MasterClient.java

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/*
 * Copyright (C) 2011 Google Inc.
 * 
 * Licensed under the Apache License, Version 2.0 (the "License"); you may not
 * use this file except in compliance with the License. You may obtain a copy of
 * the License at
 * 
 * http://www.apache.org/licenses/LICENSE-2.0
 * 
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
 * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
 * License for the specific language governing permissions and limitations under
 * the License.
 */

package org.ros.internal.node.client;

import org.ros.internal.node.response.IntegerResultFactory;
import org.ros.internal.node.response.Response;
import org.ros.internal.node.response.SystemStateResultFactory;
import org.ros.internal.node.response.TopicListResultFactory;
import org.ros.internal.node.response.TopicTypeListResultFactory;
import org.ros.internal.node.response.UriListResultFactory;
import org.ros.internal.node.response.UriResultFactory;
import org.ros.internal.node.response.VoidResultFactory;
import org.ros.internal.node.server.NodeIdentifier;
import org.ros.internal.node.server.SlaveServer;
import org.ros.internal.node.server.master.MasterServer;
import org.ros.internal.node.topic.PublisherDeclaration;
import org.ros.internal.node.topic.PublisherIdentifier;
import org.ros.internal.node.topic.TopicDeclaration;
import org.ros.internal.node.xmlrpc.MasterXmlRpcEndpoint;
import org.ros.master.client.SystemState;
import org.ros.master.client.TopicSystemState;
import org.ros.master.client.TopicType;
import org.ros.namespace.GraphName;
import org.ros.node.service.ServiceServer;
import org.ros.node.topic.Publisher;
import org.ros.node.topic.Subscriber;

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

public class MasterClient extends Client<MasterXmlRpcEndpoint> {

  public MasterClient(URI uri) {
    super(uri, MasterXmlRpcEndpoint.class);
  }

  public Response<Void> registerService(NodeIdentifier slave, ServiceServer<?, ?> service) {
    return Response.fromListChecked(xmlRpcEndpoint.registerService(slave.getName().toString(),
        service.getName().toString(), service.getUri().toString(), slave.getUri().toString()),
        new VoidResultFactory());
  }

  public Response<Integer> unregisterService(NodeIdentifier slave, ServiceServer<?, ?> service) {
    return Response.fromListChecked(xmlRpcEndpoint.unregisterService(
        slave.getName().toString(), service.getName().toString(), service.getUri().toString()),
        new IntegerResultFactory());
  }

  public Response<List<URI>> registerSubscriber(NodeIdentifier slave, Subscriber<?> subscriber) {
    return Response.fromListChecked(xmlRpcEndpoint.registerSubscriber(slave.getName()
        .toString(), subscriber.getTopicName().toString(), subscriber.getTopicMessageType(), slave
        .getUri().toString()), new UriListResultFactory());
  }

  public Response<Integer> unregisterSubscriber(NodeIdentifier slave, Subscriber<?> subscriber) {
    return Response.fromListChecked(xmlRpcEndpoint.unregisterSubscriber(slave.getName()
        .toString(), subscriber.getTopicName().toString(), slave.getUri().toString()),
        new IntegerResultFactory());
  }

  public Response<List<URI>> registerPublisher(PublisherDeclaration publisherDeclaration) {
    String slaveName = publisherDeclaration.getSlaveName().toString();
    String slaveUri = publisherDeclaration.getSlaveUri().toString();
    String topicName = publisherDeclaration.getTopicName().toString();
    String messageType = publisherDeclaration.getTopicMessageType();
    return Response.fromListChecked(
        xmlRpcEndpoint.registerPublisher(slaveName, topicName, messageType, slaveUri),
        new UriListResultFactory());
  }

  public Response<Integer> unregisterPublisher(PublisherIdentifier publisherIdentifier) {
    String slaveName = publisherIdentifier.getNodeName().toString();
    String slaveUri = publisherIdentifier.getNodeUri().toString();
    String topicName = publisherIdentifier.getTopicName().toString();
    return Response.fromListChecked(
        xmlRpcEndpoint.unregisterPublisher(slaveName, topicName, slaveUri),
        new IntegerResultFactory());
  }

  public Response<URI> lookupNode(GraphName slaveName, String nodeName) {
    return Response.fromListChecked(xmlRpcEndpoint.lookupNode(slaveName.toString(), nodeName),
        new UriResultFactory());
  }

  public Response<URI> getUri(GraphName slaveName) {
    return Response.fromListChecked(xmlRpcEndpoint.getUri(slaveName.toString()),
        new UriResultFactory());
  }

  public Response<URI> lookupService(GraphName callerName, String serviceName) {
    return Response.fromListCheckedFailure(
        xmlRpcEndpoint.lookupService(callerName.toString(), serviceName), new UriResultFactory());
  }

  public Response<List<TopicDeclaration>> getPublishedTopics(GraphName callerName, String subgraph) {
    return Response.fromListChecked(
        xmlRpcEndpoint.getPublishedTopics(callerName.toString(), subgraph),
        new TopicListResultFactory());
  }

  public Response<List<TopicType>> getTopicTypes(GraphName callerName) {
    return Response.fromListChecked(xmlRpcEndpoint.getTopicTypes(callerName.toString()),
        new TopicTypeListResultFactory());
  }

  public Response<SystemState> getSystemState(GraphName callerName) {
    return Response.fromListChecked(xmlRpcEndpoint.getSystemState(callerName.toString()),
        new SystemStateResultFactory());
  }
}