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_PATH_FOLLOWER_2D_I_H
00012 #define ORCA_PATH_FOLLOWER_2D_I_H
00013 
00014 // include defnition of Ice runtime
00015 #include <Ice/Ice.h>
00016 #include <IceStorm/IceStorm.h>
00017 #include <gbxsickacfr/gbxiceutilacfr/store.h>
00018 
00019 // include provided interfaces
00020 #include <orca/pathfollower2d.h>
00021 
00022 namespace goalplanner {
00023 
00024 //
00025 // Implements the PathFollower interface: Handles all our remote calls.
00026 //
00027 class PathFollower2dI : public orca::PathFollower2d
00028 {
00029 public:
00030     PathFollower2dI( gbxsickacfr::gbxiceutilacfr::Store<orca::PathFollower2dData> &pathPipe,
00031                      gbxsickacfr::gbxiceutilacfr::Store<bool> &activationPipe,
00032                      orca::PathFollower2dPrx localNavPrx );
00033 
00034     // remote calls:
00035 
00036     // Get the current path
00037     virtual ::orca::PathFollower2dData getData(const ::Ice::Current& = ::Ice::Current()) const;
00038 
00039     // Set a path
00040     virtual void setData(const ::orca::PathFollower2dData& data, bool activateImmediately, const ::Ice::Current& = ::Ice::Current());
00041 
00042     virtual void activateNow(const ::Ice::Current& = ::Ice::Current());
00043     
00044     virtual int  getWaypointIndex(const ::Ice::Current& = ::Ice::Current()) const;
00045     
00046     virtual bool getAbsoluteActivationTime(orca::Time &activationTime, const Ice::Current&) const;
00047     
00048     virtual bool getRelativeActivationTime(double &secondsSinceActivation, const Ice::Current&) const;
00049             
00050 
00051     virtual void setEnabled( bool enabled, const ::Ice::Current& = ::Ice::Current() );
00052     virtual bool enabled(const ::Ice::Current& = ::Ice::Current()) const;
00053 
00054     // Subscribe people
00055     virtual void subscribe(const ::orca::PathFollower2dConsumerPrx&, const ::Ice::Current& = ::Ice::Current());
00056 
00057     // Unsubscribe people
00058     virtual void unsubscribe(const ::orca::PathFollower2dConsumerPrx&, const ::Ice::Current& = ::Ice::Current());
00059 
00060 
00061 
00062 private:
00063 
00064     // New paths from the outside world go in here
00065     gbxsickacfr::gbxiceutilacfr::Store<orca::PathFollower2dData> &pathPipe_;
00066     
00067     // Are we activated?
00068     gbxsickacfr::gbxiceutilacfr::Store<bool> &activationPipe_;
00069     
00070     // because goalplanner is acting like a transparent proxy to localnav, we need to pass on requests to localnav and thus need a remote object
00071     orca::PathFollower2dPrx localNavPrx_;
00072 };
00073 
00074 }
00075 
00076 #endif
pathfollower2dI.h
