ObjectModelHandler.java

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/* \file ObjectModelHandler.java
 * \brief Object model handler
 *
 * The object model handler provides the callbacks for ROS services related to object models.
 * 
 * This file is part of the RoboEarth ROS re_comm_core package.
 * 
 * It was originally created for <a href="http://www.roboearth.org/">RoboEarth</a>.
 * The research leading to these results has received funding from the 
 * European Union Seventh Framework Programme FP7/2007-2013 
 * under grant agreement no248942 RoboEarth.
 *
 * Copyright (C) 2010 by 
 * <a href=" mailto:perzylo@cs.tum.edu">Alexander Perzylo</a>
 * Technische Universitaet Muenchen
 * 
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 * 
 *    <UL>
 *     <LI> Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     <LI> 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.
 *     <LI> Neither the name of Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *    </UL>
 * 
 * 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.
 *
 * \author Alexander Perzylo
 * \version 1.0
 * \date 2010
 * \image html http://www.roboearth.org/sites/default/files/RoboEarth.org_logo.gif
 * \image latex http://www.roboearth.org/sites/default/files/RoboEarth.org_logo.gif
 */
package roboearth.wp5.module;

import java.util.ArrayList;

import roboearth.wp5.conn.REInterface;
import ros.NodeHandle;
import ros.Ros;
import ros.RosException;
import ros.ServiceServer;
import ros.pkg.re_msgs.msg.StringArray;
import ros.pkg.re_srvs.srv.DelObject;
import ros.pkg.re_srvs.srv.GetObject;
import ros.pkg.re_srvs.srv.QueryObjects;
import ros.pkg.re_srvs.srv.SearchObjects;
import ros.pkg.re_srvs.srv.SetObject;
import ros.pkg.re_srvs.srv.UpdateObject;

public class ObjectModelHandler extends AbstractHandler {

        public ObjectModelHandler(Ros ros, NodeHandle n) throws RosException {

                super(ros, n);

                this.n.advertiseService("/re_comm/get_object", new GetObject(), new GetObjectCallback());
                this.n.advertiseService("/re_comm/set_object", new SetObject(), new SetObjectCallback());
                this.n.advertiseService("/re_comm/del_object", new DelObject(), new DelObjectCallback());
                this.n.advertiseService("/re_comm/update_object", new UpdateObject(), new UpdateObjectCallback());
                this.n.advertiseService("/re_comm/search_objects", new SearchObjects(), new SearchObjectsCallback());
                this.n.advertiseService("/re_comm/query_objects", new QueryObjects(), new QueryObjectsCallback());

                ros.logInfo("Module 'ObjectHandler' loaded.");

        }


        public static GetObject.Response getObject(GetObject.Request req) {
                
                GetObject.Response res = new GetObject.Response();
                
                REInterface con = getREConnection(guestInterfaceKey);
                ArrayList<String> outFilenames = new ArrayList<String>();
                ArrayList<String> outFileURLs = new ArrayList<String>();
                String ont = con.requestObject(req.objectUID, outFilenames, outFileURLs);
                
                if (ont != null) {
                        res.object = ont;
                        res.filenames = outFilenames;
                        res.fileURLs = outFileURLs;
                        res.success = true;
                } else {
                        res.success = false;
                }
                
                return res;
                
        }
        
        public static SetObject.Response setObject(SetObject.Request req) {
                
                SetObject.Response res = new SetObject.Response();
                res.success = false;
                
                if (req.apiKey != null && req.apiKey.length() > 0) {
                        REInterface con = getREConnection(req.apiKey);
                        ArrayList<String> filenames = new ArrayList<String>();
                        ArrayList<byte[]> dataArray = new ArrayList<byte[]>();
                        for (ros.pkg.re_msgs.msg.File file : req.files) {
                                filenames.add(file.name);
                                dataArray.add(file.data);
                        }
                        res.success = con.submitObject(req.object, req.cls, req.id, req.description, dataArray, filenames);     
                }
                
                return res;
                
        }

        public static DelObject.Response delObject(DelObject.Request req) {

                DelObject.Response res = new DelObject.Response();
                res.success = false;

                if (req.apiKey != null && req.apiKey.length() > 0) {

                        REInterface con = getREConnection(req.apiKey);
                        res.success = con.deleteObject(req.objectUID);

                }

                return res;

        }

        public static UpdateObject.Response updateObject(UpdateObject.Request req) {

                UpdateObject.Response res = new UpdateObject.Response();
                res.success = false;

                if (req.apiKey != null && req.apiKey.length() > 0) {

                        REInterface con = getREConnection(req.apiKey);                  
                        if (req.object != null) {
                                res.success = con.updateObject(req.uid, req.object, req.description);   
                        } else {
                                res.success = false;
                        }

                }

                return res;

        }

        public static SearchObjects.Response searchObjects(SearchObjects.Request req) {

                SearchObjects.Response res = new SearchObjects.Response();
                res.success = false;

