MasterChooser.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.android;

import com.google.common.base.Preconditions;

import android.app.Activity;
import android.content.Context;
import android.content.Intent;
import android.content.SharedPreferences;
import android.content.pm.PackageManager;
import android.content.pm.ResolveInfo;
import android.net.Uri;
import android.os.AsyncTask;
import android.os.Bundle;
import android.text.Editable;
import android.text.TextWatcher;
import android.view.View;
import android.widget.Button;
import android.widget.CheckBox;
import android.widget.EditText;
import android.widget.Toast;
import android.widget.AdapterView;
import android.widget.ArrayAdapter;
import android.widget.LinearLayout;
import android.widget.ListView;
import org.ros.android.android_10.R;
import org.ros.exception.RosRuntimeException;
import org.ros.internal.node.client.MasterClient;
import org.ros.internal.node.xmlrpc.XmlRpcTimeoutException;
import org.ros.namespace.GraphName;
import org.ros.node.NodeConfiguration;

import java.net.NetworkInterface;
import java.net.SocketException;
import java.net.URI;
import java.net.URISyntaxException;
import java.util.ArrayList;
import java.util.Collections;
import java.util.Enumeration;
import java.util.HashMap;
import java.util.List;

public class MasterChooser extends Activity {

  private static final String PREFS_KEY_NAME = "URI_KEY";

  private static final String BAR_CODE_SCANNER_PACKAGE_NAME =
      "com.google.zxing.client.android.SCAN";

  private String selectedInterface;
  private EditText uriText;
  private Button connectButton;

  private class StableArrayAdapter extends ArrayAdapter<String> {

    HashMap<String, Integer> idMap = new HashMap<String, Integer>();

    public StableArrayAdapter(Context context, int textViewResourceId, List<String> objects) {
      super(context, textViewResourceId, objects);
      for (int i = 0; i < objects.size(); ++i) {
        idMap.put(objects.get(i), i);
      }
    }

    @Override
    public long getItemId(int position) {
      String item = getItem(position);
      return idMap.get(item);
    }

    @Override
    public boolean hasStableIds() {
      return true;
    }
  }

  @Override
  protected void onCreate(Bundle savedInstanceState) {
    super.onCreate(savedInstanceState);
    setContentView(R.layout.master_chooser);
    uriText = (EditText) findViewById(R.id.master_chooser_uri);
    connectButton = (Button) findViewById(R.id.master_chooser_ok);
    uriText.addTextChangedListener(new TextWatcher() {
      @Override
      public void onTextChanged(CharSequence s, int start, int before, int count) {
        if (s.length() > 0) {
          connectButton.setEnabled(true);
        } else {
          connectButton.setEnabled(false);
        }
      }

      @Override
      public void beforeTextChanged(CharSequence s, int start, int count, int after) {
      }

      @Override
      public void afterTextChanged(Editable s) {
      }
    });

    ListView interfacesList = (ListView) findViewById(R.id.networkInterfaces);
    final List<String> list = new ArrayList<String>();

    try {
      for (NetworkInterface networkInterface : Collections.list(NetworkInterface.getNetworkInterfaces())) {
        if (networkInterface.isUp() && !networkInterface.isLoopback()) {
          list.add(networkInterface.getName());
        }
      }
    } catch (SocketException e) {
      throw new RosRuntimeException(e);
    }

    // Fallback to previous behaviour when no interface is selected.
    selectedInterface = "";

    final StableArrayAdapter adapter = new StableArrayAdapter(this, android.R.layout.simple_list_item_1, list);
    interfacesList.setAdapter(adapter);

    interfacesList.setOnItemClickListener(new AdapterView.OnItemClickListener() {
      @Override
      public void onItemClick(AdapterView<?> parent, View view, int position, long id) {
        selectedInterface = parent.getItemAtPosition(position).toString();
      }
    });

    // Get the URI from preferences and display it. Since only primitive types
    // can be saved in preferences the URI is stored as a string.
    String uri =
        getPreferences(MODE_PRIVATE).getString(PREFS_KEY_NAME,
            NodeConfiguration.DEFAULT_MASTER_URI.toString());
    uriText.setText(uri);
  }

