ROBOT_DEMO: implement voltage monitor

[orte.git] / orte / Robot_Demo / src / org / ocera / orte / demo / PwrVoltageSubscribe.java

diff --git a/orte/Robot_Demo/src/org/ocera/orte/demo/PwrVoltageSubscribe.java b/orte/Robot_Demo/src/org/ocera/orte/demo/PwrVoltageSubscribe.java
index bebef861ad37d7eec5f7686f694f8acc14f28779..98529882c3bb71d7786df42b4aa8834afcb94bdd 100644 (file)
--- a/orte/Robot_Demo/src/org/ocera/orte/demo/PwrVoltageSubscribe.java
+++ b/orte/Robot_Demo/src/org/ocera/orte/demo/PwrVoltageSubscribe.java
@@ -1,7 +1,91 @@
 package org.ocera.orte.demo;
 
+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.types.MessageData;
+import org.ocera.orte.types.NtpTime;
+import org.ocera.orte.types.RecvInfo;
+import org.ocera.orte.types.SubsProp;
+
+import android.os.Bundle;
+import android.os.Handler;
+import android.os.Message;
+
+public class PwrVoltageSubscribe extends SubscriptionCallback{
 
-public class PwrVoltageSubscribe extends SubscriptionCallback {
+    public final static int IMMEDIATE    = 0x02;
+    public final static int BEST_EFFORTS = 0x01;
 
-}
+    static Handler handler;
+    
+       private Subscription sub;
+       private PwrVoltageType voltagemsg;
+       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 PwrVoltageSubscribe(DomainApp domainApp, Handler dialogHandler) {
+               handler = dialogHandler;
+               this.domainApp = domainApp;
+               
+           NtpTime deadline      = new NtpTime(0,1288490189);
+           NtpTime minSeparation = new NtpTime(1);
+           
+           voltagemsg = new PwrVoltageType(domainApp, "pwr_voltage");
+               
+           subProps = new SubsProp(voltagemsg.getTopic(),
+                                                       "pwr_voltage",                                  
+                                                       minSeparation,  
+                                                       deadline,
+                                                       IMMEDIATE,
+                                                       BEST_EFFORTS,
+                                                       0);
+       }
+       
+       public void start() {
+               wcLock.lock();
+               try {
+                       isCancelled = false;
+                       sub = domainApp.createSubscription(subProps, voltagemsg, 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) {
+       Message message = handler.obtainMessage();
+       Bundle bundle = new Bundle();
+       
+       bundle.putDoubleArray("voltages", ((PwrVoltageType)msg).voltage.clone());
+       message.setData(bundle);
+       handler.sendMessage(message);
+    }
+}
\ No newline at end of file