orte/Robot_Demo/src/org/ocera/orte/demo/HokuyoScanType.java

   1 package org.ocera.orte.demo;
   2
   3 import org.ocera.orte.DomainApp;
   4 import org.ocera.orte.types.MessageData;
   5 import org.ocera.orte.types.ORTEConstant;
   6
   7 public class HokuyoScanType extends MessageData {
   8
   9         private int counter = 0;
  10
  11         public  int[]   hokuyo = new int[681];
  12
  13         public HokuyoScanType(DomainApp domainApp, String newTopic) {
  14             super();
  15                 if(counter == 0) {
  16                      boolean b;
  17                      counter++;
  18                  this.setTopic(newTopic);
  19                  b = domainApp.regNewDataType("hokuyo_scan",getMaxDataLength());
  20                      if (b == false) {
  21                        System.out.println(":j!: cannot register data type!");
  22                      }
  23                 }
  24         }
  25
  26         @Override
  27         public void read() {
  28                 buffer.rewind();
  29                 for (int i = 0; i < hokuyo.length; i++) {
  30                     this.hokuyo[i] = buffer.getShort() & 0xffff;
  31                 }
  32         }
  33
  34         @Override
  35         public void write() {}
  36
  37         @Override
  38         public int getMaxDataLength() {
  39                 return 681 * ORTEConstant.SHORT_FIELD_SIZE;
  40         }
  41
  42         public String toString() {
  43           String data = new String();
  44           for(int i = 0; i < hokuyo.length; i++) {
  45             data += i + ": " + hokuyo[i] + ", ";
  46           }
  47           data = data.substring(0, data.length()-2);
  48           return data;
  49         }
  50 }