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_PROPERTIES_IMPL_H
00012 #define ORCA_PROPERTIES_IMPL_H
00013 
00014 #include <orca/properties.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 PropertiesImpl : public IceUtil::Shared
00029 {
00030 friend class PropertiesI;
00031 
00032 public:
00034     PropertiesImpl( const std::string& interfaceTag, 
00035                const orcaice::Context& context );
00037     PropertiesImpl( const orcaice::Context& context,
00038                const std::string& interfaceName );
00039     ~PropertiesImpl();
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::PropertiesData& data );
00051 
00054     void localSetAndSend( const orca::PropertiesData& data );
00055 
00057     gbxsickacfr::gbxiceutilacfr::Store<orca::PropertiesData> &localGetRemotelySetDataStore()
00058         { return remotelySetDataStore_; }
00059 
00060 private:
00061     // remote call implementations, mimic (but do not inherit) the orca interface
00062     ::orca::PropertiesData internalGetData() const;
00063     void internalSetData( const ::orca::PropertiesData &data );
00064     void internalSubscribe(const ::orca::PropertiesConsumerPrx&);
00065     void internalUnsubscribe(const ::orca::PropertiesConsumerPrx&);
00066 
00067     gbxsickacfr::gbxiceutilacfr::Store<orca::PropertiesData> dataStore_;
00068     gbxsickacfr::gbxiceutilacfr::Store<orca::PropertiesData> remotelySetDataStore_;
00069 
00070     orca::PropertiesConsumerPrx    consumerPrx_;
00071     IceStorm::TopicPrx             topicPrx_;
00072 
00073     // Hang onto this so we can remove from the adapter and control when things get deleted
00074     Ice::ObjectPtr          ptr_;
00075 
00076     const std::string              interfaceName_;
00077     const std::string              topicName_;
00078     orcaice::Context               context_;
00079 };
00080 
00081 typedef IceUtil::Handle<PropertiesImpl> PropertiesImplPtr;
00082 
00083 }
00084 
00085 #endif
propertiesImpl.h
