RoboDruid: organize classes into packages

[orte.git] / orte / contrib / Robot_Demo / src / org / ocera / orte / demo / Subscribers / MotionSpeedSubscribe.java

diff --git a/orte/contrib/Robot_Demo/src/org/ocera/orte/demo/Subscribers/MotionSpeedSubscribe.java b/orte/contrib/Robot_Demo/src/org/ocera/orte/demo/Subscribers/MotionSpeedSubscribe.java
new file mode 100644 (file)
index 0000000..e4c5d80
--- /dev/null
+++ b/orte/contrib/Robot_Demo/src/org/ocera/orte/demo/Subscribers/MotionSpeedSubscribe.java
@@ -0,0 +1,82 @@
+package org.ocera.orte.demo.Subscribers;
+
+import java.util.concurrent.locks.ReentrantReadWriteLock;
+import java.util.concurrent.locks.ReentrantReadWriteLock.ReadLock;
+import java.util.concurrent.locks.ReentrantReadWriteLock.WriteLock;
+
+import org.ocera.orte.DomainApp;
+import org.ocera.orte.Subscription;
+import org.ocera.orte.SubscriptionCallback;
+import org.ocera.orte.demo.DataTypes.SpeedMotionType;
+import org.ocera.orte.demo.GUI.HokuyoView;
+import org.ocera.orte.types.MessageData;
+import org.ocera.orte.types.NtpTime;
+import org.ocera.orte.types.RecvInfo;
+import org.ocera.orte.types.SubsProp;
+import org.ocera.orte.types.ORTEConstant;
+
+public class MotionSpeedSubscribe extends SubscriptionCallback{
+
+       private Subscription sub;
+       private HokuyoView view;
+       private SpeedMotionType speedmsg;
+       private DomainApp domainApp;
+       private SubsProp subProps;
+       
+       private boolean isCancelled = true;
+       private final ReentrantReadWriteLock controlRrwl = new ReentrantReadWriteLock(true);
+       private final ReadLock rcLock = controlRrwl.readLock();
+       private final WriteLock wcLock = controlRrwl.writeLock();
+       
+       public MotionSpeedSubscribe(DomainApp domainApp, HokuyoView view) {
+               this.view = view;
+               this.domainApp = domainApp;
+               
+           NtpTime deadline      = new NtpTime(0,1288490189);
+           NtpTime minSeparation = new NtpTime(0);
+           
+           speedmsg = new SpeedMotionType(domainApp, "motion_speed");
+               
+           subProps = new SubsProp(speedmsg.getTopic(),
+                                                       "motion_speed",                                 
+                                                       minSeparation,  
+                                                       deadline,
+                                                       ORTEConstant.IMMEDIATE,
+                                                       ORTEConstant.BEST_EFFORTS,
+                                                       0);
+       }
+       
+       public void start() {
+               wcLock.lock();
+               try {
+                       isCancelled = false;
+                       sub = domainApp.createSubscription(subProps, speedmsg, this);
+               } finally {
+                       wcLock.unlock();
+               }
+       }
+       
+       public void cancel() {
+               wcLock.lock();
+               try {
+                       isCancelled = true;
+                       sub.destroy();
+               } finally {
+                       wcLock.unlock();
+               }
+       }
+       
+       public boolean isCancelled() {
+               rcLock.lock();
+               try {
+                       return isCancelled;
+               } finally {
+                       rcLock.unlock();
+               }
+       }
+       
+    public void callback(RecvInfo info, MessageData msg) {
+      if (info.getRecvStatus() == ORTEConstant.NEW_DATA)
+        view.setDataMotion(((SpeedMotionType)msg).speed);
+    }
+}