TouchEventTalker.java

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package org.ros.android.android_image_view;

import org.ros.namespace.GraphName;
import org.ros.node.AbstractNodeMain;
import org.ros.node.ConnectedNode;
import org.ros.node.topic.Publisher;

import android.view.MotionEvent;
import jsk_gui_msgs.TouchEvent;

public class TouchEventTalker extends AbstractNodeMain {

        // private boolean publish = false;

        private TouchEvent touchEvent;
        private Publisher<TouchEvent> touchEventPublisher;

        synchronized public void publish(float x, float y, float w, float h,
                        int state) {
                // this.publish = true;

                this.touchEvent.setX(x);
                this.touchEvent.setY(y);
                this.touchEvent.setW(w);
                this.touchEvent.setH(h);
                this.touchEvent.setState(stateConverter(state));

                this.touchEventPublisher.publish(this.touchEvent);
        }

        public byte stateConverter(int state){
                switch ( state ){
                case MotionEvent.ACTION_DOWN :
                        return TouchEvent.DOWN ;
                case MotionEvent.ACTION_UP :
                        return TouchEvent.UP ;
                case MotionEvent.ACTION_MOVE :
                        return TouchEvent.MOVE ;
                default :
                        return (byte)-1 ;
                }
        }

        @Override
        public GraphName getDefaultNodeName() {
                return GraphName.of("tap_on_image/talker");
        }

        @Override
        public void onStart(final ConnectedNode connectedNode) {
                System.out.println(connectedNode.getClass() + "/"
                                + connectedNode.getClass().getName());

                touchEventPublisher = connectedNode.newPublisher("touchEvent",
                                TouchEvent._TYPE);
                touchEvent = connectedNode.getTopicMessageFactory().newFromType(
                                TouchEvent._TYPE);
        }
}