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 PATHPLANNER2DI_H
00012 #define PATHPLANNER2DI_H
00013 
00014 #include <IceStorm/IceStorm.h>
00015 
00016 #include <orca/pathplanner2d.h>
00017 #include <gbxsickacfr/gbxiceutilacfr/store.h>
00018 #include <gbxsickacfr/gbxiceutilacfr/buffer.h>
00019 
00020 namespace pathplanner
00021 {
00022 
00023 class PathPlanner2dI : public orca::PathPlanner2d
00024 {
00025 public:
00026     PathPlanner2dI( gbxsickacfr::gbxiceutilacfr::Buffer<orca::PathPlanner2dTask> &pathPlannerTaskStore,
00027                     const orcaice::Context                     &context );
00028 
00029     // remote calls
00030     virtual ::Ice::Int setTask(const ::orca::PathPlanner2dTask&, const ::Ice::Current& = ::Ice::Current());
00031 
00032     virtual void subscribe(const ::orca::PathPlanner2dConsumerPrx&, const ::Ice::Current& = ::Ice::Current());
00033     virtual void unsubscribe(const ::orca::PathPlanner2dConsumerPrx&, const ::Ice::Current& = ::Ice::Current());
00034 
00035     virtual ::orca::PathPlanner2dData getData(const ::Ice::Current& ) const;
00036 
00037     // local calls
00038     void localSetData( const ::orca::PathPlanner2dData& data );
00039 
00040 private:
00041 
00042     gbxsickacfr::gbxiceutilacfr::Buffer<orca::PathPlanner2dTask>& pathPlannerTaskBuffer_;
00043 
00044     // the driver puts the latest computed path into here using localSetData
00045     gbxsickacfr::gbxiceutilacfr::Store<orca::PathPlanner2dData> pathPlannerDataStore_;
00046 
00047     // The topic to which we'll publish
00048     IceStorm::TopicPrx topicPrx_;
00049     
00050     // The interface to which we'll publish
00051     orca::PathPlanner2dConsumerPrx  consumerPrx_;
00052 
00053     orcaice::Context context_;
00054 
00055 };
00056 
00057 } // namespace
00058 
00059 #endif
pathplanner2dI.h
