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_IFACEIMPL_POLARFEATURE2D_IMPL_H
00012 #define ORCA_IFACEIMPL_POLARFEATURE2D_IMPL_H
00013 
00014 #include <IceStorm/IceStorm.h>
00015 
00016 // include provided interfaces
00017 #include <orca/polarfeature2d.h>
00018 
00019 // utilities
00020 #include <gbxsickacfr/gbxiceutilacfr/store.h>
00021 #include <orcaice/context.h>
00022 
00023 namespace gbxsickacfr { namespace gbxiceutilacfr { class Thread; } }
00024 
00025 namespace orcaifaceimpl {
00026 
00030 class PolarFeature2dImpl : public IceUtil::Shared
00031 {
00032 friend class PolarFeature2dI;
00033 
00034 public:
00036     PolarFeature2dImpl( const orca::PolarFeature2dDescription &descr,
00037                         const std::string                     &interfaceTag,
00038                         const orcaice::Context                &context );
00040     PolarFeature2dImpl( const orca::PolarFeature2dDescription &descr,
00041                         const orcaice::Context                &context,
00042                         const std::string                     &interfaceName );                        
00043     ~PolarFeature2dImpl();
00044 
00045     //
00046     // Local calls:
00047     //
00049     void initInterface();
00050 
00053     void initInterface( gbxsickacfr::gbxiceutilacfr::Thread* thread, const std::string& subsysName="", int retryInterval=2 );
00054 
00056     void localSet( const orca::PolarFeature2dData &data );
00057 
00060     void localSetAndSend( const ::orca::PolarFeature2dData &data );
00061 
00062 private:
00063     // remote call implementations, mimic (but do not inherit) the orca interface
00064     ::orca::PolarFeature2dData        internalGetData() const;
00065     ::orca::PolarFeature2dDescription internalGetDescription() const;
00066     void internalSubscribe(const ::orca::PolarFeature2dConsumerPrx&);
00067     void internalUnsubscribe(const ::orca::PolarFeature2dConsumerPrx&);
00068 
00069     // Holds the latest data
00070     gbxsickacfr::gbxiceutilacfr::Store<orca::PolarFeature2dData> dataStore_;
00071 
00072     orca::PolarFeature2dDescription descr_;
00073 
00074     // The topic to which we'll publish
00075     IceStorm::TopicPrx              topicPrx_;
00076     // The interface to which we'll publish
00077     orca::PolarFeature2dConsumerPrx consumerPrx_;
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     orcaice::Context                context_;
00085 };
00086 typedef IceUtil::Handle<PolarFeature2dImpl> PolarFeature2dImplPtr;
00087 
00088 } // namespace
00089 
00090 #endif
polarfeature2dImpl.h
