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

   1 package org.ocera.orte.demo;
   2
   3 import org.ocera.orte.DomainApp;
   4 import org.ocera.orte.types.MessageData;
   5 import org.ocera.orte.types.ORTEConstant;
   6
   7 public class HokuyoScanType extends MessageData {
   8
   9         public  int[]   hokuyo = new int[681];
  10
  11         public HokuyoScanType(DomainApp domainApp, String newTopic) {
  12             super();
  13             this.setTopic(newTopic);
  14             if (!domainApp.regNewDataType("hokuyo_scan",getMaxDataLength())) {
  15                 System.out.println(":j!: cannot register data type \"hokuyo_scan\"!");
  16             }
  17         }
  18
  19         @Override
  20         public void read() {
  21                 buffer.rewind();
  22                 for (int i = 0; i < hokuyo.length; i++) {
  23                     this.hokuyo[i] = buffer.getShort() & 0xffff;
  24                 }
  25         }
  26
  27         @Override
  28         public void write() {}
  29
  30         @Override
  31         public int getMaxDataLength() {
  32                 return 681 * ORTEConstant.SHORT_FIELD_SIZE;
  33         }
  34 }