ROBOT_DEMO: fix thread sync. problems better

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

diff --git a/orte/Robot_Demo/src/org/ocera/orte/demo/HokuyoView.java b/orte/Robot_Demo/src/org/ocera/orte/demo/HokuyoView.java
index 07452b61edf87359b1c4fff444e268e9ad0104d0..dad1301d80c2af772ad158ddd47b07e7d9dfd303 100644 (file)
--- a/orte/Robot_Demo/src/org/ocera/orte/demo/HokuyoView.java
+++ b/orte/Robot_Demo/src/org/ocera/orte/demo/HokuyoView.java
@@ -1,5 +1,10 @@
 package org.ocera.orte.demo;
 
+import java.util.concurrent.locks.ReentrantLock;
+import java.util.concurrent.locks.ReentrantReadWriteLock;
+import java.util.concurrent.locks.ReentrantReadWriteLock.ReadLock;
+import java.util.concurrent.locks.ReentrantReadWriteLock.WriteLock;
+
 import android.content.Context;
 import android.graphics.Canvas;
 import android.graphics.Color;
@@ -20,51 +25,79 @@ public class HokuyoView extends View {
        private int[] data = new int[681];
        private Paint paint = new Paint();
        private Path path = new Path();
+       
        private boolean isRunning = false;
        private boolean hasBeenDrawn = true;
+       private final ReentrantLock lock = new ReentrantLock();
+       private final ReentrantReadWriteLock controlRrwl = new ReentrantReadWriteLock(true);
+       private final ReadLock rcLock = controlRrwl.readLock();
+       private final WriteLock wcLock = controlRrwl.writeLock();
 
        public HokuyoView(Context context, AttributeSet attrs) {
                super(context, attrs);
+               
+               paint.setStyle(Style.STROKE);
+               paint.setStrokeWidth(4);
+               paint.setColor(Color.BLACK);
+               paint.setAntiAlias(false);
        }
 
        @Override
        protected void onDraw(Canvas canvas) {
-               if (isRunning) {
-                       paint.setStyle(Style.STROKE);
-                       paint.setStrokeWidth(3);
-                       paint.setColor(Color.BLACK);
-                       paint.setAntiAlias(true);
-       
-                       path.reset();
-                       path.moveTo(getWidth()/2, getHeight());
-                       for(int i = 0; i < data.length; i++) {
-                               double ang = HOKUYO_INDEX_TO_RAD(i);
-                       if((ang<(-HOKUYO_RANGE_ANGLE_LEFT/180.0*Math.PI))||((ang>(HOKUYO_RANGE_ANGLE_RIGHT/180.0*Math.PI)))) {
-                       continue;
-                       }
-       
-                       data[i] /= 10;
-                   int x = (int)(getWidth()/2) - (int)(data[i] * Math.sin(HOKUYO_INDEX_TO_RAD(i)));
-                   int y = getHeight() -(int)(data[i] * Math.cos(HOKUYO_INDEX_TO_RAD(i)));
-                               path.lineTo(x, y);
+               rcLock.lock();
+               try {
+                       if (isRunning) {
+                               lock.lock();
+                               try {
+                                       if (!hasBeenDrawn) {
+                                               path.reset();
+                                               path.moveTo(getWidth()/2, getHeight());
+                                               for(int i = 0; i < data.length; i++) {
+                                                       double ang = HOKUYO_INDEX_TO_RAD(i);
+                                               if((ang<(-HOKUYO_RANGE_ANGLE_LEFT/180.0*Math.PI))||((ang>(HOKUYO_RANGE_ANGLE_RIGHT/180.0*Math.PI)))) {
+                                               continue;
+                                               }
+                               
+                                               data[i] /= 10;
+                                           int x = (int)(getWidth()/2) - (int)(data[i] * Math.sin(HOKUYO_INDEX_TO_RAD(i)));
+                                           int y = getHeight() -(int)(data[i] * Math.cos(HOKUYO_INDEX_TO_RAD(i)));
+                                                       path.lineTo(x, y);
+                                               }
+                                               path.close();
+                                               hasBeenDrawn = true;
+                                       }
+                               }
+                               finally {
+                                       lock.unlock();
+                               }
+                       }
+                       else {
+                               path.reset();
                        }
-                       path.close();
-                       
                        canvas.drawPath(path, paint);
+               } finally {
+                       rcLock.unlock();
                }
-               else
-                       canvas.drawARGB(0, 0, 0, 0);
-               hasBeenDrawn = true;
        }
        
        public void run(boolean run) {
-               isRunning = run;
+               wcLock.lock();
+               try {
+                       isRunning = run;
+               } finally {
+                       wcLock.unlock();
+               }
        }
        
        public void setData(int[] data) {
-               if (hasBeenDrawn) {
-                       this.data = data.clone();
-                       hasBeenDrawn = false;
+               if (lock.tryLock()) {
+                       try {
+                               this.data = data.clone();
+                               hasBeenDrawn = false;
+                       }
+                       finally {
+                               lock.unlock();
+                       }
                        postInvalidate();
                }
        }