sickdisplay.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 javax.swing.*;

public class SickDisplay extends AbstractModule
{
	private String[] port_names = {"data"};
	private SimpleInPort data_port = null;
	private int width = 400;
	private int height = 300;
	private int data_length = 361;
	private Object locker = new Object();
	private JFrame myframe = new JFrame("Sick Range Finder");
	private SickDisplayPanel panel = null;

	public void valueUpdated()
	{
		synchronized(locker)
		{
			locker.notifyAll();
		}
	}

	public void run()
	{
		while(bRun)
		{
			synchronized(locker)
			{
				try{
					locker.wait();
				}catch(InterruptedException e)
				{}
			}
			Object o = data_port.getValue();
			if(o != null && (o instanceof RangeData))
			{
				RangeData data = (RangeData) o;
				panel.paintData(data);
				System.out.print(".");
			}else
			{
				System.out.println("Bad Range Data, drop it.");
			}
		}
	}

	public void init(ModuleDoc doc) throws Exception
	{
		super.init(doc);
		String s = doc.getParamValue("width");
		if(s != null)
			width = Integer.parseInt(s);
		s = doc.getParamValue("height");
		if(s != null)
			height = Integer.parseInt(s);
		s = doc.getParamValue("data_length");
		if(s != null)
			data_length = Integer.parseInt(s);
		data_port = new SimpleInPort(this, port_names[0]);
		data_port.registerListener(this);
		panel = new SickDisplayPanel(width, height, data_length);
		myframe.getContentPane().add(panel);
		myframe.setVisible(true);
		myframe.pack();
	}

	public void start() throws Exception
	{
		super.start();
	}
	
	public Port getPort(String name)
	{
		if(port_names[0].equals(name))
			return data_port;
		return null;
	}

	public void stop() throws Exception
	{
		super.stop();
	}
}