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_DETAIL_STATUS_I_H
00012 #define ORCAICE_DETAIL_STATUS_I_H
00013 
00014 #include <orca/status.h>
00015 #include <hydroiceutil/localstatus.h>
00016 #include <gbxsickacfr/gbxiceutilacfr/timer.h>
00017 
00018 #include <IceStorm/IceStorm.h>
00019 #include <IceUtil/Mutex.h>
00020 
00021 namespace orcaice
00022 {
00023 namespace detail
00024 {
00025 
00026 // An implementation of the (remote) Status interface.
00027 class StatusI : public virtual orca::Status, public hydroiceutil::LocalStatus
00028 {
00029 public:
00030     
00031     StatusI( const orcaice::Context& context );
00032 
00033     // from orca::Status interface: remote calls
00034     virtual ::orca::StatusData getData(const ::Ice::Current& ) const;
00035     virtual void subscribe(const ::orca::StatusConsumerPrx&, const ::Ice::Current& = ::Ice::Current());
00036     virtual void unsubscribe(const ::orca::StatusConsumerPrx&, const ::Ice::Current& = ::Ice::Current());
00037 
00038     // from LocalStatus
00039     virtual void publishEvent( const hydroiceutil::NameStatusMap& subsystems );
00040 
00041 private:
00042 
00043     bool connectToIceStorm();
00044     void icestormConnectFailed( const std::string &topicName,
00045                                 orca::StatusConsumerPrx &publisher,
00046                                 bool isStatusTopicRequired );
00047 
00048     void sendToIceStorm( const orca::StatusData &statusData );
00049 
00050     IceStorm::TopicPrx topicPrx_;
00051     orca::StatusConsumerPrx publisherPrx_;
00052     std::string topicName_;
00053     bool isStatusTopicRequired_;
00054     mutable orca::StatusData statusData_;
00055 
00056     // Protect from simultaneous get/set of statusData_
00057     IceUtil::Mutex mutex_;
00058     gbxsickacfr::gbxiceutilacfr::Timer upTimer_;
00059     orcaice::Context context_;
00060 };
00061 
00062 } // namespace
00063 } // namespace
00064 
00065 #endif
statusI.h
