ipc.java

来自「卡耐基.梅隆大学的机器人仿真软件（Redhat linux 9下安装）」· Java 代码 · 共 948 行 · 第 1/3 页

  public static int unsubscribeDisconnect (CONNECT_HANDLE_TYPE 
					   disconnectHandler) {
    return unsubscribeDisconnect(disconnectHandler.getClass());
  }

  public static int subscribeHandlerChange (String msgName, 
					    CHANGE_HANDLE_TYPE
					    handlerChangeHandler) {
    /* Do it this way because multiple handlers can be subscribed 
       for same message */
    List list = (List)handlerChangeHashTable.get(msgName);
    if (list == null) {
      list = new LinkedList();
      handlerChangeHashTable.put(msgName, list);
    }
    list.add(0, handlerChangeHandler);

    if (list.size() == 1) {
	return IPC_subscribeHandlerChange(msgName);
    } else {
	return IPC_OK;
    }
  }

  public static int unsubscribeHandlerChange (String msgName,
					      Class handlerChangeHandlerClass) {
    List handlerList = (List)handlerChangeHashTable.get(msgName);
    if (handlerList == null) {
      return IPC_Error;
    } else if (!removeFromHandlerList(handlerList, handlerChangeHandlerClass)) {
      System.out.println("No change handler found for message "+ msgName
			   +" of class "+ handlerChangeHandlerClass.getName());
      return IPC_Error;
    } else if (handlerList.size() == 0) {
      return IPC_unsubscribeHandlerChange(msgName);
    } else {
      return IPC_OK;
    }
  }

  public static int unsubscribeHandlerChange (String msgName,
					      CHANGE_HANDLE_TYPE
					      handlerChangeHandler){
    return unsubscribeHandlerChange(msgName, handlerChangeHandler.getClass());
  }

  public static int numHandlers (String msgName) {
    return IPC_numHandlers(msgName);
  }

  public static int defineFormat (String formatName, String formatString) {
    return IPC_defineFormat(formatName, formatString);
  }

  public static int checkMsgFormats (String formatName, String formatString) {
    return IPC_checkMsgFormats(formatName, formatString);
  }

  public static int publishData (String msgName, Object data)  {
    formatters.VARCONTENT varcontent = new formatters.VARCONTENT();
    int retVal, marshallRet = IPC_OK;

    try { marshallRet = formatters.marshall(IPC_msgFormatter(msgName), 
					    coerceDataObject(data), 
					    varcontent);
    } catch ( Exception e) { 
      handleException("publishData", msgName, e);
    }
    if (marshallRet == IPC_Error) {
      return IPC_Error;
    } else {
      retVal = IPC_publish(msgName, varcontent.length, varcontent.byteArray);
      if (varcontent.byteArray != 0) IPC_freeByteArray(varcontent.byteArray);

      return retVal;
    } 
  }

  /* Specialized versions of "publish" to handle primitive data types */
  public static int publishData (String msgName, char data) {
    return publishData(msgName, new formatters.IPCChar(data)); }
  public static int publishData (String msgName, boolean data)  {
    return publishData(msgName, new formatters.IPCBoolean(data)); }
  public static int publishData (String msgName, byte data) {
    return publishData(msgName, new formatters.IPCByte(data)); }
  public static int publishData (String msgName, short data) {
    return publishData(msgName, new formatters.IPCShort(data)); }
  public static int publishData (String msgName, int data) {
    return publishData(msgName, new formatters.IPCInteger(data)); }
  public static int publishData (String msgName, long data) {
    return publishData(msgName, new formatters.IPCLong(data)); }
  public static int publishData (String msgName, float data) {
    return publishData(msgName, new formatters.IPCFloat(data)); }
  public static int publishData (String msgName, double data) {
    return publishData(msgName, new formatters.IPCDouble(data)); }

  public static int respondData (MSG_INSTANCE msgInstance, String msgName,
				 Object data) {
    formatters.VARCONTENT varcontent = new formatters.VARCONTENT();
    int retVal, marshallRet = IPC_OK;

    try {
      marshallRet = formatters.marshall(IPC_msgFormatter(msgName), 
					coerceDataObject(data), varcontent);
    } catch ( Exception e) {
      handleException("respondData", msgName, e);
    }
    if (marshallRet == IPC_Error) {
      return IPC_Error;
    } else {
      retVal = IPC_respond(msgInstance.cptr, msgName,
			   varcontent.length, varcontent.byteArray);
      if (varcontent.byteArray != 0) IPC_freeByteArray(varcontent.byteArray);
      return retVal;
    }
  }

