ROBOT_DEMO: add publishers for "crane_cmd" and "magnet_cmd"

diff --git a/orte/Robot_Demo/res/values/strings.xml b/orte/Robot_Demo/res/values/strings.xml
index e49523305c25b8e1fc5f3149129e5cc9a9c83fae..aacc9ddffc7856bbd84a76856871f24a0572e51c 100644 (file)
--- a/orte/Robot_Demo/res/values/strings.xml
+++ b/orte/Robot_Demo/res/values/strings.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="utf-8"?>
 <resources>
 
-    <string name="app_name">ORTE Demo</string>
+    <string name="app_name">Robomon</string>
 
 </resources>
\ No newline at end of file

diff --git a/orte/Robot_Demo/src/org/ocera/orte/demo/CraneCmdPublish.java b/orte/Robot_Demo/src/org/ocera/orte/demo/CraneCmdPublish.java
new file mode 100644 (file)
index 0000000..d75d6ac
--- /dev/null
+++ b/orte/Robot_Demo/src/org/ocera/orte/demo/CraneCmdPublish.java
@@ -0,0 +1,72 @@
+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.Publication;
+import org.ocera.orte.types.NtpTime;
+import org.ocera.orte.types.PublProp;
+
+public class CraneCmdPublish {
+       
+       private boolean isCancelled = true;
+       private CraneCmdType liftmsg;
+       private Publication pub;
+       private PublProp publProp;
+       private DomainApp appDomain;
+       
+       private final ReentrantReadWriteLock controlRrwl = new ReentrantReadWriteLock(true);
+       private final ReadLock rcLock = controlRrwl.readLock();
+       private final WriteLock wcLock = controlRrwl.writeLock();
+       
+       public CraneCmdPublish(DomainApp appDomain) {
+               this.appDomain = appDomain;
+               
+           NtpTime persistence = new NtpTime(3);
+           int strength = 100;
+           
+           liftmsg = new CraneCmdType(appDomain,"crane_cmd");
+           
+           publProp = new PublProp(liftmsg.getTopic(),
+                                                                        "crane_cmd",                                   
+                                                                        persistence,
+                                                                        strength);
+       }
+       
+       public void start() {
+               wcLock.lock();
+               try {
+                       isCancelled = false;
+                   pub = appDomain.createPublication(publProp, liftmsg);
+               }
+               finally {
+                       wcLock.unlock();
+               }
+       }
+       
+       public void cancel() {
+               wcLock.lock();
+               try {
+                       isCancelled = true;
+                       pub.destroy();
+               } finally {
+                       wcLock.unlock();
+               }
+       }
+       
+       public boolean isCancelled() {
+               rcLock.lock();
+               try {
+                       return isCancelled;
+               } finally {
+                       rcLock.unlock();
+               }
+       }
+       
+       public void send(short magnet) {
+               liftmsg.position = magnet;
+               pub.send(liftmsg);
+       }
+}

diff --git a/orte/Robot_Demo/src/org/ocera/orte/demo/CraneCmdType.java b/orte/Robot_Demo/src/org/ocera/orte/demo/CraneCmdType.java
new file mode 100644 (file)
index 0000000..154755a
--- /dev/null
+++ b/orte/Robot_Demo/src/org/ocera/orte/demo/CraneCmdType.java
@@ -0,0 +1,35 @@
+package org.ocera.orte.demo;
+
+import org.ocera.orte.DomainApp;
+import org.ocera.orte.types.MessageData;
+import org.ocera.orte.types.ORTEConstant;
+
+public class CraneCmdType extends MessageData {
+       
+       public int position = 0;
+
+         public CraneCmdType(DomainApp domainApp, String newTopic) {
+                   super();
+                   this.setTopic(newTopic);
+                   if (!domainApp.regNewDataType("crane_cmd",getMaxDataLength())) {
+             System.out.println(":j!: cannot register data type \"lift_cmd\"!");    
+           }
+         }
+         
+       @Override
+       public void read() {
+       }
+
+       @Override
+       public void write() {
+               buffer.rewind();
+               buffer.putShort((short) position);
+               buffer.putShort((short) 0);
+       }
+
+       @Override
+       public int getMaxDataLength() {
+               return 2*ORTEConstant.SHORT_FIELD_SIZE;
+       }
+
+}

diff --git a/orte/Robot_Demo/src/org/ocera/orte/demo/MagnetCmdPublish.java b/orte/Robot_Demo/src/org/ocera/orte/demo/MagnetCmdPublish.java
new file mode 100644 (file)
index 0000000..f56d42f
--- /dev/null
+++ b/orte/Robot_Demo/src/org/ocera/orte/demo/MagnetCmdPublish.java
@@ -0,0 +1,72 @@
+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.Publication;
+import org.ocera.orte.types.NtpTime;
+import org.ocera.orte.types.PublProp;
+
+public class MagnetCmdPublish {
+       
+       private boolean isCancelled = true;
+       private MagnetCmdType magnetmsg;
+       private Publication pub;
+       private PublProp publProp;
+       private DomainApp appDomain;
+       
+       private final ReentrantReadWriteLock controlRrwl = new ReentrantReadWriteLock(true);
+       private final ReadLock rcLock = controlRrwl.readLock();
+       private final WriteLock wcLock = controlRrwl.writeLock();
+       
+       public MagnetCmdPublish(DomainApp appDomain) {
+               this.appDomain = appDomain;
+               
+           NtpTime persistence = new NtpTime(3);
+           int strength = 100;
+           
+           magnetmsg = new MagnetCmdType(appDomain,"magnet_cmd");
+           
+           publProp = new PublProp(magnetmsg.getTopic(),
+                                                                        "magnet_cmd",                                  
+                                                                        persistence,
+                                                                        strength);
+       }
+       
+       public void start() {
+               wcLock.lock();
+               try {
+                       isCancelled = false;
+                   pub = appDomain.createPublication(publProp, magnetmsg);
+               }
+               finally {
+                       wcLock.unlock();
+               }
+       }
+       
+       public void cancel() {
+               wcLock.lock();
+               try {
+                       isCancelled = true;
+                       pub.destroy();
+               } finally {
+                       wcLock.unlock();
+               }
+       }
+       
+       public boolean isCancelled() {
+               rcLock.lock();
+               try {
+                       return isCancelled;
+               } finally {
+                       rcLock.unlock();
+               }
+       }
+       
+       public void send(short magnet) {
+               magnetmsg.magnet = magnet;
+               pub.send(magnetmsg);
+       }
+}

