ROSSerialADKService.java

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package org.ros.rosserial;

import android.app.NotificationManager;
import android.app.Service;
import android.content.Intent;
import android.media.ExifInterface;
import android.os.Binder;
import android.os.IBinder;
import android.util.Log;
import android.widget.TextView;
import android.widget.Toast;

import org.ros.node.Node;
import org.ros.RosUtils;
import org.ros.message.rosserial_msgs.TopicInfo;
import org.ros.rosserial.ROSSerialADK;

import com.android.future.usb.UsbManager;

public class ROSSerialADKService extends Service {
        static final String TAG = "ROSSerialSDKService";
        
        private String node_name;
        
        Node nh;
        
        ROSSerialADK adk = null;
        
    private  IBinder mBinder;
    
    public class LocalBinder extends Binder {
        ROSSerialADKService service;
        public LocalBinder(ROSSerialADKService s) {
                service = s;
                }
        ROSSerialADK getADK() {
            // Return this instance of LocalService so clients can call public methods
            return adk;
        }
        ROSSerialADKService getService(){
                return service;}
    }


        @Override
        public IBinder onBind(Intent intent) {
                return mBinder;
        }
        

        @Override
        public int onStartCommand(Intent intent, int flags, int startId) {

                String master_uri = intent.getExtras().getString("ROS_MASTER_URI");
                if (master_uri == null) master_uri = "http://localhost:11311";
                
                node_name = intent.getExtras().getString("name");
                if (node_name ==null) node_name = "ROSSerialADK";

                Log.v(TAG, "Starting ROSSerialADKService as node '" + node_name+"' with master '" + master_uri);

                try{
                        nh = RosUtils.createExternalMaster(node_name, master_uri);
                        adk = new ROSSerialADK(this, nh);       
                }
                catch(Exception e){
                        // TODO Properly handle failure to connect to the ROS Master

                        e.printStackTrace();
                        System.exit(-1);
                }
                if (!adk.open()){
                        Log.v(TAG, "No ADK connected");
                }
                
                mBinder = new LocalBinder(this);
                
                Toast t = Toast.makeText(this, node_name + " started.", Toast.LENGTH_SHORT);
                t.show();
                
                return START_STICKY;
        }

        @Override
        public void onDestroy() {
                if (adk!=null) this.adk.shutdown();
                if (nh != null) this.nh.shutdown();
                Toast t = Toast.makeText(this, node_name + " stopped.", Toast.LENGTH_SHORT);
                t.show();
        
                super.onDestroy();
        }

        public ROSSerialADKService(){
                super();
        }
        
}