velocitycontrol2dImpl.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 ORCA_ORCAIFACEIMPL_VELOCITYCONTROL2D_IMPL_H
00012 #define ORCA_ORCAIFACEIMPL_VELOCITYCONTROL2D_IMPL_H
00013 
00014 #include <orca/velocitycontrol2d.h>
00015 #include <gbxsickacfr/gbxiceutilacfr/store.h>
00016 #include <orcaice/context.h>
00017 
00018 namespace gbxutilacfr { class Stoppable; }
00019 
00020 namespace orcaifaceimpl {
00021 
00022 class AbstractVelocityControl2dCallback {
00023  public:
00024     virtual ~AbstractVelocityControl2dCallback() {}
00025     virtual void setCommand( const orca::VelocityControl2dData &command )=0;
00026 };
00027 
00031 class VelocityControl2dImpl : public IceUtil::Shared
00032 {
00033 friend class VelocityControl2dI;
00034 
00035 public:
00037     VelocityControl2dImpl( AbstractVelocityControl2dCallback &callback,
00038                            const orca::VehicleDescription& descr,
00039                            const std::string& interfaceTag,
00040                            const orcaice::Context& context );
00042     VelocityControl2dImpl( AbstractVelocityControl2dCallback &callback,
00043                            const orca::VehicleDescription& descr,
00044                            const orcaice::Context& context,
00045                            const std::string& interfaceName );
00046     ~VelocityControl2dImpl();
00047 
00049     void initInterface();
00050 
00053     void initInterface( gbxutilacfr::Stoppable* activity, const std::string& subsysName="", int retryInterval=2 );
00054 
00055 private:
00056     void init();
00057 
00058     // remote call implementations, mimic (but do not inherit) the orca interface
00059     orca::VehicleDescription internalGetDescription() const
00060         { return description_; }
00061     void internalSetCommand( const ::orca::VelocityControl2dData& );
00062 
00063     AbstractVelocityControl2dCallback &callback_;
00064     const orca::VehicleDescription     description_;
00065 
00066     Ice::ObjectPtr ptr_;
00067     const std::string interfaceName_;
00068     orcaice::Context context_;
00069 };
00070 typedef IceUtil::Handle<VelocityControl2dImpl> VelocityControl2dImplPtr;
00071 
00072 } // namespace
00073 
00074 #endif