  /* Specialized versions of "respond" to handle primitive data types */
  public static int respondData (MSG_INSTANCE msgInstance, String msgName,
				 char data) {
    return respondData(msgInstance, msgName, new formatters.IPCChar(data)); }
  public static int respondData (MSG_INSTANCE msgInstance, String msgName,
				 boolean data) {
    return respondData(msgInstance, msgName, new formatters.IPCBoolean(data));}
  public static int respondData (MSG_INSTANCE msgInstance, String msgName,
				 byte data) {
    return respondData(msgInstance, msgName, new formatters.IPCByte(data)); }
  public static int respondData (MSG_INSTANCE msgInstance, String msgName,
				 short data) {
    return respondData(msgInstance, msgName, new formatters.IPCShort(data)); }
  public static int respondData (MSG_INSTANCE msgInstance, String msgName,
				 int data) {
    return respondData(msgInstance, msgName, new formatters.IPCInteger(data));}
  public static int respondData (MSG_INSTANCE msgInstance, String msgName,
				 long data) {
    return respondData(msgInstance, msgName, new formatters.IPCLong(data)); }
  public static int respondData (MSG_INSTANCE msgInstance, String msgName,
				 float data) {
    return respondData(msgInstance, msgName, new formatters.IPCFloat(data)); }
  public static int respondData (MSG_INSTANCE msgInstance, String msgName,
				 double data) {
    return respondData(msgInstance, msgName, new formatters.IPCDouble(data)); }

  public static int queryNotifyData (String msgName, Object data,
				     HANDLER_TYPE handler, Class responseClass)
    {
    formatters.VARCONTENT varcontent = new formatters.VARCONTENT();
    int retVal, marshallRet = IPC_OK;

    try {
      marshallRet = formatters.marshall(IPC_msgFormatter(msgName), 
					coerceDataObject(data), varcontent);
    } catch ( Exception e) {
      handleException("queryNotifyData", msgName, e);
    }
    if (marshallRet == IPC_Error) {
      return IPC_Error;
    } else {
      int handlerNum = ++handlerNumber;
      String hashKey = Integer.toString(handlerNum);
    
      msgHashTable.put(hashKey, new handlerHashData(handler, responseClass));

      retVal = IPC_queryNotify(msgName, varcontent.length, 
			       varcontent.byteArray, handlerNum);
      if (varcontent.byteArray != 0) IPC_freeByteArray(varcontent.byteArray);
      return retVal;
    }
  }

  /* Specialized versions of "queryNotify" to handle primitive data types */
  public static int queryNotifyData (String msgName, char data,
				     HANDLER_TYPE handler,
				     Class responseClass) {
    return queryNotifyData(msgName, new formatters.IPCChar(data),
			   handler, responseClass); }
  public static int queryNotifyData (String msgName, boolean data,
				     HANDLER_TYPE handler,
				     Class responseClass) {
    return queryNotifyData(msgName, new formatters.IPCBoolean(data), 
			   handler, responseClass); }
  public static int queryNotifyData (String msgName, byte data,
				     HANDLER_TYPE handler,
				     Class responseClass) {
    return queryNotifyData(msgName, new formatters.IPCByte(data),
			   handler, responseClass); }
  public static int queryNotifyData (String msgName, short data,
				     HANDLER_TYPE handler,
				     Class responseClass) {
    return queryNotifyData(msgName, new formatters.IPCShort(data),
			   handler, responseClass); }
  public static int queryNotifyData (String msgName, int data,
				     HANDLER_TYPE handler,
				     Class responseClass) {
    return queryNotifyData(msgName, new formatters.IPCInteger(data),
			   handler, responseClass); }
  public static int queryNotifyData (String msgName, long data,
				     HANDLER_TYPE handler,
				     Class responseClass) {
    return queryNotifyData(msgName, new formatters.IPCLong(data),
			   handler, responseClass); }
  public static int queryNotifyData (String msgName, float data,
				     HANDLER_TYPE handler,
				     Class responseClass) {
    return queryNotifyData(msgName, new formatters.IPCFloat(data),
			   handler, responseClass); }
  public static int queryNotifyData (String msgName, double data,
				     HANDLER_TYPE handler,
				     Class responseClass) {
    return queryNotifyData(msgName, new formatters.IPCDouble(data),
			   handler, responseClass); }

