orte/Robot_Demo/src/org/ocera/orte/demo/HokuyoScanSubscribe.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 public class HokuyoScanSubscribe extends SubscriptionCallback{
  17
  18         private Subscription sub;
  19         private HokuyoView view;
  20         private HokuyoScanType hokuyomsg;
  21         private DomainApp domainApp;
  22         private SubsProp subProps;
  23
  24         private boolean isCancelled = true;
  25         private final ReentrantReadWriteLock controlRrwl = new ReentrantReadWriteLock(true);
  26         private final ReadLock rcLock = controlRrwl.readLock();
  27         private final WriteLock wcLock = controlRrwl.writeLock();
  28
  29         public HokuyoScanSubscribe(DomainApp domainApp, HokuyoView view) {
  30                 this.view = view;
  31                 this.domainApp = domainApp;
  32
  33             NtpTime deadline      = new NtpTime(10);
  34             NtpTime minSeparation = new NtpTime(0);
  35
  36             hokuyomsg = new HokuyoScanType(domainApp, "hokuyo_scan");
  37
  38             subProps = new SubsProp(hokuyomsg.getTopic(),
  39                                                         "hokuyo_scan",
  40                                                         minSeparation,
  41                                                         deadline,
  42                                                         ORTEConstant.IMMEDIATE,
  43                                                         ORTEConstant.BEST_EFFORTS,
  44                                                         0);
  45         }
  46
  47         public void start() {
  48                 wcLock.lock();
  49                 try {
  50                         isCancelled = false;
  51                         sub = domainApp.createSubscription(subProps, hokuyomsg, this);
  52                 } finally {
  53                         wcLock.unlock();
  54                 }
  55         }
  56
  57         public void cancel() {
  58                 wcLock.lock();
  59                 try {
  60                         isCancelled = true;
  61                         sub.destroy();
  62                 } finally {
  63                         wcLock.unlock();
  64                 }
  65         }
  66
  67         public boolean isCancelled() {
  68                 rcLock.lock();
  69                 try {
  70                         return isCancelled;
  71                 } finally {
  72                         rcLock.unlock();
  73                 }
  74         }
  75
  76     public void callback(RecvInfo info, MessageData msg) {
  77       if (info.getRecvStatus() == ORTEConstant.NEW_DATA)
  78         view.setData(((HokuyoScanType)msg).hokuyo);
  79     }
  80 }