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

   1 package org.ocera.orte.demo;
   2
   3 import org.ocera.orte.DomainApp;
   4 import org.ocera.orte.Subscription;
   5 import org.ocera.orte.SubscriptionCallback;
   6 import org.ocera.orte.types.MessageData;
   7 import org.ocera.orte.types.NtpTime;
   8 import org.ocera.orte.types.RecvInfo;
   9 import org.ocera.orte.types.SubsProp;
  10
  11 public class HokuyoScanSubscribe extends SubscriptionCallback{
  12
  13     public final static int IMMEDIATE    = 0x02;
  14     public final static int BEST_EFFORTS = 0x01;
  15
  16         private Subscription sub;
  17         private HokuyoView view;
  18         private HokuyoScanType hokuyomsg;
  19         private DomainApp domainApp;
  20         private SubsProp subProps;
  21         private boolean isCancelled = true;
  22
  23         public HokuyoScanSubscribe(DomainApp domainApp, HokuyoView view) {
  24                 this.view = view;
  25                 this.domainApp = domainApp;
  26
  27             NtpTime deadline      = new NtpTime(10);
  28             NtpTime minSeparation = new NtpTime(0);
  29
  30             hokuyomsg = new HokuyoScanType(domainApp, "hokuyo_scan");
  31
  32             subProps = new SubsProp(hokuyomsg.getTopic(),
  33                                                         "hokuyo_scan",
  34                                                         minSeparation,
  35                                                         deadline,
  36                                                         IMMEDIATE,
  37                                                         BEST_EFFORTS,
  38                                                         0);
  39         }
  40
  41         public void start() {
  42             isCancelled = false;
  43                 sub = domainApp.createSubscription(subProps, hokuyomsg, this);
  44         }
  45
  46         public void cancel() {
  47                 sub.destroy();
  48                 isCancelled = true;
  49         }
  50
  51         public boolean isCancelled() {
  52                 return isCancelled;
  53         }
  54
  55     public void callback(RecvInfo info, MessageData msg) {
  56         view.setData(((HokuyoScanType)msg).hokuyo);
  57         }
  58 }