videomodule.java

j2me实现的移动机器人代码（Java实现）

package cie.mobile.video;

import name.lxm.robot.arch.*;
import java.awt.Image;
import java.awt.image.BufferedImage;

public class VideoModule implements Module, Runnable
{
	private String module_name;
	private SimpleOutPort video_port = null;
	private String[] port_names = {"video"};
	private String x_size;
	private String y_size;
	private ModuleDoc doc;
	private FrameGrabber grabber;
	private Thread t_this;
	private boolean bRun = false;
	
	private String video_driver;
	
	public VideoModule()
	{
	}
	
	public String getName()
	{
		return module_name;
	}

	public int getLayer()
	{
		return doc.getLayer();
	}
	
	public Port getPort(String name)
	{
		if(port_names[0].equals(name))
			return video_port;
		return null;
	}
	
	public ModuleDoc getModuleDoc()
	{
		return doc;
	}
	
	public void init(ModuleDoc cfg) throws Exception
	{
		doc = cfg;
		module_name = doc.getName();
		video_driver = doc.getParamValue("driver");
		video_port = new SimpleOutPort(this, port_names[0]);
		x_size = doc.getParamValue("x_size");
		y_size = doc.getParamValue("y_size");
		grabber = new FrameGrabber(video_driver, x_size, y_size);
	}
	
	public void start() throws Exception
	{
		grabber.start();
		t_this = new Thread(this);
		bRun = true;
		t_this.start();
	}
	
	public void stop() throws Exception
	{
		bRun = false;
		int i = 0;
		while(t_this.isAlive() && i < 5)
		{
			try{
				Thread.sleep(50);
			}catch(InterruptedException e)
			{}
		}
		if(t_this.isAlive())
			throw new Exception("Cannot Stop the module " + module_name);
	}
	
	public void destroy() throws Exception
	{
	}

	public void run()
	{
		BufferedImage image;
		while(bRun)
		{
			image = grabber.getBufferedImage();
			video_port.setValue(this, image, 2000);
			//System.out.println("Send a frame");
			try{
				Thread.sleep(1000);
			}catch(InterruptedException e){}
		}
	}
}