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_ORCAIFACEIMPL_VELOCITYCONTROL2D_IMPL_H
00012 #define ORCA_ORCAIFACEIMPL_VELOCITYCONTROL2D_IMPL_H
00013 
00014 #include <orca/velocitycontrol2d.h>
00015 #include <IceStorm/IceStorm.h>
00016 
00017 #include <gbxsickacfr/gbxiceutilacfr/store.h>
00018 #include <gbxsickacfr/gbxiceutilacfr/notify.h>
00019 #include <orcaice/context.h>
00020 
00021 namespace gbxsickacfr { namespace gbxiceutilacfr { class Thread; } }
00022 
00023 namespace orcaifaceimpl {
00024 
00028 class VelocityControl2dImpl : public IceUtil::Shared,
00029                               public gbxsickacfr::gbxiceutilacfr::Notify<orca::VelocityControl2dData>
00030 {
00031 friend class VelocityControl2dI;
00032 
00033 public:
00035     VelocityControl2dImpl( const orca::VehicleDescription& descr,
00036                            const std::string& interfaceTag,
00037                            const orcaice::Context& context );
00039     VelocityControl2dImpl( const orca::VehicleDescription& descr,
00040                            const orcaice::Context& context,
00041                            const std::string& interfaceName );
00042     ~VelocityControl2dImpl();
00043 
00045     void initInterface();
00046 
00049     void initInterface( gbxsickacfr::gbxiceutilacfr::Thread* thread, const std::string& subsysName="", int retryInterval=2 );
00050 
00051 private:
00052 
00053     // remote call implementations, mimic (but do not inherit) the orca interface
00054     orca::VehicleDescription internalGetDescription() const
00055         { return description_; }
00056     void internalSetCommand( const ::orca::VelocityControl2dData& );
00057 
00058     const orca::VehicleDescription    description_;
00059     const std::string                 interfaceName_;
00060     const std::string                 topicName_;
00061     IceStorm::TopicPrx                topicPrx_;
00062 
00063     orcaice::Context                  context_;
00064 
00065     // Hang onto this so we can remove from the adapter and control when things get deleted
00066     Ice::ObjectPtr          ptr_;
00067 };
00068 typedef IceUtil::Handle<VelocityControl2dImpl> VelocityControl2dImplPtr;
00069 
00070 } // namespace
00071 
00072 #endif
velocitycontrol2dImpl.h
