JskAndroidGuiNode.java

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package org.ros.android.jskAndroidGui;

import java.util.ArrayList;

import org.ros.message.Time;
import org.ros.namespace.GraphName;
import org.ros.namespace.NameResolver;
import org.ros.node.AbstractNodeMain;
import org.ros.node.ConnectedNode;
import org.ros.node.parameter.ParameterTree;
import org.ros.node.topic.Publisher;

import android.util.Log;

import roseus.StringStamped;
import std_msgs.Empty;

public class JskAndroidGuiNode extends AbstractNodeMain {

        public boolean setupEnd = false;
        private Publisher<Empty> GetSpotPub;
        private Publisher<StringStamped> StartDemoPub, MoveToSpotPub, SelectPub,
                        TweetPub, EmergencyStopPub;
        private ConnectedNode connectedNode;
        private ParameterTree parameterTree;
        private ArrayList<String> spots_list, tasks_list, image_list,
                        camera_info_list, points_list;

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

        public void tweetTask(String text) {
                StringStamped StrMsg_tweet = TweetPub.newMessage();
                StrMsg_tweet.getHeader().setStamp(
                                Time.fromMillis(System.currentTimeMillis()));
                StrMsg_tweet.getHeader().setStamp(
                                Time.fromMillis(System.currentTimeMillis()));
                StrMsg_tweet.setData(text);
                TweetPub.publish(StrMsg_tweet);

        }

        public void selectTask(String str) {
                StringStamped StrMsg_result = SelectPub.newMessage();
                StrMsg_result.getHeader().setStamp(
                                Time.fromMillis(System.currentTimeMillis()));
                StrMsg_result.setData(str);
                SelectPub.publish(StrMsg_result);
        }

        public void switchJoy() {
                StringStamped StrMsg_switchjoy = SelectPub.newMessage();
                StrMsg_switchjoy.getHeader().setStamp(
                                Time.fromMillis(System.currentTimeMillis()));
                StrMsg_switchjoy.setData("Switchjoy");
                SelectPub.publish(StrMsg_switchjoy);

        }

        public void tasksSpinnerTask(String str) {
                StringStamped StrMsg = StartDemoPub.newMessage();
                StrMsg.getHeader()
                                .setStamp(Time.fromMillis(System.currentTimeMillis()));
                StrMsg.setData(str);
                StartDemoPub.publish(StrMsg);
        }

        public void spotsSpinnerTask(String str) {
                StringStamped StrMsg = MoveToSpotPub.newMessage();
                StrMsg.getHeader()
                                .setStamp(Time.fromMillis(System.currentTimeMillis()));
                StrMsg.setData(str);
                MoveToSpotPub.publish(StrMsg);
        }

        public void getSpot() {
                Empty EmptyMsg = GetSpotPub.newMessage();
                GetSpotPub.publish(EmptyMsg);
        }

        public void stopJoint() {
                StringStamped StrMsg_stopjoint = EmergencyStopPub.newMessage();
                StrMsg_stopjoint.getHeader().setStamp(
                                Time.fromMillis(System.currentTimeMillis()));
                StrMsg_stopjoint.setData("StopJoint");
                EmergencyStopPub.publish(StrMsg_stopjoint);
        }

        public void stopNavigation() {
                StringStamped StrMsg_stopnavigation = EmergencyStopPub.newMessage();
                StrMsg_stopnavigation.getHeader().setStamp(
                                Time.fromMillis(System.currentTimeMillis()));
                StrMsg_stopnavigation.setData("StopNavigation");
                EmergencyStopPub.publish(StrMsg_stopnavigation);
        }

        public void getSpotsParam() {
                String defaultSpot_ns = "/jsk_spots";
                String targetSpot = "/eng2/7f"; // TODO: get current targetSpot
                GraphName gspot = GraphName.of(defaultSpot_ns + targetSpot);
                NameResolver resolver_spot = connectedNode.getResolver()
                                .newChild(gspot);
                Object[] spots_param_list = parameterTree.getList(
                                resolver_spot.resolve("spots")).toArray();
                Log.i("JskAndroidGui:GetSpotsParam", "spots length = "
                                + spots_param_list.length);
                spots_list.clear();
                spots_list.add("spots");
                for (int i = 0; i < spots_param_list.length; i++) {
                        spots_list.add((String) spots_param_list[i]);
                        Log.w("JskAndroidGui:GetSpotsParam", "lists:" + i + " "
                                        + spots_param_list[i]);
                }
        }