  public static Object queryResponseData (String msgName, Object data,
					  Class responseClass,
					  long timeoutMSecs) {
    formatters.VARCONTENT varcontent = new formatters.VARCONTENT();
    Object responseObject = null;
    int retVal;

    try {
      if (formatters.marshall(IPC_msgFormatter(msgName),coerceDataObject(data),
			      varcontent) != IPC_Error) {
	queryResponse response = new queryResponse();

	retVal = IPC_queryResponse(msgName, varcontent.length,
				   varcontent.byteArray, response,
				   timeoutMSecs);
	if (varcontent.byteArray != 0) IPC_freeByteArray(varcontent.byteArray);
	if (retVal == IPC_OK && varcontent.byteArray != 0) {
	  responseObject = unmarshallMsgData(response.formatter,
					     response.byteArray,
					     responseClass);
	}
      }
    } catch ( Exception e) {
      handleException("queryResponseData", msgName, e);
    }
    return responseObject;
  }

  /* Specialized versions of "queryResponse" to handle primitive data types */
  public static Object queryResponseData (String msgName, char data,
					  Class responseClass,
					  long timeOutMSecs) {
    return queryResponseData(msgName, new formatters.IPCChar(data),
			     responseClass, timeOutMSecs); }
  public static Object queryResponseData (String msgName, boolean data,
					  Class responseClass,
					  long timeOutMSecs) {
    return queryResponseData(msgName, new formatters.IPCBoolean(data),
			     responseClass, timeOutMSecs); }
  public static Object queryResponseData (String msgName, byte data,
					  Class responseClass,
					  long timeOutMSecs) {
    return queryResponseData(msgName, new formatters.IPCByte(data),
			     responseClass, timeOutMSecs); }
  public static Object queryResponseData (String msgName, short data,
					  Class responseClass,
					  long timeOutMSecs) {
    return queryResponseData(msgName, new formatters.IPCShort(data),
			     responseClass, timeOutMSecs); }
  public static Object queryResponseData (String msgName, int data,
					  Class responseClass,
					  long timeOutMSecs) {
    return queryResponseData(msgName, new formatters.IPCInteger(data),
			     responseClass, timeOutMSecs); }
  public static Object queryResponseData (String msgName, long data,
					  Class responseClass,
					  long timeOutMSecs) {
    return queryResponseData(msgName, new formatters.IPCLong(data),
			     responseClass, timeOutMSecs); }
  public static Object queryResponseData (String msgName, float data,
					  Class responseClass,
					  long timeOutMSecs) {
    return queryResponseData(msgName, new formatters.IPCFloat(data),
			     responseClass, timeOutMSecs); }
  public static Object queryResponseData (String msgName, double data,
					  Class responseClass,
					  long timeOutMSecs) {
    return queryResponseData(msgName, new formatters.IPCDouble(data),
			     responseClass, timeOutMSecs); }

  public static IPC_CONTEXT getContext () { 
      return new IPC_CONTEXT(IPC_getContext());
  }

  public static int setContext (IPC_CONTEXT context) {
    return IPC_setContext(context.cptr);
  }

  public static long getPID() {
    return IPC_getPID();
  }

  public static int addTimer (long tdelay, long count, 
			      TIMER_HANDLER_TYPE handler) {
    int handlerNum = ++handlerNumber;
    String hashKey = Integer.toString(handlerNum);

    timerHashTable.put(handler.getClass().getName(), hashKey);
    timerHashTable.put(hashKey, handler);

    return IPC_addTimer(tdelay, count, handlerNum);
  }

  public static int addTimerGetRef (long tdelay, long count, 
				    TIMER_HANDLER_TYPE handler,
				    TIMER_REF timerRef) {
    int refVal, handlerNum = ++handlerNumber;
    String hashKey = Integer.toString(handlerNum);

    timerHashTable.put(hashKey, handler);

    refVal = IPC_addTimerGetRef(tdelay, count, handlerNum);
    if (refVal == 0) {
      return IPC_Error;