Project: bml_realizer License: BSD Dependencies: bml_msgs bml_srvs bml_lib rosjava Used by: None All Packages

bml_realizer/src/edu/wpi/hri/bml/realizer/BMLComm.java Go to the documentation of this file. /* * Software License Agreement (BSD License) * * Copyright (c) 2010, Worcester Polytechnic Institute * All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions * are met: * * * Redistributions of source code must retain the above copyright * notice, this list of conditions and the following disclaimer. * * Redistributions in binary form must reproduce the above * copyright notice, this list of conditions and the following * disclaimer in the documentation and/or other materials provided * with the distribution. * * Neither the name of Worcester Polytechnic Institute. nor the names * of its contributors may be used to endorse or promote products * derived from this software without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE * POSSIBILITY OF SUCH DAMAGE. */ package edu.wpi.hri.bml.realizer; import java.util.ArrayList; import java.util.List; import ros.NodeHandle; import ros.Publisher; import ros.RosException; import ros.Subscriber; import ros.Subscriber.Callback; import ros.pkg.bml_msgs.msg.BMLEmit; import ros.pkg.bml_msgs.msg.BMLException; import ros.pkg.bml_msgs.msg.BMLPerformance; import ros.pkg.bml_msgs.msg.Behavior; import ros.pkg.bml_msgs.msg.Flag; import edu.wpi.hri.bml.behavior.SyncRef; import edu.wpi.hri.bml.exec.SchedulerException; import edu.wpi.hri.log.Logger; import edu.wpi.hri.log.Logger.Colors; import edu.wpi.hri.log.Logger.LoggerLevel; public class BMLComm implements Callback<Behavior> { private final Logger logger; private final Publisher<BMLPerformance> performing; private final Publisher<BMLEmit> emit; private final Publisher<BMLException> exception; private final Publisher<BMLException> warning; private final Subscriber<Behavior> endEmit; private final List<String> finishedIds; public BMLComm(Logger logger, NodeHandle handle) throws RosException { this.logger = logger.sub(Colors.BML, "BML"); this.performing = handle.advertise("bml/performing", new BMLPerformance(), 10); this.emit = handle.advertise("bml/emit", new BMLEmit(), 100); this.endEmit = handle.subscribe("bml/end_emit", new Behavior(), this, 100); this.exception = handle.advertise("bml/exception", new BMLException(), 100); this.warning = handle.advertise("bml/warning", new BMLException(), 100); this.finishedIds = new ArrayList<String>(); this.logger.debug(LoggerLevel.INIT, "created BML comm..."); } public void shutdown() { this.endEmit.shutdown(); } public void publishPerformance(SyncRef ref, byte status) { this.logger.debug(LoggerLevel.IO, "publishing performance: " + ref); BMLPerformance msg = new BMLPerformance(); msg.behavior.id = ref.getID(); msg.behavior.synchPoint = ref.getPoint().rosValue; msg.status.value = status; this.performing.publish(msg); } public void publishEmit(SyncRef ref, String event, String body) { this.logger.debug(LoggerLevel.IO, "publishing emit: " + ref); BMLEmit msg = new BMLEmit(); msg.behavior.id = ref.getID(); msg.behavior.synchPoint = ref.getPoint().rosValue; msg.event = event; msg.body = body; this.emit.publish(msg); } public void publishException(SyncRef ref, byte status, String reason, boolean warning) { this.logger.debug(LoggerLevel.IO, "publishing exception: " + ref + " [" + reason + "] warn = [" + warning + "]"); BMLException msg = new BMLException(); msg.behavior.id = ref.getID(); msg.behavior.synchPoint = ref.getPoint().rosValue; msg.status.value = status; msg.reason = reason; if (warning) this.warning.publish(msg); else this.exception.publish(msg); } public void publishException(SchedulerException e) { this.publishException(e.base, Flag.NOT_DONE, e.getMessage(), e.warning); } public void waitForEndEmit(String id) { synchronized (finishedIds) { int lastSize = finishedIds.size(); while (!finishedIds.contains(id)) { try { finishedIds.wait(1000); if (finishedIds.size() == lastSize) return; else if (finishedIds.contains(id)) { finishedIds.remove(id); return; } else lastSize = finishedIds.size(); } catch (InterruptedException e) { } } finishedIds.remove(id); } } @Override public void call(Behavior behav) { logger.debug(LoggerLevel.IO, "Finish emit: " + behav.id); synchronized (finishedIds) { finishedIds.add(behav.id); finishedIds.notifyAll(); } } }

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bml_realizer
Author(s): Aaron Holroyd (aholroyd (at) wpi (dot) edu)
autogenerated on Fri Sep 9 10:44:12 2011