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

   1 package org.ocera.orte.demo.Subscribers;
   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.demo.DataTypes.PwrVoltageType;
  11 import org.ocera.orte.types.MessageData;
  12 import org.ocera.orte.types.NtpTime;
  13 import org.ocera.orte.types.RecvInfo;
  14 import org.ocera.orte.types.SubsProp;
  15 import org.ocera.orte.types.ORTEConstant;
  16
  17 import android.os.Bundle;
  18 import android.os.Handler;
  19 import android.os.Message;
  20
  21 public class PwrVoltageSubscribe extends SubscriptionCallback{
  22
  23     static Handler handler;
  24
  25         private Subscription sub;
  26         private PwrVoltageType voltagemsg;
  27         private DomainApp domainApp;
  28         private SubsProp subProps;
  29
  30         private boolean isCancelled = true;
  31         private final ReentrantReadWriteLock controlRrwl = new ReentrantReadWriteLock(true);
  32         private final ReadLock rcLock = controlRrwl.readLock();
  33         private final WriteLock wcLock = controlRrwl.writeLock();
  34
  35         public PwrVoltageSubscribe(DomainApp domainApp, Handler dialogHandler) {
  36                 handler = dialogHandler;
  37                 this.domainApp = domainApp;
  38
  39             NtpTime deadline      = new NtpTime(0,1288490189);
  40             NtpTime minSeparation = new NtpTime(1);
  41
  42             voltagemsg = new PwrVoltageType(domainApp, "pwr_voltage");
  43
  44             subProps = new SubsProp(voltagemsg.getTopic(),
  45                                                         "pwr_voltage",
  46                                                         minSeparation,
  47                                                         deadline,
  48                                                         ORTEConstant.IMMEDIATE,
  49                                                         ORTEConstant.BEST_EFFORTS,
  50                                                         0);
  51         }
  52
  53         public void start() {
  54                 wcLock.lock();
  55                 try {
  56                         isCancelled = false;
  57                         sub = domainApp.createSubscription(subProps, voltagemsg, this);
  58                 } finally {
  59                         wcLock.unlock();
  60                 }
  61         }
  62
  63         public void cancel() {
  64                 wcLock.lock();
  65                 try {
  66                         isCancelled = true;
  67                         sub.destroy();
  68                 } finally {
  69                         wcLock.unlock();
  70                 }
  71         }
  72
  73         public boolean isCancelled() {
  74                 rcLock.lock();
  75                 try {
  76                         return isCancelled;
  77                 } finally {
  78                         rcLock.unlock();
  79                 }
  80         }
  81
  82     public void callback(RecvInfo info, MessageData msg) {
  83       if (info.getRecvStatus() == ORTEConstant.NEW_DATA) {
  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     }
  92 }