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

   1 package org.ocera.orte.demo;
   2
   3 import java.util.concurrent.locks.ReentrantReadWriteLock;
   4 import java.util.concurrent.locks.ReentrantReadWriteLock.ReadLock;
   5 import java.util.concurrent.locks.ReentrantReadWriteLock.WriteLock;
   6
   7 import org.ocera.orte.DomainApp;
   8 import org.ocera.orte.Subscription;
   9 import org.ocera.orte.SubscriptionCallback;
  10 import org.ocera.orte.types.MessageData;
  11 import org.ocera.orte.types.NtpTime;
  12 import org.ocera.orte.types.RecvInfo;
  13 import org.ocera.orte.types.SubsProp;
  14
  15 import android.os.Bundle;
  16 import android.os.Handler;
  17 import android.os.Message;
  18
  19 public class PwrVoltageSubscribe extends SubscriptionCallback{
  20
  21     public final static int IMMEDIATE    = 0x02;
  22     public final static int BEST_EFFORTS = 0x01;
  23
  24     static Handler handler;
  25
  26         private Subscription sub;
  27         private PwrVoltageType voltagemsg;
  28         private DomainApp domainApp;
  29         private SubsProp subProps;
  30
  31         private boolean isCancelled = true;
  32         private final ReentrantReadWriteLock controlRrwl = new ReentrantReadWriteLock(true);
  33         private final ReadLock rcLock = controlRrwl.readLock();
  34         private final WriteLock wcLock = controlRrwl.writeLock();
  35
  36         public PwrVoltageSubscribe(DomainApp domainApp, Handler dialogHandler) {
  37                 handler = dialogHandler;
  38                 this.domainApp = domainApp;
  39
  40             NtpTime deadline      = new NtpTime(0,1288490189);
  41             NtpTime minSeparation = new NtpTime(1);
  42
  43             voltagemsg = new PwrVoltageType(domainApp, "pwr_voltage");
  44
  45             subProps = new SubsProp(voltagemsg.getTopic(),
  46                                                         "pwr_voltage",
  47                                                         minSeparation,
  48                                                         deadline,
  49                                                         IMMEDIATE,
  50                                                         BEST_EFFORTS,
  51                                                         0);
  52         }
  53
  54         public void start() {
  55                 wcLock.lock();
  56                 try {
  57                         isCancelled = false;
  58                         sub = domainApp.createSubscription(subProps, voltagemsg, this);
  59                 } finally {
  60                         wcLock.unlock();
  61                 }
  62         }
  63
  64         public void cancel() {
  65                 wcLock.lock();
  66                 try {
  67                         isCancelled = true;
  68                         sub.destroy();
  69                 } finally {
  70                         wcLock.unlock();
  71                 }
  72         }
  73
  74         public boolean isCancelled() {
  75                 rcLock.lock();
  76                 try {
  77                         return isCancelled;
  78                 } finally {
  79                         rcLock.unlock();
  80                 }
  81         }
  82
  83     public void callback(RecvInfo info, MessageData msg) {
  84         Message message = handler.obtainMessage();
  85         Bundle bundle = new Bundle();
  86
  87         bundle.putDoubleArray("voltages", ((PwrVoltageType)msg).voltage.clone());
  88         message.setData(bundle);
  89         handler.sendMessage(message);
  90     }
  91 }