sickmodule.java

j2me实现的移动机器人代码（Java实现）

package cie.mobile.sick;

import name.lxm.robot.arch.*;
import java.io.IOException;

public class SickModule implements Module, Runnable
{
	private static final String PORTNAME_MAP = "map";

	private String module_name;
	private SimpleOutPort port_map = null;
	private ModuleDoc module_doc = null;
	private LMS200 lms200 = null;
	private Thread t_working = null;
	private boolean bActive = false;
	private RangeData mapData = null;
	
	
	public SickModule()
	{
		port_map = new SimpleOutPort(this, PORTNAME_MAP);
		System.out.println("SickModule has been constructed.");
	}
	
	public String getName()
	{
		return module_name;
	}

	public int getLayer()
	{
		return module_doc.getLayer();
	}
	
	public Port getPort(String name)
	{
		if(PORTNAME_MAP.equals(name))
			return port_map;
		return null;
	}

	public ModuleDoc getModuleDoc()
	{
		return module_doc;
	}

	public void init(ModuleDoc cfg) throws Exception
	{
		module_doc = cfg;
		module_name = cfg.getName();
		String com = cfg.getParamValue("com");
		String baudrate = cfg.getParamValue("baudrate");
		String mode = cfg.getParamValue("mode");
		lms200 = new LMS200(com, mode, baudrate);
	}
	
	public void start() throws Exception
	{
		t_working = new Thread(this);
		/*booting the LMS*/
		lms200.start();
		
		bActive = true;
		t_working.start();
	}
	
	public void stop() throws Exception
	{
		bActive =  false;
		int i=0;
		try{
			Thread.sleep(50);
		}catch(InterruptedException e){}
		while(t_working.isAlive())
		{
			try{
				Thread.sleep(50);
			}catch(InterruptedException e){}
			i++;
			if(i>5) break;
		}
		t_working = null;
	}
	
	public void destroy() throws Exception
	{
	}
	
	public void run()
	{
		while(bActive)
		{
			/*get a data frame*/
			try{
				mapData = lms200.getDataFrame();
			}catch(IOException e)
			{
				e.printStackTrace();
				break;
			}
			if(mapData != null)
			{
				/*send to port*/
				port_map.setValue(this, mapData, 1000);
				//System.out.println("Map Data has been send!");
			}
				/*Does it necessary to wait for a while?*/
			try{
				Thread.sleep(50);
			}catch(InterruptedException e){}
		}
	}
}