imageImpl.h

/*
 * Orca-Robotics Project: Components for robotics 
 *               http://orca-robotics.sf.net/
 * Copyright (c) 2004-2008 Tom Burdick, Alex Brooks, Alexei Makarenko, Tobias Kaupp
 *
 * This copy of Orca is licensed to you under the terms described in
 * the LICENSE file included in this distribution.
 *
 */

#ifndef ORCA_IMAGE_IMPL_H
#define ORCA_IMAGE_IMPL_H

#include <IceStorm/IceStorm.h>

// include provided interfaces
#include <orca/image.h>

// utilities
#include <orcaice/ptrstore.h>
#include <orcaice/context.h>

namespace gbxiceutilacfr { class Thread; }

namespace orcaifaceimpl {

class ImageImpl : public IceUtil::Shared
{
friend class ImageI;

public:
    ImageImpl( const orca::ImageDescriptionPtr &descr,
               const std::string            &interfaceTag, 
               const orcaice::Context       &context );
    ImageImpl( const orca::ImageDescriptionPtr &descr,
               const orcaice::Context       &context,
               const std::string            &interfaceName );
    ~ImageImpl();

    // local interface:
    void initInterface();

    void initInterface( gbxiceutilacfr::Thread* thread, const std::string& subsysName="", int retryInterval=2 );

    void localSet( const orca::ImageDataPtr& data );

    void localSetAndSend( const orca::ImageDataPtr& data );

private:
    // remote call implementations, mimic (but do not inherit) the orca interface
    ::orca::ImageDataPtr internalGetData() const;
    ::orca::ImageDescriptionPtr internalGetDescription() const;
    void internalSubscribe(const ::orca::ImageConsumerPrx&);
    void internalUnsubscribe(const ::orca::ImageConsumerPrx&);

    // Holds the latest data
    orca::ImageDescriptionPtr     descr_;
    
    orcaice::PtrStore<orca::ImageDataPtr> dataStore_;

    // The topic to which we'll publish
    IceStorm::TopicPrx        topicPrx_;
    // The interface to which we'll publish
    orca::ImageConsumerPrx    publisherPrx_;

    // Hang onto this so we can remove from the adapter and control when things get deleted
    Ice::ObjectPtr          ptr_;

    const std::string              interfaceName_;
    const std::string              topicName_;
    orcaice::Context               context_;
};

typedef IceUtil::Handle<ImageImpl> ImageImplPtr;

}

#endif