ZeroconfActivity.java

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package ros.zeroconf.android.jmdns.demos;

import java.lang.Thread;
import java.util.List;
import javax.jmdns.ServiceInfo;
import android.app.Activity;
import android.os.AsyncTask;
import android.os.Bundle;
import android.widget.TextView;
import android.text.method.ScrollingMovementMethod;
import ros.zeroconf.jmdns.Zeroconf;
import ros.zeroconf.android.jmdns.Logger;
import org.ros.message.zeroconf_comms.DiscoveredService;

// adb logcat System.out:I *:S
// adb logcat zeroconf:I *:S

public class ZeroconfActivity extends Activity {

        /****************************************
         * Threads, Tasks and Handlers
         ****************************************/
        private class PublisherTask extends AsyncTask<Zeroconf, String, Void> {

                protected Void doInBackground(Zeroconf... zeroconfs) {
                        if ( zeroconfs.length == 1 ) {
                                Zeroconf zconf = zeroconfs[0];
                                String msg = "*********** Publishing a Ros Master **************\n"
                                               + " + DudeMaster [_ros-master._tcp][local][8888]\n";
                                publishProgress(msg);
                                zconf.addService("DudeMaster", "_ros-master._tcp", "local", 8888, "Dude's test master");
                        } else {
                                publishProgress("Error - PublisherTask::doInBackground received #zeroconfs != 1");
                        }
                        return null;
            }
                
            protected void onProgressUpdate(String... progress) {
                TextView tv = (TextView) findViewById(R.id.mytextview);
                for (String msg : progress ) {
                        android.util.Log.i("zeroconf", msg);    
                        tv.append(msg + "\n");
                }
            }
        }

        private class DiscoveryTask extends AsyncTask<Zeroconf, String, Void> {

                protected Void doInBackground(Zeroconf... zeroconfs) {
                        if ( zeroconfs.length == 1 ) {
                                Zeroconf zconf = zeroconfs[0];
                        zconf.addListener("_ros-master._tcp","local");
                        publishProgress("*********** Discovering Ros Masters **************");
                        int i = 0;
                        while( i < 20 ) {
                                try {
                                        List<DiscoveredService> discovered_services = zconf.listDiscoveredServices();
                                        publishProgress("------------------------------------------\n");
                                        if ( discovered_services.size() > 0 ) {
                                                for ( DiscoveredService discovered_service : discovered_services ) {
                                                        publishProgress(zconf.toString(discovered_service));
                                                }
                                        } else {
                                                publishProgress("...");
                                        }
                                        Thread.sleep(2000L);
                                    } catch (InterruptedException e) {
                                        e.printStackTrace();
                                    }
                                ++i;
                        }
                        zconf.removeListener("_ros-master._tcp","local");
                        publishProgress("*********** Done **************");
                        } else {
                                publishProgress("Error - DiscoveryTask::doInBackground received #zeroconfs != 1");
                        }
                        return null;
            }

            protected void onProgressUpdate(String... progress) {
                TextView tv = (TextView) findViewById(R.id.mytextview);
                for (String msg : progress ) {
                        android.util.Log.i("zeroconf", msg);    
                        tv.append(msg + "\n");
                }
                scrollToBottom();
            }
        }

        private void scrollToBottom() {
        TextView tv = (TextView) findViewById(R.id.mytextview);
        int line_count = tv.getLineCount(); 
        int view_height = tv.getHeight();
        int pixels_per_line = tv.getLineHeight();
        int pixels_difference = line_count*pixels_per_line - view_height;
        if ( pixels_difference > 0 ) {
                tv.scrollTo(0, pixels_difference);
        }
        }
        /********************
         * Variables
         *******************/
        private Zeroconf zeroconf;
        private Logger logger;
        
    @Override
    public void onCreate(Bundle savedInstanceState)
    {
        super.onCreate(savedInstanceState);
        setContentView(R.layout.main);
        TextView tv = (TextView)findViewById(R.id.mytextview);
        tv.setMovementMethod(new ScrollingMovementMethod());
        tv.setText("");
        logger = new Logger();
                zeroconf = new Zeroconf(logger);

        new PublisherTask().execute(zeroconf);
                try {
                Thread.sleep(1000L);
            } catch (InterruptedException e) {
                e.printStackTrace();
            }
        new DiscoveryTask().execute(zeroconf);
    }
    
    @Override
    public void onDestroy() {
        logger.println("*********** Zeroconf Destroy **************");
                zeroconf.removeAllServices();
                super.onDestroy();
    }
}