1 package org.ocera.orte.demo;
3 import java.util.concurrent.locks.ReentrantReadWriteLock;
4 import java.util.concurrent.locks.ReentrantReadWriteLock.ReadLock;
5 import java.util.concurrent.locks.ReentrantReadWriteLock.WriteLock;
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;
15 public class HokuyoScanSubscribe extends SubscriptionCallback{
17 public final static int IMMEDIATE = 0x02;
18 public final static int BEST_EFFORTS = 0x01;
20 private Subscription sub;
21 private HokuyoView view;
22 private HokuyoScanType hokuyomsg;
23 private DomainApp domainApp;
24 private SubsProp subProps;
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();
31 public HokuyoScanSubscribe(DomainApp domainApp, HokuyoView view) {
33 this.domainApp = domainApp;
35 NtpTime deadline = new NtpTime(10);
36 NtpTime minSeparation = new NtpTime(0);
38 hokuyomsg = new HokuyoScanType(domainApp, "hokuyo_scan");
40 subProps = new SubsProp(hokuyomsg.getTopic(),
53 sub = domainApp.createSubscription(subProps, hokuyomsg, this);
59 public void cancel() {
69 public boolean isCancelled() {
78 public void callback(RecvInfo info, MessageData msg) {
79 view.setData(((HokuyoScanType)msg).hokuyo);