engagement_test: engagement_test/src/edu/wpi/hri/ros/testing/looper/NodTimer.java Source File

00001 /*
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00034 package edu.wpi.hri.ros.testing.looper;
00035 
00036 import java.sql.Date;
00037 import java.util.Timer;
00038 
00039 import ros.ServiceClient;
00040 import ros.pkg.bml_srvs.srv.BMLHead;
00041 
00048 public class NodTimer {
00050         private final long nod_time_;
00051 
00053         private Timer nod_timer_;
00054 
00056         private NodTask nod_task_;
00057 
00059         private final ServiceClient<BMLHead.Request, BMLHead.Response, BMLHead> head_srv_;
00060 
00069         public NodTimer(
00070                         ServiceClient<BMLHead.Request, BMLHead.Response, BMLHead> head_srv,
00071                         long nod_time) {
00072                 this.nod_time_ = nod_time;
00073                 this.head_srv_ = head_srv;
00074         }
00075 
00079         public void run() {
00080                 // Store the nod time and create a new timer and
00081                 // Create a new nod task using the head service client
00082                 this.nod_timer_ = new Timer();
00083                 this.nod_task_ = new NodTask(this.head_srv_);
00084 
00085                 // Grab the current time
00086                 long now = System.currentTimeMillis();
00087 
00088                 // Create the date associated with the time the first nod
00089                 // should occur
00090                 Date start_time = new Date(now + this.nod_time_);
00091 
00092                 // Create the nod timer with the nod task using the nod time
00093                 this.nod_timer_.scheduleAtFixedRate(this.nod_task_, start_time,
00094                                 this.nod_time_);
00095         }
00096 
00102         public boolean cancel() {
00103                 // Cancel the nod task and the nod timer
00104                 this.nod_task_.cancel();
00105                 this.nod_timer_.cancel();
00106 
00107                 return true;
00108         }
00109 }