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 ORCAICE_ICE_PTR_BUFFER_H
00012 #define ORCAICE_ICE_PTR_BUFFER_H
00013 
00014 #include <gbxsickacfr/gbxiceutilacfr/buffer.h>
00015 #include <Ice/Ice.h>
00016 
00017 namespace orcaice
00018 {
00019 
00028 template<class Type>
00029 class PtrBuffer : public gbxsickacfr::gbxiceutilacfr::Buffer<Type>
00030 {
00031     using gbxsickacfr::gbxiceutilacfr::Buffer<Type>::queue_;
00032 
00033 public:
00040     PtrBuffer( int depth, gbxsickacfr::gbxiceutilacfr::BufferType type );
00041     
00042 protected:
00043     virtual void internalGet( Type & obj ) const ;
00044 
00045     virtual void internalGet( Type & obj, unsigned int n ) const ;
00046     
00047     virtual void internalPush( const Type & obj );
00048 };
00049 
00050 template<class Type>
00051 PtrBuffer<Type>::PtrBuffer( int depth, gbxsickacfr::gbxiceutilacfr::BufferType type )
00052     : gbxsickacfr::gbxiceutilacfr::Buffer<Type>(depth,type)
00053 {
00054 }
00055 
00056 template<class Type>
00057 void PtrBuffer<Type>::internalGet( Type & obj ) const
00058 {
00059     // create a shallow copy (see Ice manual p.210)
00060     Ice::ObjectPtr superclass = queue_.front()->ice_clone();
00061     obj = Type::dynamicCast( superclass );
00062 }
00063 
00064 template<class Type>
00065 void PtrBuffer<Type>::internalGet( Type & obj, unsigned int n ) const
00066 {
00067     // create a shallow copy (see Ice manual p.210)
00068     Ice::ObjectPtr superclass = queue_[n]->ice_clone();
00069     obj = Type::dynamicCast( superclass );
00070 }
00071 
00072 template<class Type>
00073 void PtrBuffer<Type>::internalPush( const Type & obj )
00074 {
00075     Ice::ObjectPtr clone = obj->ice_clone();
00076     Type subclass = Type::dynamicCast( clone );
00077     queue_.push_back( subclass );
00078 }
00079 
00080 } // end namespace
00081 
00082 #endif
ptrbuffer.h
