remoteclient.java

Pioneer2机器人远程控制程序

package abrobot.abmobilerobot.clinet;

/**
 * <p>Title: GOPDR</p>
 * <p>Description: General Open Platform for Distributed Robot</p>
 * <p>Copyright: Copyright (c) 2003</p>
 * <p>Company: SJTU</p>
 * @author Hou Xueqiao
 * @version 1.01
 */
import abrobot.*;

import java.rmi.RMISecurityManager;
import net.jini.discovery.LookupDiscovery;
import net.jini.core.lookup.ServiceTemplate;
import net.jini.discovery.LookupDiscoveryManager;
import net.jini.lookup.ServiceDiscoveryManager;
import net.jini.core.lookup.ServiceItem;
import net.jini.lease.LeaseRenewalManager;
import net.jini.core.discovery.LookupLocator;

public class RemoteClient {
  private static final long WAITFOR = 100000L;
  AbRobotInterface Robot;
  public void getRemoteRobot(String GatewayHostName){
    ServiceDiscoveryManager clientMgr = null;
//singlecast locate the jiniReggie on which robot register and tunnel run
        System.setSecurityManager(new RMISecurityManager());

        try {
            LookupLocator[] locators=new LookupLocator[]{new LookupLocator(GatewayHostName,4160)};
            LookupDiscoveryManager mgr =
                new LookupDiscoveryManager(LookupDiscovery.ALL_GROUPS,
                                           locators /* singlecast locators */,
                                           null /* DiscoveryListener */);
            System.out.println(mgr.getRegistrars().length);
            clientMgr = new ServiceDiscoveryManager(mgr,
                                                new LeaseRenewalManager());
        } catch(Exception e) {
            e.printStackTrace();
            System.exit(1);
        }

        Class [] classes = new Class[] {AbRobotInterface.class};
        ServiceTemplate template = new ServiceTemplate(null, classes,
                                                       null);

        ServiceItem item = null;
        if (clientMgr==null) System.out.println("NO Reggie");
        // Try to find the service, blocking till timeout if necessary
        try {
            item = clientMgr.lookup(template,
                                    null, /* no filter */
                                    WAITFOR /* timeout */);
        } catch(Exception e) {
            e.printStackTrace();
            System.exit(1);
        }
        if (item == null) {
            // couldn't find a service in time
            System.out.println("no service");
            System.exit(1);
        }

        try{
          Robot= (AbRobotInterface)item.service;
          System.out.println("RobotTag"+Robot.Properties().getProperty("Tag"));
        }catch(Exception e){
          e.printStackTrace();
        }

        // Get the service
	System.exit(0);



  }

  public RemoteClient() {
  }
  public static void main(String[] args) {
    RemoteClient remoteClient1 = new RemoteClient();
    remoteClient1.getRemoteRobot("202.120.8.136");
    try {
            Thread.currentThread().sleep(2*WAITFOR);
        } catch(java.lang.InterruptedException e) {
          // do nothing
          e.printStackTrace();
        }
  }
}