localise2dImpl.h

/*
 * Orca-Robotics Project: Components for robotics 
 *               http://orca-robotics.sf.net/
 * Copyright (c) 2004-2008 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_ORCAIFACEIMPL_LOCALISE2D_IMPL_H
#define ORCA_ORCAIFACEIMPL_LOCALISE2D_IMPL_H

#include <orca/localise2d.h>
#include <IceStorm/IceStorm.h>

// utilities
#include <gbxsickacfr/gbxiceutilacfr/store.h>
#include <orcaice/context.h>

namespace gbxiceutilacfr { class Thread; }

namespace orcaifaceimpl {

// experimental.
// Determines whether the IceStorm topic is destroyed when the Impl is destroyed.
enum TopicPolicy
{
    DestroyTopic,
    NoTopicDestruction
};

class Localise2dImpl : public IceUtil::Shared
{
friend class Localise2dI;

public:
    Localise2dImpl( const orca::VehicleGeometryDescriptionPtr &geometry,
                    const std::string &interfaceTag,
                    const orcaice::Context &context,
                    TopicPolicy policy=NoTopicDestruction );
    Localise2dImpl( const orca::VehicleGeometryDescriptionPtr &geometry,
                    const orcaice::Context &context,
                    const std::string &interfaceName,
                    TopicPolicy policy=NoTopicDestruction );                    
    ~Localise2dImpl();

    // Local calls:
    void initInterface();

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

    void localSet( const orca::Localise2dData &data );

    void localSetAndSend( const orca::Localise2dData &data );

private:
    // remote call implementations, mimic (but do not inherit) the orca interface
    ::orca::Localise2dData internalGetData() const;
    ::orca::VehicleGeometryDescriptionPtr internalGetVehicleGeometry() const;
    void internalSubscribe(const ::orca::Localise2dConsumerPrx& );
    void internalUnsubscribe(const ::orca::Localise2dConsumerPrx& );
    
    orca::VehicleGeometryDescriptionPtr geometry_;

    gbxiceutilacfr::Store<orca::Localise2dData> dataStore_;

    orca::Localise2dConsumerPrx    publisherPrx_;
    IceStorm::TopicPrx             topicPrx_;
    TopicPolicy policy_;

    // 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<Localise2dImpl> Localise2dImplPtr;

} // namespace

#endif