RosBaseActivity.java

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package com.ros.turtlebot.apps.rocon;

import java.net.URI;
import java.net.URISyntaxException;
import java.util.ArrayList;
import java.util.List;

import org.ros.address.InetAddressFactory;
import org.ros.android.RosActivity;
import org.ros.exception.ServiceException;
import org.ros.internal.node.response.Response;
import org.ros.node.NodeConfiguration;
import org.ros.node.NodeMainExecutor;
import org.ros.node.service.ServiceResponseBuilder;

import android.annotation.SuppressLint;
import android.content.Context;
import android.content.Intent;
import android.net.Uri;
import android.net.wifi.WifiManager;
import android.os.Build;
import android.os.Bundle;
import android.os.Handler;
import android.os.Message;
import android.util.Log;
import android.widget.TextView;
import android.widget.Toast;

import rocon_app_manager_msgs.AppDescription;
import rocon_app_manager_msgs.Constants;
import rocon_app_manager_msgs.ErrorCodes;
import rocon_app_manager_msgs.GetAppListRequest;
import rocon_app_manager_msgs.GetAppListResponse;
import rocon_app_manager_msgs.GetPlatformInfo;
import rocon_app_manager_msgs.GetPlatformInfoRequest;
import rocon_app_manager_msgs.GetPlatformInfoResponse;
import rocon_app_manager_msgs.InviteRequest;
import rocon_app_manager_msgs.InviteResponse;
import rocon_app_manager_msgs.PlatformInfo;
import rocon_app_manager_msgs.StartAppRequest;
import rocon_app_manager_msgs.StartAppResponse;
import rocon_app_manager_msgs.StatusRequest;
import rocon_app_manager_msgs.StatusResponse;

public abstract class RosBaseActivity extends RosActivity {

        private NodeConfiguration nodeConfiguration;
        private NodeMainExecutor nodeMainExecutor;
        
        protected TextView txtInformation = null ;
        
        // ROS service Info.
        protected String appName = "" ;
        protected String nodeName = "" ;
        protected String platform = "" ;
        protected String deviceName = "" ;
        protected String versionName = "" ;
        protected String remoteTargetname = "" ;
        protected String applicationNameSpace = "" ;
        protected String appStatus = "" ;
        
        // NFC Info.
        protected String nfc_table = "";
        protected String nfc_ssid = "";
        protected String nfc_password = "";
        protected String nfc_masteruri = "";
        protected String nfc_weblink = "";

        // ROS nodes
        RoconAppManager platformInfo_manager = null ;
        RoconAppManager appList_manager = null ;
        RoconAppManager invite_manager = null ;
        RoconAppManager status_manager = null ;
        RoconAppManager startApp_manager = null ;
        
        public RosBaseActivity() {
                super("Rocon Service", "Rocon Service");
                // TODO Auto-generated constructor stub
        }
        
        @SuppressLint("NewApi")
        @Override
        protected void onCreate(Bundle savedInstanceState) {
                // TODO Auto-generated method stub
                Log.d("RosBaseActivity", "onCreate");
                super.onCreate(savedInstanceState);
                appName = "android" ;
                platform = "android" ;
                nodeName = appName + java.util.UUID.randomUUID().toString().replace("-", "") ; 
                deviceName = android.os.Build.MODEL.replace(" ", "_").replace(".", "_") ;
                versionName = Util.getAndroidVersionName().replace(" ", "_").replace(".", "_");
                appStatus = Constants.APP_STOPPED ;
        }
        
        @Override
        protected void onResume() {
                // TODO Auto-generated method stub
                super.onResume();
                
                appStatus = Constants.APP_STOPPED ;
        }
        
        
        @Override
        protected void onPause() {
                // TODO Auto-generated method stub
                super.onPause();
                Log.d("RosBaseActivity", "onPause()");
        }
        
        @Override
        protected void onDestroy() {
                // TODO Auto-generated method stub
                Log.d("RosBaseActivity", "onDestroy()");
                super.onDestroy();              
                
