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