AndroidSensorMessageService.java

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package org.ros.android.androidSensorMessage;

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

import org.ros.address.InetAddressFactory;
import org.ros.node.DefaultNodeMainExecutor;
import org.ros.node.NodeConfiguration;
import org.ros.node.NodeMain;
import org.ros.node.NodeMainExecutor;

import android.app.IntentService;
import android.app.Notification;
import android.app.PendingIntent;
import android.content.Context;
import android.content.Intent;
import android.hardware.Sensor;
import android.hardware.SensorManager;
import android.location.LocationManager;
import android.os.Bundle;
import android.os.Binder;
import android.os.IBinder;
import android.util.Log;
import android.widget.TextView;

public class AndroidSensorMessageService extends IntentService {

        private SensorManager sensorManager;
        private List<Sensor> sensors;
        private AndroidSensorMessageNode androidSensorMessageNode;
        private Intent mintent;
        NodeMainExecutor nodeMainExecutor;
        private int[] availableSensor;
        private int[] publishedSensor;
        private String[] sensorName;

        final IBinder binder = new MyBinder();

        public class MyBinder extends Binder {
                AndroidSensorMessageService getService() {
                        return AndroidSensorMessageService.this;
                }
        }

        public AndroidSensorMessageService() {
                super("AndroidSensorMessageService");
        }

        @Override
        public IBinder onBind(Intent intent) {
                mintent = intent;
                sensorManager = (SensorManager) getSystemService(SENSOR_SERVICE);
                sensors = sensorManager.getSensorList(Sensor.TYPE_ALL);

                availableSensor = new int[13];
                publishedSensor = new int[13];
                for (int i = 0; i < 13; i++) {
                        availableSensor[i] = -1;
                        publishedSensor[i] = -1;
                }

                sensorName = new String[13];

                for (Sensor sensor : sensors) {
                        int sensorType = sensor.getType();
                        switch (sensorType) {
                        /*
                         * case Sensor.TYPE_AMBIENT_TEMPERATURE: sensorName[sensorType - 1]
                         * = new String("Temperature"); availableSensor[sensorType - 1] = 1;
                         * break;
                         */
                        case Sensor.TYPE_ACCELEROMETER:
                                sensorName[sensorType - 1] = new String("Accelerometer");
                                availableSensor[sensorType - 1] = 1;
                                break;
                        case Sensor.TYPE_TEMPERATURE:
                                sensorName[sensorType - 1] = new String("Temperature");
                                availableSensor[sensorType - 1] = 1;
                                break;
                        case Sensor.TYPE_MAGNETIC_FIELD:
                                sensorName[sensorType - 1] = new String("MagneticField");
                                availableSensor[sensorType - 1] = 1;
                                break;
                        case Sensor.TYPE_LIGHT:
                                sensorName[sensorType - 1] = new String("Light");
                                availableSensor[sensorType - 1] = 1;
                                break;
                        case Sensor.TYPE_PROXIMITY:
                                sensorName[sensorType - 1] = new String("Proximity");
                                availableSensor[sensorType - 1] = 1;
                                break;
                        case Sensor.TYPE_GYROSCOPE:
                                sensorName[sensorType - 1] = new String("Gyroscope");
                                availableSensor[sensorType - 1] = 1;
                                break;
                        case Sensor.TYPE_PRESSURE:
                                sensorName[sensorType - 1] = new String("Pressure");
                                availableSensor[sensorType - 1] = 1;
                                break;
                        case Sensor.TYPE_GRAVITY:
                                sensorName[sensorType - 1] = new String("Gravity");
                                availableSensor[sensorType - 1] = 1;
                                break;
                        case Sensor.TYPE_ROTATION_VECTOR:
                                sensorName[sensorType - 1] = new String("RotationVector");
                                availableSensor[sensorType - 1] = 1;
                                break;
                        /*
                         * case Sensor.TYPE_RELATIVE_HUMIDITY: sensorName[sensorType - 1] =
                         * new String("Humidity"); availableSensor[sensorType - 1] = 1;
                         * break;
                         */

                        }

                }

                return binder;
        }

        public String getSensorName(int i) {
                return sensorName[i];
        }

        public int getSensor(int i) {
                return availableSensor[i];
        }

        public void changeSensor(int num) {
                publishedSensor[num] *= -1;
                androidSensorMessageNode.changeSensor(num);

        }

        public void changeView(int num) {
                androidSensorMessageNode.changeView(num);
        }

        public void setNode(int[] flag, AndroidSensorMessageView view,
                        TextView textViewX, TextView textViewY, TextView textViewZ) {
                showNotification();

                for (int i = 0; i < 13; i++) {
                        publishedSensor[i] = flag[i];
                }

                // We use this bundle
                Bundle b = mintent.getExtras();

                if (this.androidSensorMessageNode == null) {
                        try {
                                URI masterUri = new URI(b.getString("masterUri"));
                                String hostLocal = InetAddressFactory.newNonLoopback()
                                                .getHostAddress();
                                nodeMainExecutor = DefaultNodeMainExecutor.newDefault();

                                NodeConfiguration nodeConfiguration = NodeConfiguration
                                                .newPublic(hostLocal, masterUri);
                                nodeConfiguration.setMasterUri(masterUri);
                                nodeConfiguration.setNodeName("android_sensor_message");

                                androidSensorMessageNode = new AndroidSensorMessageNode(
                                                sensorManager, sensors, view, textViewX, textViewY,
                                                textViewZ, publishedSensor);

                                nodeMainExecutor.execute(androidSensorMessageNode,
                                                nodeConfiguration);

                        } catch (URISyntaxException e) {
                                e.printStackTrace();
                        }
                }
        }

        @Override
        protected void onHandleIntent(Intent intent) {
                try {
                        Thread.sleep(10000);
                } catch (InterruptedException e) {
                        e.printStackTrace();
                }

        }

        private void showNotification() {

                Intent intent = new Intent(this, AndroidSensorMessage.class);

                intent.setFlags(Intent.FLAG_ACTIVITY_CLEAR_TOP
                                | Intent.FLAG_ACTIVITY_SINGLE_TOP);

                PendingIntent pendingIntent = PendingIntent.getActivity(this, 0,
                                intent, 0);

        }

        @Override
        public void onDestroy() {
                nodeMainExecutor.shutdownNodeMain(androidSensorMessageNode);
        }

}