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