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_POWER_IMPL_H
00012 #define ORCA_POWER_IMPL_H
00013 
00014 #include <orca/power.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 PowerImpl : public IceUtil::Shared
00029 {
00030 friend class PowerI;
00031 
00032 public:
00034     PowerImpl( const std::string& interfaceTag, 
00035                const orcaice::Context& context );
00037     PowerImpl( const orcaice::Context& context,
00038                const std::string& interfaceName );
00039     ~PowerImpl();
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::PowerData& data );
00051 
00054     void localSetAndSend( const orca::PowerData& data );
00055 
00056 private:
00057     // remote call implementations, mimic (but do not inherit) the orca interface
00058     ::orca::PowerData internalGetData() const;
00059     void internalSubscribe(const ::orca::PowerConsumerPrx&);
00060     void internalUnsubscribe(const ::orca::PowerConsumerPrx&);
00061 
00062     gbxsickacfr::gbxiceutilacfr::Store<orca::PowerData> dataStore_;
00063 
00064     orca::PowerConsumerPrx    consumerPrx_;
00065     IceStorm::TopicPrx             topicPrx_;
00066 
00067     // Hang onto this so we can remove from the adapter and control when things get deleted
00068     Ice::ObjectPtr          ptr_;
00069 
00070     const std::string              interfaceName_;
00071     const std::string              topicName_;
00072     orcaice::Context               context_;
00073 };
00074 
00075 typedef IceUtil::Handle<PowerImpl> PowerImplPtr;
00076 
00077 }
00078 
00079 #endif
powerImpl.h