                REInterface con = getREConnection(guestInterfaceKey);
                
                ArrayList<String> uids = new ArrayList<String>();
                ArrayList<ArrayList<String>> filenames = new ArrayList<ArrayList<String>>();
                ArrayList<ArrayList<String>> urls = new ArrayList<ArrayList<String>>();

                String[] onts = con.searchObjects(req.searchID, uids, filenames, urls);
                
                if (onts != null) {
                        for (String ont : onts) {
                                StringArray saNames = new StringArray();
                                saNames.list = filenames.remove(0);
                                res.filenames.add(saNames);
                                
                                StringArray saURLs = new StringArray();
                                saURLs.list = urls.remove(0);
                                res.fileURLs.add(saURLs);
                                
                                res.objects.add(ont);
                        }
                        res.uids = uids;
                        res.success = true;
                } else {
                        res.success = false;
                }

                return res;

        }
        
        public static QueryObjects.Response queryObjects(QueryObjects.Request req) {

                QueryObjects.Response res = new QueryObjects.Response();
                res.result = "";

                REInterface con = getREConnection(guestInterfaceKey);
                String result = con.queryObjectDB(req.query);
                if (result != null) {
                        res.result = result;
                }

                return res;

        }
        
        class GetObjectCallback implements ServiceServer.Callback<GetObject.Request, GetObject.Response> {

                @Override
                public GetObject.Response call(GetObject.Request req) {

                        GetObject.Response res = getObject(req);
                        if (res.success) {
                                ros.logInfo("GetObject (UID: " + req.objectUID + "): Done");
                        } else {
                                ros.logInfo("GetObject (UID: " + req.objectUID + "): Failed");
                        }

                        return res;

                }

        }

        class SetObjectCallback implements ServiceServer.Callback<SetObject.Request, SetObject.Response> {

                @Override
                public SetObject.Response call(SetObject.Request req) {

                        SetObject.Response res = setObject(req);
                        
                        if (req.apiKey != null && req.apiKey.length() > 0) {

                                if (res.success) {
                                        ros.logInfo("SetObject (UID: " + req.cls+"."+req.id + "): Done");
                                } else {
                                        ros.logInfo("SetObject (UID: " + req.cls+"."+req.id + "): Failed");
                                }
                                
                        } else {
                                ros.logInfo("SetObject (UID: " + req.cls+"."+req.id + "): API key is missing!");
                        }

                        return res;

                }

        }

        class DelObjectCallback implements ServiceServer.Callback<DelObject.Request, DelObject.Response> {

                @Override
                public DelObject.Response call(DelObject.Request req) {

                        DelObject.Response res = delObject(req);
                        
                        if (req.apiKey != null && req.apiKey.length() > 0) {

                                if (res.success) {
                                        ros.logInfo("DelObject (UID: " + req.objectUID + "): Done");
                                } else {
                                        ros.logInfo("DelObject (UID: " + req.objectUID + "): Failed");
                                }
                                
                        } else {
                                ros.logInfo("DelObject (UID: " + req.objectUID + "): API key is missing!");
                        }

                        return res;

                }

        }

        class UpdateObjectCallback implements ServiceServer.Callback<UpdateObject.Request, UpdateObject.Response> {

                @Override
                public UpdateObject.Response call(UpdateObject.Request req) {

                        UpdateObject.Response res = updateObject(req);
                        
                        if (req.apiKey != null && req.apiKey.length() > 0) {

                                if (res.success) {
                                        ros.logInfo("UpdateObject (UID: " + req.uid + "): Done");
                                } else {
                                        ros.logInfo("UpdateObject (UID: " + req.uid + "): Failed");
                                }
                                
                        } else {
                                ros.logInfo("UpdateObject (UID: " + req.uid + "): API key is missing!");
                        }

                        return res;

                }

        }

        class SearchObjectsCallback implements ServiceServer.Callback<SearchObjects.Request, SearchObjects.Response> {

                @Override
                public SearchObjects.Response call(SearchObjects.Request req) {

                        SearchObjects.Response res = searchObjects(req);
                        if (res.success) {
                                ros.logInfo("SearchObjects (UID: " + req.searchID + "): Done");
                        } else {
                                ros.logInfo("SearchObjects (UID: " + req.searchID + "): Failed");
                        }

                        return res;

                }

        }
        
        class QueryObjectsCallback implements ServiceServer.Callback<QueryObjects.Request, QueryObjects.Response> {

                @Override
                public QueryObjects.Response call(QueryObjects.Request req) {

                        QueryObjects.Response res = queryObjects(req);
                        if (res.result != null && res.result.length() > 0) {
                                ros.logInfo("QueryObjects (query:\n" + req.query + "): Done");
                        } else {
                                ros.logInfo("QueryObjects (query:\n" + req.query + "): Failed");
                        }

                        return res;

                }

        }

}