Orca Robotics

00001 #ifndef ORCA_WIFI_IMPL_H
00002 #define ORCA_WIFI_IMPL_H
00003 
00004 // include defnition of Ice runtime
00005 #include <Ice/Ice.h>
00006 #include <IceStorm/IceStorm.h>
00007 
00008 // include provided interfaces
00009 #include <orca/wifi.h>
00010 
00011 // utilities
00012 #include <gbxsickacfr/gbxiceutilacfr/store.h>
00013 #include <orcaice/context.h>
00014 
00015 namespace gbxsickacfr { namespace gbxiceutilacfr { class Thread; } }
00016 
00017 namespace orcaifaceimpl
00018 {
00019     
00023 class WifiImpl : public IceUtil::Shared
00024 {
00025 friend class WifiI;
00026 
00027 public:
00029     WifiImpl( const std::string       &interfaceTag, 
00030               const orcaice::Context  &context );
00032     WifiImpl( const orcaice::Context  &context,
00033               const std::string       &interfaceName );
00034     ~WifiImpl();
00035     
00036     // local functions
00038     void initInterface();
00039 
00042     void initInterface( gbxsickacfr::gbxiceutilacfr::Thread* thread, const std::string& subsysName="", int retryInterval=2 );
00043 
00046     void localSetAndSend( const orca::WifiData &data );
00047 
00048 private:
00049     // remote call implementations, mimic (but do not inherit) the orca interface
00050     ::orca::WifiData internalGetData() const;
00051     void internalSubscribe(const ::orca::WifiConsumerPrx&);
00052     void internalUnsubscribe(const ::orca::WifiConsumerPrx& );
00053 
00054     gbxsickacfr::gbxiceutilacfr::Store<orca::WifiData> dataStore_;
00055 
00056     orca::WifiConsumerPrx    consumerPrx_;
00057     IceStorm::TopicPrx       topicPrx_;
00058 
00059     // Hang onto this so we can remove from the adapter and control when things get deleted
00060     Ice::ObjectPtr          ptr_;
00061 
00062     const std::string        interfaceName_;
00063     const std::string        topicName_;
00064     orcaice::Context         context_;
00065 };
00066 typedef IceUtil::Handle<WifiImpl> WifiImplPtr;
00067 
00068 }
00069 
00070 #endif
wifiImpl.h