                // forcibly kill myself
                System.runFinalizersOnExit(true);
                System.exit(0);
                
        }
        
        public void onServerConnected(String action) {
                Log.d("RosBaseActivity", "onServerConnected()-" + action) ;
                if(action.equals(RoconAppManager.ACTION_INVITE)) {
                        runOnUiThread(new Runnable() {
                                @Override
                                public void run() {
                                        // TODO Auto-generated method stub
                                        txtInformation.setText("주문 페이지로 이동중입니다");       
                                }
                        }) ;
                }
        }
        

        @Override
        protected void init(NodeMainExecutor nodeMainExecutor) {
                // TODO Auto-generated method stub
                Log.d("RosBaseActivity", "init" + getMasterUri());
                this.nodeMainExecutor = nodeMainExecutor ;
                WifiManager wifiManager = (WifiManager) getSystemService(Context.WIFI_SERVICE);
                this.nodeConfiguration = NodeConfiguration.newPublic(Util.getWifiAddress(wifiManager, 2000), getMasterUri());
                
                platformInfo_manager = new RoconAppManager(nodeName, RoconAppManager.ACTION_PLATFORMINFO);
                platformInfo_manager.setParent(this);
                init_PlatformInfo() ;
                
                appList_manager = new RoconAppManager(nodeName, RoconAppManager.ACTION_APPLIST) ;
                appList_manager.setParent(this);
                init_AppList() ;
                                
                status_manager =  new RoconAppManager(nodeName, RoconAppManager.ACTION_STATUS) ;
                status_manager.setParent(this);
                init_Status() ;

                invite_manager = new RoconAppManager(nodeName, RoconAppManager.ACTION_INVITE) ;
                invite_manager.setParent(this);
                init_Invite() ;
                
                //** Register 'start_app' service after receiving invite request
                //startApp_manager = new RoconAppManager(nodeName, RoconAppManager.ACTION_STARTAPP) ;
                //init_StartApp() ;
        }
        
        private void init_PlatformInfo() {
                Log.d("RosBaseActivity", "init_PlatformInfo()");
                platformInfo_manager.setPlatformInfoResponseBuilder(
                                new ServiceResponseBuilder<GetPlatformInfoRequest, GetPlatformInfoResponse>() {
                        
                        @Override
                        public void build(GetPlatformInfoRequest request, GetPlatformInfoResponse response)
                                        throws ServiceException {
                                // TODO Auto-generated method stub
                                // ----
                                PlatformInfo msg = platformInfo_manager.getConnectedNode().getTopicMessageFactory().newFromType(PlatformInfo._TYPE);
                                msg.setName(appName);
                                msg.setPlatform(platform);
                                msg.setRobot(deviceName);
                                msg.setSystem(versionName);
                                
                                response.setPlatformInfo(msg);
                        }
                });
                
                nodeMainExecutor.execute(platformInfo_manager, nodeConfiguration.setNodeName(nodeName + "/" + RoconAppManager.ACTION_PLATFORMINFO));
        }
        
        private void init_AppList() {
                Log.d("RosBaseActivity", "init_AppList()");
                appList_manager.setAppListResponseBuilder(new ServiceResponseBuilder<GetAppListRequest, GetAppListResponse>() {

                        @Override
                        public void build(GetAppListRequest request, GetAppListResponse response)
                                        throws ServiceException {
                                // TODO Auto-generated method stub
                                // ----
                                List<rocon_app_manager_msgs.AppDescription> app_list = new ArrayList<rocon_app_manager_msgs.AppDescription>();
                                AppDescription app = appList_manager.getConnectedNode().getTopicMessageFactory().newFromType(AppDescription._TYPE);
                                app.setDescription("Orders drinks");
                                app.setDisplay("Cafe Order App");
                                app.setName("OrderDrinks");
                                app.setPlatform(appName + "." + versionName + "." + deviceName);
                                app.setStatus(appStatus) ;
                                app_list.add(app);
                                response.setApps(app_list);
                        }
                });
                
                nodeMainExecutor.execute(appList_manager, nodeConfiguration.setNodeName(nodeName + "/" + RoconAppManager.ACTION_APPLIST));
        }
        
        private void init_Invite() {
                Log.d("RosBaseActivity", "init_Invite()");
                invite_manager.setInviteResponseBuilder(new ServiceResponseBuilder<InviteRequest, InviteResponse>() {

