orte/Robot_Demo/src/org/ocera/orte/demo/MagnetCmdPublish.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.Publication;
   9 import org.ocera.orte.types.NtpTime;
  10 import org.ocera.orte.types.PublProp;
  11
  12 public class MagnetCmdPublish {
  13
  14         private boolean isCancelled = true;
  15         private MagnetCmdType magnetmsg;
  16         private Publication pub;
  17         private PublProp publProp;
  18         private DomainApp appDomain;
  19
  20         private final ReentrantReadWriteLock controlRrwl = new ReentrantReadWriteLock(true);
  21         private final ReadLock rcLock = controlRrwl.readLock();
  22         private final WriteLock wcLock = controlRrwl.writeLock();
  23
  24         public MagnetCmdPublish(DomainApp appDomain) {
  25                 this.appDomain = appDomain;
  26
  27             NtpTime persistence = new NtpTime(3);
  28             int strength = 100;
  29
  30             magnetmsg = new MagnetCmdType(appDomain,"magnet_cmd");
  31
  32             publProp = new PublProp(magnetmsg.getTopic(),
  33                                                                          "magnet_cmd",
  34                                                                          persistence,
  35                                                                          strength);
  36         }
  37
  38         public void start() {
  39                 wcLock.lock();
  40                 try {
  41                         isCancelled = false;
  42                     pub = appDomain.createPublication(publProp, magnetmsg);
  43                 }
  44                 finally {
  45                         wcLock.unlock();
  46                 }
  47         }
  48
  49         public void cancel() {
  50                 wcLock.lock();
  51                 try {
  52                         isCancelled = true;
  53                         pub.destroy();
  54                 } finally {
  55                         wcLock.unlock();
  56                 }
  57         }
  58
  59         public boolean isCancelled() {
  60                 rcLock.lock();
  61                 try {
  62                         return isCancelled;
  63                 } finally {
  64                         rcLock.unlock();
  65                 }
  66         }
  67
  68         public void send(int magnet) {
  69                 magnetmsg.magnet = magnet;
  70                 pub.send(magnetmsg);
  71         }
  72 }