Orca Robotics

00001 #ifndef ORCA_PATHFOLLOWER2D_IMPL_H
00002 #define ORCA_PATHFOLLOWER2D_IMPL_H
00003 
00004 // include defnition of Ice runtime
00005 #include <Ice/Ice.h>
00006 #include <IceStorm/IceStorm.h>
00007 
00008 // include provided interfaces
00009 #include <orca/pathfollower2d.h>
00010 
00011 // utilities
00012 #include <gbxsickacfr/gbxiceutilacfr/store.h>
00013 #include <orcaice/context.h>
00014 
00015 namespace gbxsickacfr { namespace gbxiceutilacfr { class Thread; } }
00016 
00017 namespace orcaifaceimpl
00018 {
00019 
00020 class PathFollowerCallback {
00021 public:
00022     virtual ~PathFollowerCallback() {}
00023 
00024     virtual void setData( const orca::PathFollower2dData &path, bool activateImmediately )=0;
00025     virtual void activateNow()=0;
00026     virtual int  getWaypointIndex() const=0;
00027     virtual bool getAbsoluteActivationTime( orca::Time &activationTime ) const=0;
00028     virtual bool getRelativeActivationTime( double &secondsSinceActivation ) const=0;
00029     virtual void setEnabled( bool enabled )=0;
00030     virtual bool enabled() const=0;
00031 };
00032 
00036 class PathFollower2dImpl : public IceUtil::Shared
00037 {
00038 friend class PathFollower2dI;
00039 
00040 public:
00042     PathFollower2dImpl( PathFollowerCallback    &callback,
00043                         const std::string       &interfaceTag, 
00044                         const orcaice::Context  &context );
00046     PathFollower2dImpl( PathFollowerCallback    &callback,
00047                         const orcaice::Context  &context,
00048                         const std::string       &interfaceName );
00049     ~PathFollower2dImpl();
00050     
00051     // local functions
00053     void initInterface();
00054 
00057     void initInterface( gbxsickacfr::gbxiceutilacfr::Thread* thread, const std::string& subsysName="", int retryInterval=2 );
00058 
00061     void localSetAndSend( const orca::PathFollower2dData &data );
00062 
00063     // Local calls to the Impl which get translated into remote calls on subscribers
00064     void localSetWaypointIndex( int index );
00065     void localSetActivationTime( orca::Time absoluteTime, double relativeTime );
00066     void localSetEnabledState( bool enabledState );
00067 
00068 private:
00069     // remote call implementations, mimic (but do not inherit) the orca interface
00070     ::orca::PathFollower2dData internalGetData() const;
00071     void internalSubscribe(const ::orca::PathFollower2dConsumerPrx&);
00072     void internalUnsubscribe(const ::orca::PathFollower2dConsumerPrx& );
00073 
00074     gbxsickacfr::gbxiceutilacfr::Store<orca::PathFollower2dData> dataStore_;
00075 
00076     orca::PathFollower2dConsumerPrx    consumerPrx_;
00077     IceStorm::TopicPrx       topicPrx_;
00078 
00079     // Hang onto this so we can remove from the adapter and control when things get deleted
00080     Ice::ObjectPtr          ptr_;
00081 
00082     const std::string        interfaceName_;
00083     const std::string        topicName_;
00084 
00085     PathFollowerCallback &callback_;
00086 
00087     orcaice::Context         context_;
00088 };
00089 typedef IceUtil::Handle<PathFollower2dImpl> PathFollower2dImplPtr;
00090 
00091 }
00092 
00093 #endif
pathfollower2dImpl.h