diff --git a/orte/Robot_Demo/src/org/ocera/orte/demo/MagnetCmdType.java b/orte/Robot_Demo/src/org/ocera/orte/demo/MagnetCmdType.java
new file mode 100644 (file)
index 0000000..3f4df5d
--- /dev/null
+++ b/orte/Robot_Demo/src/org/ocera/orte/demo/MagnetCmdType.java
@@ -0,0 +1,34 @@
+package org.ocera.orte.demo;
+
+import org.ocera.orte.DomainApp;
+import org.ocera.orte.types.MessageData;
+import org.ocera.orte.types.ORTEConstant;
+
+public class MagnetCmdType extends MessageData {
+       
+       public int magnet = 0;
+
+         public MagnetCmdType(DomainApp domainApp, String newTopic) {
+                   super();
+                   this.setTopic(newTopic);
+                   if (!domainApp.regNewDataType("magnet_cmd",getMaxDataLength())) {
+             System.out.println(":j!: cannot register data type \"magnet_cmd\"!");    
+           }
+         }
+         
+       @Override
+       public void read() {
+       }
+
+       @Override
+       public void write() {
+               buffer.rewind();
+               buffer.putShort((short) magnet);
+       }
+
+       @Override
+       public int getMaxDataLength() {
+               return ORTEConstant.SHORT_FIELD_SIZE;
+       }
+
+}

diff --git a/orte/Robot_Demo/src/org/ocera/orte/demo/MainActivity.java b/orte/Robot_Demo/src/org/ocera/orte/demo/MainActivity.java
index 36f38c090670934e15c92c70b89bd1b6a81a7f63..b4f7f4723944d1f59a463900a92099624d95dcb0 100644 (file)
--- a/orte/Robot_Demo/src/org/ocera/orte/demo/MainActivity.java
+++ b/orte/Robot_Demo/src/org/ocera/orte/demo/MainActivity.java
@@ -56,6 +56,8 @@ public class MainActivity extends Activity {
        private MotionSpeedSubscribe motion_speed_subs = null;
        private HokuyoScanSubscribe hokuyo_scan = null;
        private PwrVoltageSubscribe pwr_voltage = null;
+       private MagnetCmdPublish magnet_cmd = null;
+       private CraneCmdPublish crane_cmd = null;
     private SensorManager mSensorManager = null;
     private Sensor mGravity = null;
     private SensorEventListener accel = null;
@@ -116,6 +118,14 @@ public class MainActivity extends Activity {
     protected void onDestroy() {
        super.onDestroy();
        
+       if (crane_cmd != null && !crane_cmd.isCancelled()) {
+               crane_cmd.cancel();
+       }
+       
+       if (magnet_cmd != null && !crane_cmd.isCancelled()) {
+               magnet_cmd.cancel();
+       }
+       
         if (appDomain != null) {
                appDomain.destroy();
                appDomain = null;
@@ -147,7 +157,7 @@ public class MainActivity extends Activity {
                voltage50 = (EditText)voltageDialog.findViewById(R.id.editText2);
                voltage80 = (EditText)voltageDialog.findViewById(R.id.editText3);
                voltageBAT = (EditText)voltageDialog.findViewById(R.id.editText4);
-
+               
         mSensorManager = (SensorManager) getSystemService(Context.SENSOR_SERVICE);
         mGravity = mSensorManager.getDefaultSensor(Sensor.TYPE_ACCELEROMETER);
         
@@ -159,6 +169,10 @@ public class MainActivity extends Activity {
         manager = new Manager(mgrs);
 
         appDomain = new DomainApp();
+        magnet_cmd = new MagnetCmdPublish(appDomain);
+        magnet_cmd.start();
+        crane_cmd = new CraneCmdPublish(appDomain);
+        crane_cmd.start();
     }
     
        @Override
@@ -219,16 +233,20 @@ public class MainActivity extends Activity {
                        item.setTitle("Start LRF");
                }
                else if (item.getTitle().equals("Lift up")) {
-                       
+                       crane_cmd.send((short)0x100);
+                       item.setTitle("Lift down");
                }
                else if (item.getTitle().equals("Lift down")) {
-                       
+                       crane_cmd.send((short)0x190);
+                       item.setTitle("Lift up");
                }
                else if (item.getTitle().equals("Magnet on")) {
-                       
+                       magnet_cmd.send((short)1);
+                       item.setTitle("Magnet off");                    
                }
                else if (item.getTitle().equals("Magnet off")) {
-                       
+                       magnet_cmd.send((short)0);
+                       item.setTitle("Magnet on");                     
                }
                else if (item.getTitle().equals("Voltage monitor")) {
                        if (pwr_voltage == null)