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_PIXMAP_IMPL_H
00012 #define ORCA_PIXMAP_IMPL_H
00013 
00014 #include <orca/pixmap.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 PixMapImpl : public IceUtil::Shared
00029 {
00030 friend class PixMapI;
00031 
00032 public:
00034     PixMapImpl( const std::string      &interfaceTag,
00035                 const orcaice::Context &context );
00037     PixMapImpl( const orcaice::Context &context,
00038                 const std::string      &interfaceName );                
00039     ~PixMapImpl();
00040 
00041     // local interface:
00043     void initInterface();
00044 
00047     void initInterface( gbxsickacfr::gbxiceutilacfr::Thread* thread, const std::string& subsysName="", int retryInterval=2 );
00048 
00050     void localSet( const orca::PixMapData& data );
00051 
00054     void localSetAndSend( const orca::PixMapData& data );
00055 
00056 private:
00057     // remote call implementations, mimic (but do not inherit) the orca interface
00058     orca::PixMapData internalGetData() const;
00059     void internalSubscribe(const ::orca::PixMapConsumerPrx&);
00060     void internalUnsubscribe(const ::orca::PixMapConsumerPrx&);
00061 
00062     // Holds the latest data
00063     gbxsickacfr::gbxiceutilacfr::Store<orca::PixMapData> dataStore_;
00064 
00065     // The topic to which we'll publish
00066     IceStorm::TopicPrx             topicPrx_;
00067     // The interface to which we'll publish
00068     orca::PixMapConsumerPrx         consumerPrx_;
00069 
00070     // Hang onto this so we can remove from the adapter and control when things get deleted
00071     Ice::ObjectPtr          ptr_;
00072 
00073     const std::string interfaceName_;
00074     const std::string topicName_;
00075     orcaice::Context context_;
00076 };
00077 typedef IceUtil::Handle<PixMapImpl> PixMapImplPtr;
00078 
00079 }
00080 
00081 #endif
pixmapImpl.h