  @Override
  public void onActivityResult(int requestCode, int resultCode, Intent intent) {
    // If the Barcode Scanner returned a string then display that string.
    if (requestCode == 0) {
      if (resultCode == RESULT_OK) {
        String scanResultFormat = intent.getStringExtra("SCAN_RESULT_FORMAT");
        Preconditions.checkState(scanResultFormat.equals("TEXT_TYPE")
            || scanResultFormat.equals("QR_CODE"));
        String contents = intent.getStringExtra("SCAN_RESULT");
        uriText.setText(contents);
      }
    }
  }

  public void okButtonClicked(View unused) {
    // Prevent further edits while we verify the URI.
    uriText.setEnabled(false);
    connectButton.setEnabled(false);
    final String uri = uriText.getText().toString();

    // Make sure the URI can be parsed correctly and that the master is
    // reachable.
    new AsyncTask<Void, Void, Boolean>() {
      @Override
      protected Boolean doInBackground(Void... params) {
        try {
          toast("Trying to reach master...");
          MasterClient masterClient = new MasterClient(new URI(uri));
          masterClient.getUri(GraphName.of("android/master_chooser_activity"));
          toast("Connected!");
          return true;
        } catch (URISyntaxException e) {
          toast("Invalid URI.");
          return false;
        } catch (XmlRpcTimeoutException e) {
          toast("Master unreachable!");
          return false;
        }
      }

      @Override
      protected void onPostExecute(Boolean result) {
        if (result) {
          // If the displayed URI is valid then pack that into the intent.
          SharedPreferences.Editor editor = getPreferences(MODE_PRIVATE).edit();
          editor.putString(PREFS_KEY_NAME, uri);
          editor.commit();
          // Package the intent to be consumed by the calling activity.
          Intent intent = createNewMasterIntent(false, true);
          setResult(RESULT_OK, intent);
          finish();
        } else {
          connectButton.setEnabled(true);
          uriText.setEnabled(true);
        }
      }
    }.execute();
  }

  protected void toast(final String text) {
    runOnUiThread(new Runnable() {
      @Override
      public void run() {
        Toast.makeText(MasterChooser.this, text, Toast.LENGTH_SHORT).show();
      }
    });
  }

  public void qrCodeButtonClicked(View unused) {
    Intent intent = new Intent(BAR_CODE_SCANNER_PACKAGE_NAME);
    intent.putExtra("SCAN_MODE", "QR_CODE_MODE");
    // Check if the Barcode Scanner is installed.
    if (!isQRCodeReaderInstalled(intent)) {
      // Open the Market and take them to the page from which they can download the Barcode Scanner
      // app.
      startActivity(new Intent(Intent.ACTION_VIEW,
          Uri.parse("market://details?id=com.google.zxing.client.android")));
    } else {
      // Call the Barcode Scanner to let the user scan a QR code.
      startActivityForResult(intent, 0);
    }
  }

  public void advancedCheckboxClicked(View view) {
    boolean checked = ((CheckBox) view).isChecked();
    LinearLayout advancedOptions = (LinearLayout) findViewById(R.id.advancedOptions);
    if (checked) {
      advancedOptions.setVisibility(View.VISIBLE);
    } else {
      advancedOptions.setVisibility(View.GONE);
    }
  }

  public Intent createNewMasterIntent(boolean newMaster, boolean isPrivate) {
    Intent intent = new Intent();
    final String uri = uriText.getText().toString();
    intent.putExtra("ROS_MASTER_CREATE_NEW", newMaster);
    intent.putExtra("ROS_MASTER_PRIVATE", isPrivate);
    intent.putExtra("ROS_MASTER_URI", uri);
    intent.putExtra("ROS_MASTER_NETWORK_INTERFACE", selectedInterface);
    return intent;
  }

  public void newMasterButtonClicked(View unused) {
    setResult(RESULT_OK, createNewMasterIntent(true, false));
    finish();
  }

  public void newPrivateMasterButtonClicked(View unused) {
    setResult(RESULT_OK, createNewMasterIntent(true, true));
    finish();
  }

  public void cancelButtonClicked(View unused) {
    setResult(RESULT_CANCELED);
    finish();
  }

  protected boolean isQRCodeReaderInstalled(Intent intent) {
    List<ResolveInfo> list =
        getPackageManager().queryIntentActivities(intent, PackageManager.MATCH_DEFAULT_ONLY);
    return (list.size() > 0);
  }
}