MasterNameResolver.java

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package com.github.rosjava.android_remocons.common_tools.apps;

import android.util.Log;

import com.github.rosjava.android_remocons.common_tools.master.MasterDescription;

import org.ros.master.client.MasterStateClient;
import org.ros.master.client.SystemState;
import org.ros.master.client.TopicSystemState;
import org.ros.namespace.GraphName;
import org.ros.namespace.NameResolver;
import org.ros.node.AbstractNodeMain;
import org.ros.node.ConnectedNode;

public class MasterNameResolver extends AbstractNodeMain {

        private MasterDescription currentMaster;
        private NameResolver masterNameResolver;
        private GraphName    masterName;
        private ConnectedNode connectedNode;
    private boolean resolved = false;

        public MasterNameResolver() {
        }

        public void setMaster(MasterDescription currentMaster) {
                this.currentMaster = currentMaster;
        }

        @Override
        public GraphName getDefaultNodeName() {
                return null;
        }

    public void setMasterName(String name) {
        this.masterName = GraphName.of(name);
    }

    public String getMasterName() {
        return this.masterName.toString();
    }
        
        public void resetMasterName(String name) {
                masterNameResolver = connectedNode.getResolver().newChild(name);
        }

    public NameResolver getMasterNameSpace() {
                return masterNameResolver;
        }

    public void waitForResolver() {
        while (!resolved) {
            try {
                Thread.sleep(100);
            } catch (Exception e) {
                Log.w("MasterRemocon", "Master name waitForResolver caught an arbitrary exception");
            }
        }
    }

        @Override
        public void onStart(final ConnectedNode connectedNode) {
                this.connectedNode = connectedNode;
        if (currentMaster != null) {
            masterName = GraphName.of(currentMaster.getAppsNameSpace());
        } else {
            // This is duplicated in PlatformInfoServiceClient and could be better stored somewhere, but it's not much.
            MasterStateClient masterClient = new MasterStateClient(this.connectedNode, this.connectedNode.getMasterUri());
            SystemState systemState = masterClient.getSystemState();
            for (TopicSystemState topic : systemState.getTopics()) {
                String topicName = topic.getTopicName();
                GraphName graph_name = GraphName.of(topicName);
                if ( graph_name.getBasename().toString().equals("app_list") ) {
                    masterName = graph_name.getParent().toRelative();
                    Log.i("ApplicationManagement", "Configuring master namespace resolver [" + masterName + "]");
                    break;
                }
            }
        }
        masterNameResolver = connectedNode.getResolver().newChild(masterName);
        resolved = true;
        }
}