17 #ifndef SUTRA_RTC_BRAHMA_H_
18 #define SUTRA_RTC_BRAHMA_H_
20 #include <BRAHMA_context.h>
22 #include <SutraRtcBrahmaListenerImpl.h>
29 DDS::Subscriber_var sub;
30 DDS::Publisher_var pub;
32 DDS::DataReaderListener_var cmd_listener;
34 DDS::DataReader_var cmd_dr;
36 DDS::DataWriter_var superframe_base_dw;
37 BRAHMA::SuperFrameDataWriter_var superframe_dw;
38 DDS::InstanceHandle_t superframe_handle;
40 DDS::DataWriter_var megaframe_base_dw;
41 BRAHMA::MegaFrameDataWriter_var megaframe_dw;
42 DDS::InstanceHandle_t megaframe_handle;
44 CORBA::Octet *buff_wfs;
45 CORBA::Octet *buff_wfs_phase;
46 CORBA::Octet *buff_intensities;
47 CORBA::Octet *buff_slopes;
48 CORBA::Octet *buff_commands;
49 CORBA::Octet *buff_target;
50 CORBA::Octet *buff_target_phase;
52 CORBA::ULong *dims_wfs;
53 CORBA::ULong *dims_wfs_phase;
54 CORBA::ULong *dims_intensities;
55 CORBA::ULong *dims_slopes;
56 CORBA::ULong *dims_commands;
57 CORBA::ULong *dims_target;
58 CORBA::ULong *dims_target_phase;
67 int target_phase_size;
84 void allocate_buffers();
this class provides the context in which CarmaObj are created
this class provides the rtc_brahma features to COMPASS
SutraRtcBrahma(CarmaContext *context, SutraSensors *wfs, SutraTarget *target, ACE_TCHAR *name)
this class provides the rtc_brahmaListenerImpl features to COMPASS
this class provides the rtc features to COMPASS
this class provides the sensors features to COMPASS
this class provides the target features to COMPASS