                        @Override
                        public void build(InviteRequest request, InviteResponse response)
                                        throws ServiceException {
                                // TODO Auto-generated method stub
                                remoteTargetname = request.getRemoteTargetName() ;
                                applicationNameSpace = request.getApplicationNamespace() ;
                                // ----
                                response.setResult(true);
                                
                                startApp_manager = new RoconAppManager(nodeName, RoconAppManager.ACTION_STARTAPP) ;
                                init_StartApp() ;
                        }
                }) ;
                
                nodeMainExecutor.execute(invite_manager, nodeConfiguration.setNodeName(nodeName + "/" + RoconAppManager.ACTION_INVITE)) ;
        }
        
        private void init_Status() {
                Log.d("RosBaseActivity", "init_Status()");
                status_manager.setStatusResponseBuilder(new ServiceResponseBuilder<StatusRequest, StatusResponse>() {

                        @Override
                        public void build(StatusRequest request, StatusResponse response)
                                        throws ServiceException {
                                // TODO Auto-generated method stub
                                // ----
                                response.setApplicationNamespace(applicationNameSpace);
                                response.setAppStatus(appStatus);
                                response.setRemoteController(remoteTargetname);
                        }
                }) ;
                
                nodeMainExecutor.execute(status_manager, nodeConfiguration.setNodeName(nodeName + "/" + RoconAppManager.ACTION_STATUS));
        }

        private void init_StartApp() {
                Log.d("RosBaseActivity", "init_StartApp()");
                startApp_manager.setStartAppResponseBuilder(new ServiceResponseBuilder<StartAppRequest, StartAppResponse>() {

                        @Override
                        public void build(StartAppRequest request, StartAppResponse response)
                                        throws ServiceException {
                                // TODO Auto-generated method stub
                                try {
                                                                                
                                        String application_name = request.getName() ;
                                        List<rocon_app_manager_msgs.Remapping> list_remapping = request.getRemappings() ;
                                        // -----
                                        response.setAppNamespace(applicationNameSpace);
                                        response.setMessage("message");
                                        response.setStarted(true);
                                        response.setErrorCode(ErrorCodes.SUCCESS);
                                        
                                        //** Execute application (in this case, internet browser and web-page)
                                        String app_uri = nfc_weblink + "?tableid=" + nfc_table + "&ssid=" + nfc_ssid + "&password=" + nfc_password + "&concertaddress=" + getMasterUri().getHost() ;
                                        
                                Intent intent = new Intent(Intent.ACTION_VIEW, Uri.parse(app_uri));
                                startActivity(intent);
                                
                                runOnUiThread(new Runnable() {
                                                @Override
                                                public void run() {
                                                        // TODO Auto-generated method stub
                                                        txtInformation.setText("감사합니다");
                                                }
                                        });
                                
                                //** Change application status
                                appStatus = Constants.APP_RUNNING ;

                                } catch(Exception e) {
                                        e.printStackTrace();
                                        runOnUiThread(new Runnable() {
                                                @Override
                                                public void run() {
                                                        // TODO Auto-generated method stub
                                                        Toast.makeText(getApplicationContext(),"Exception occurred - StartApp", Toast.LENGTH_LONG).show();
                                                }
                                        });
                                        
                                }
                        }
                }) ;
                
                nodeMainExecutor.execute(startApp_manager, nodeConfiguration.setNodeName(nodeName + "/" + RoconAppManager.ACTION_STARTAPP));
        }
}