfaceName );                    
00041     ~Localise3dImpl();
00042 
00043     // Local calls:
00045     void initInterface();
00046 
00049     void initInterface( gbxsickacfr::gbxiceutilacfr::Thread* thread, const std::string& subsysName="", int retryInterval=2 );
00050 
00052     void localSet( const orca::Localise3dData &data );
00053 
00056     void localSetAndSend( const orca::Localise3dData &data );
00057 
00058 private:
00059     // remote call implementations, mimic (but do not inherit) the orca interface
00060     ::orca::Localise3dData internalGetData() const;
00061     ::orca::VehicleGeometryDescriptionPtr internalGetVehicleGeometry() const;
00062     void internalSubscribe(const ::orca::Localise3dConsumerPrx&);
00063     void internalUnsubscribe(const ::orca::Localise3dConsumerPrx&);
00064     
00065     orca::VehicleGeometryDescriptionPtr geometry_;
00066 
00067     gbxsickacfr::gbxiceutilacfr::Store<orca::Localise3dData> dataStore_;
00068 
00069     orca::Localise3dConsumerPrx    consumerPrx_;
00070     IceStorm::TopicPrx             topicPrx_;
00071 
00072     // Hang onto this so we can remove from the adapter and control when things get deleted
00073     Ice::ObjectPtr          ptr_;
00074 
00075     const std::string              interfaceName_;
00076     const std::string              topicName_;
00077     orcaice::Context               context_;
00078 };
00079 typedef IceUtil::Handle<Localise3dImpl> Localise3dImplPtr;
00080 
00081 } // namespace
00082 
00083 #endif
localise3dImpl.h
