public TangoAPI(VIOReceiver vrec, DepthReceiver drec) {
if (vrec == null) {
throw new IllegalArgumentException("TANGOAPI vioReceiver must not be null");
}
if (drec == null) {
throw new IllegalArgumentException("TANGOAPI depthReceiver must not be null");
}
vioReceiver = vrec;
vioReceiver.buffer = (ByteBuffer) allocNativeOdomBuffer();
vioReceiver.buffer.order(ByteOrder.LITTLE_ENDIAN);
depthReceiver = drec;
}
@Override
public void run() {
int res = 0;
while (true) {
if (mBreakout) {
Log.e(TAG, "Breaking out");
break;
}
res = dowork();
if ((res & UPDATED_DEPTH) != 0) depthReceiver.DepthCallback();
if ((res & UPDATED_ODOM) != 0) vioReceiver.VIOCallback();
try {
Thread.sleep(33);
} catch (InterruptedException e) {
Log.e(TAG, "INSOMNIA", e);
}
}
Log.e(TAG, "Broke out");
}
