pathplanner2dI.h

00001 /*
00002  * Orca-Robotics Project: Components for robotics 
00003  *               http://orca-robotics.sf.net/
00004  * Copyright (c) 2004-2009 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 PATHPLANNER2DI_H
00012 #define PATHPLANNER2DI_H
00013 
00014 #include <IceStorm/IceStorm.h>
00015 
00016 #include <orca/pathplanner2d.h>
00017 #include <gbxsickacfr/gbxiceutilacfr/store.h>
00018 #include <gbxsickacfr/gbxiceutilacfr/buffer.h>
00019 
00020 namespace pathplanner
00021 {
00022 
00023 class PathPlanner2dI : public orca::PathPlanner2d
00024 {
00025 public:
00026     PathPlanner2dI( gbxiceutilacfr::Buffer<orca::PathPlanner2dTask> &pathPlannerTaskStore,
00027                     const orcaice::Context                     &context );
00028 
00029     // remote calls
00030     virtual ::Ice::Int setTask(const ::orca::PathPlanner2dTask&, const ::Ice::Current& = ::Ice::Current());
00031 
00032     virtual IceStorm::TopicPrx subscribe(const ::orca::PathPlanner2dConsumerPrx&, const ::Ice::Current& = ::Ice::Current());
00033 
00034     virtual ::orca::PathPlanner2dData getData(const ::Ice::Current&);
00035 
00036     // local calls
00037     void localSetData( const ::orca::PathPlanner2dData& data );
00038 
00039 private:
00040 
00041     gbxiceutilacfr::Buffer<orca::PathPlanner2dTask>& pathPlannerTaskBuffer_;
00042 
00043     // the driver puts the latest computed path into here using localSetData
00044     gbxiceutilacfr::Store<orca::PathPlanner2dData> pathPlannerDataStore_;
00045 
00046     // The topic to which we'll publish
00047     IceStorm::TopicPrx topicPrx_;
00048     
00049     // The interface to which we'll publish
00050     orca::PathPlanner2dConsumerPrx  consumerPrx_;
00051 
00052     orcaice::Context context_;
00053 
00054 };
00055 
00056 } // namespace
00057 
00058 #endif