rangedata.java

j2me实现的移动机器人代码（Java实现）

/*
 * Created on 2005-4-14
 */
package cie.mobile.sick;

import java.io.*;
import name.lxm.robot.arch.Message;
import org.jdom.*;
import org.jdom.output.*;
import org.jdom.input.*;

/**
 * @author lxm
 */
public class RangeData implements Message
{
    /* start angle of the range, in degree, relative to the sick itself */
    private int start_angle;
    /* end angle of the range, in degree, relative to the sick itself */
    private int end_angle;
    /* how many valid data in the buffer */
    private int data_count;
    /* the buffer that contains the valid data */
    private int[] data;

    /***
     * Constructor.
     * @param c total count of sickdata
     * @param sa start angle
     * @param ea end angle
     */
    public RangeData(int c, int sa, int ea)
    {
        data = new int[c];
        data_count = c;
        start_angle = sa;
        end_angle = ea;
    }
    
    public RangeData()
    {
    }

    public int getLength()
    {
        return data_count;
    }
    
    public synchronized int[] getData(int a[])
    {
        if(a.length < data_count)
        {
		return null;
        }
        for(int i=0; i<data_count; i++)
        {
            a[i] = data[i];
        }
	return a;
    }

    /**
     * Copy data from the given array to the local data buffer
     * @param sickdata
     */
    public synchronized void setData(int[] sickdata) {
        for(int i=0; i<data_count; i++)
        {
            data[i] = sickdata[i];
        }
    }

    public synchronized String toString()
    {
	StringWriter sw = new StringWriter();
	    
        for(int i=0; i<data_count-1; i++)
        {
            sw.write(Integer.toString(data[i]));
	    sw.write("-");
        }
	sw.write(Integer.toString(data[data_count-1]));
	return sw.toString();
    }

    /**
     * Serialize itself to an XML document, and send
     * through the writer provided.
     *
     * @param w Writer - a writer through which the xml document will write to
     * @throws IOException
     */
    public void send2Writer(Writer w) throws IOException
    {
	    Element e = new Element("RangeData");
	    Document doc = new Document(e);
	    e.setAttribute("start_angle", Integer.toString(start_angle));
	    e.setAttribute("end_angle", Integer.toString(end_angle));
	    e.setAttribute("data_count", Integer.toString(data_count));
	    Element child = new Element("data");
	    child.setText(toString());
	    e.addContent(child);
	    Format format = Format.getRawFormat();
	    format = format.setTextMode(Format.TextMode.TRIM);
	    XMLOutputter outer = new XMLOutputter(format);
	    outer.output(doc, w);
    }

    /**
     * Serialize itself from an XML document,
     * this documen will be recieved from the reader provided.
     *
     * @param r Reader - a reader through which the xml document will be recieved.
     * @throws IOException
     */
    public synchronized void loadFromReader(Reader r) throws IOException
    {
	   SAXBuilder saxb = new SAXBuilder();
	   Document doc;
	   try{
		  doc = saxb.build(r);
		  Element e = doc.getRootElement();
		  if(e.getName().equals("RangeData"))
		  {
			  start_angle = Integer.parseInt(e.getAttributeValue("start_angle"));
			  end_angle = Integer.parseInt(e.getAttributeValue("end_angle"));
			  data_count = Integer.parseInt(e.getAttributeValue("data_count"));
			  Element child = e.getChild("data");
			  if(child != null)
			  {
				  String s = child.getText();
				  String[] v = s.split("-");
				  //to do - boundary checking
				  //initialize
				  data = new int[data_count];
				  for(int i=0; i<v.length; i++)
				  {
					  data[i] = Integer.parseInt(v[i]);
				  }
			  }
		  }
	   }catch(JDOMException e)
	   {
		   e.printStackTrace();
	   }
    }

    public int getStartAngle()
    {
	    return start_angle;
    }

    public int getEndAngle()
    {
	    return end_angle;
    }
}