RosserialLauncherActivity.java

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package org.ros.rosserial;

import org.ros.message.rosserial_msgs.TopicInfo;
import org.ros.rosserial.ROSSerialADK;
import org.ros.rosserial.ROSSerialADKService.LocalBinder;

import android.app.Activity;
import android.app.ActivityManager;
import android.app.ActivityManager.RunningServiceInfo;
import android.content.ComponentName;
import android.content.Context;
import android.content.Intent;
import android.content.ServiceConnection;
import android.os.Bundle;
import android.os.IBinder;
import android.util.Log;
import android.view.View;
import android.view.View.OnClickListener;
import android.widget.Button;
import android.widget.TextView;
import android.widget.Toast;

public class RosserialLauncherActivity extends Activity {

        static final String TAG = "RosserialLauncherActivity";
        
        ROSSerialADK adk = null;
        Context mContext = null;
        LocalBinder mBinder= null;
        
        static private class TextViewHandler implements Runnable{
                TextView view;
                String msg;
                TextViewHandler(TextView v, String text){
                        view = v;
                        msg = text;
                }
                @Override
                public void run() {
                        view.setText(msg);
                }
        }

        @Override
        protected void onCreate(Bundle savedInstanceState) {
                super.onCreate(savedInstanceState);
                setContentView(R.layout.launcher);
        
                mContext = this;
                
                Button b = (Button) findViewById(R.id.StartButton);
                b.setOnClickListener(start_click_listener);
                
                b = (Button) findViewById(R.id.StopButton);
                b.setOnClickListener(new OnClickListener() {
                        
                        @Override
                        public void onClick(View arg0) {

                                Log.v(TAG, "Trying to stop service");
                                try{
                                        unbindService(mConnection);
                                        stopService(new Intent(mContext, ROSSerialADKService.class));
                                }
                                catch(IllegalArgumentException e){
                                        Toast t = Toast.makeText(mContext, "All instances of ROSSeriakADK are stopped.", Toast.LENGTH_SHORT);
                                        t.show();
                                }
                        }
                });
                
        }

        
        @Override
        protected void onResume() {

                super.onResume();
                if (isADKRunning()){
                        //bind to it
                        
                        Intent i =  new Intent(mContext, ROSSerialADKService.class);
                        try{
                                bindService(i, mConnection, 0);
                        }
                        catch(Exception e){
                                e.printStackTrace();
                        }
                }
        }


        OnClickListener start_click_listener = new OnClickListener() {
                
                @Override
                public void onClick(View v) {
                        TextView txt_MasterURi = (TextView) findViewById(R.id.MasterURITxt);
                        TextView txt_NodeName =  (TextView) findViewById(R.id.NodeNameTxt);
                        
                        Intent i =  new Intent(mContext, ROSSerialADKService.class);

                        i.putExtra("ROS_MASTER_URI", "http://"+txt_MasterURi.getText());
                        i.putExtra("node name", txt_NodeName.getText());
                        
                        mContext.startService(i);
                        bindService(i, mConnection, 0);
                        Log.v(TAG,"Started sdk service");
                }
        };
        
        private boolean isADKRunning() {
            ActivityManager manager = (ActivityManager) getSystemService(ACTIVITY_SERVICE);
            for (RunningServiceInfo service : manager.getRunningServices(Integer.MAX_VALUE)) {
                if ("org.ros.rosserial.ROSSerialADKService".equals(service.service.getClassName())) {
                    return true;
                }
            }
            return false;
        }
        
        void setADKConnected(){
                TextView v = (TextView) findViewById(R.id.ConncectionStatusView);
                v.setText("ADK Is connected");
        }
        
        static void displayTopics(TextView v, String type, TopicInfo[] infos){
                int l =type.length();
                for(TopicInfo info : infos){
                        l+= info.topic_name.length();
                        l+= info.message_type.length();
                }
                StringBuilder msg = new StringBuilder(l+infos.length*5);
                msg.append(type);
                for(TopicInfo info : infos){
                        msg.append(" : \n");

                        msg.append("  ");
                        msg.append(info.topic_name);
                        msg.append(" - ");
                        msg.append(info.message_type);
                }
                
                v.post(new TextViewHandler(v, msg.toString()) );                                        
                
        }
        
        private ServiceConnection mConnection = new ServiceConnection() {
                
                @Override
                public void onServiceDisconnected(ComponentName name) {
                        
                }
        
                
                @Override
                public void onServiceConnected(ComponentName name, IBinder service) {
                        Log.v(TAG, "Binder service connected");
                        
                        mBinder =  (LocalBinder) service;
                        
                        adk = mBinder.getADK();
                        
                        adk.setOnPublicationCB(new TopicRegistrationListener() {
                                
                                @Override
                                public void onNewTopic(TopicInfo arg0) {
                                        TextView v = (TextView) findViewById(R.id.PublicationsView);
                                        TopicInfo[] topics = adk.getPublications();
                                        displayTopics(v, "Publications", topics);
                                }
                        });
                        
                        adk.setOnSubscriptionCB(new TopicRegistrationListener() {
                                
                                @Override
                                public void onNewTopic(TopicInfo arg0) {
                                        TextView v = (TextView) findViewById(R.id.SubscriptionsView);
                                        TopicInfo[] topics = adk.getSubscriptions();
                                        displayTopics(v, "Subscriptions", topics);
                                }
                        });
                                                
                        
                        if (adk.isConnected()) {
                                setADKConnected();
                                
                                displayTopics( (TextView) findViewById(R.id.PublicationsView),
                                     "Publications", adk.getPublications()) ;
                                
                                displayTopics( (TextView) findViewById(R.id.SubscriptionsView),
                                             "Subscriptions", adk.getSubscriptions()) ;
                        }
                        else{
                                adk.setOnConnectonListener(new ROSSerialADK.onConnectionListener() {
                                        @Override
                                        public void trigger(boolean connection) {
                                                TextView v = (TextView) findViewById(R.id.ConncectionStatusView);
                                                if (connection) v.post(new TextViewHandler(v,"ADK Is Connected"));
                                                else v.post(new TextViewHandler(v, "ADK is Disconnected"));
                                        }
                                });
                        }
                        

                }
        };
}