        public void getTasksParam() {
                String defaultTask_ns = "/Tablet";
                GraphName guser = GraphName.of(defaultTask_ns);
                NameResolver resolver_user = connectedNode.getResolver()
                                .newChild(guser);
                Object[] user_list = parameterTree.getList(
                                resolver_user.resolve("UserList")).toArray();
                tasks_list.clear();
                tasks_list.add("tasks");
                for (int i = 0; i < user_list.length; i++) {
                        GraphName gtask = GraphName.of(defaultTask_ns + "/User");
                        NameResolver resolver_task = connectedNode.getResolver().newChild(
                                        gtask);
                        Object[] task_param_list = parameterTree.getList(
                                        resolver_task.resolve((String) user_list[i])).toArray();
                        Log.i("JskAndroidGui:GetTasksParam", "task length = "
                                        + task_param_list.length);
                        for (int j = 0; j < task_param_list.length; j++) {
                                Log.i("JskAndroidGui:GetTasksParam", "lists: " + i + " " + j
                                                + " /Tablet/" + (String) user_list[i] + "/"
                                                + (String) task_param_list[j]);
                                tasks_list.add("/Tablet/" + (String) user_list[i] + "/"
                                                + (String) task_param_list[j]);
                        }
                }
        }

        public void getCameraParam() {
                String defaultCamera_ns = "/jsk_cameras";
                GraphName gcamera = GraphName.of(defaultCamera_ns);
                NameResolver resolver_camera = connectedNode.getResolver().newChild(
                                gcamera);
                Object[] camera_names_list = parameterTree.getList(
                                resolver_camera.resolve("CameraList")).toArray();
                Log.i("JskAndroidGui:GetCameraParam", "camera length = "
                                + camera_names_list.length);
                image_list.clear();
                image_list.add("cameras");
                for (int i = 0; i < camera_names_list.length; i++) {
                        Object[] camera_param_list = parameterTree.getList(
                                        resolver_camera.resolve((String) camera_names_list[i]))
                                        .toArray();
                        // if (i == 0) {
                        // defaultImage = (String)camera_param_list[0];
                        // defaultCameraInfo = (String)camera_param_list[1];
                        // }
                        image_list.add((String) camera_param_list[0]);
                        camera_info_list.add((String) camera_param_list[1]);
                        Log.w("JskAndroidGui:GetCameraParam", "lists:" + i + " "
                                        + camera_param_list[0] + camera_param_list[1]);
                }
        }

        public void getPointsParam() {
                String defaultPoints_ns = "/jsk_points";
                GraphName gparam = GraphName.of(defaultPoints_ns);
                NameResolver resolver_point = connectedNode.getResolver().newChild(
                                gparam);
                Object[] points_param_list = parameterTree.getList(
                                resolver_point.resolve("points")).toArray();
                Log.i("JskAndroidGui:GetPointsParam", "point length = "
                                + points_param_list.length);
                points_list.clear();
                points_list.add("points");
                for (int i = 0; i < points_param_list.length; i++) {
                        // if (i == 0) {
                        // defaultPoints = (String)points_param_list[i];
                        // }
                        points_list.add((String) points_param_list[i]);
                        Log.w("JskAndroidGui:GetPointsParam", "lists:" + i + " "
                                        + points_param_list[i]);
                }
        }

        public ArrayList<String> getPointsList() {
                return points_list;
        }

        public ArrayList<String> getTasksList() {
                return tasks_list;
        }

        public ArrayList<String> getImageList() {
                return image_list;
        }

        public ArrayList<String> getCameraInfoList() {
                return camera_info_list;
        }

        public ArrayList<String> getSpotsList() {
                return spots_list;
        }

        public ParameterTree getParameterTree() {
                return parameterTree;
        }

        public void onStart(final ConnectedNode connectedNode) {
                this.connectedNode = connectedNode;

                spots_list = new ArrayList<String>();
                tasks_list = new ArrayList<String>();
                image_list = new ArrayList<String>();
                camera_info_list = new ArrayList<String>();
                points_list = new ArrayList<String>();

                parameterTree = connectedNode.getParameterTree();

                GetSpotPub = connectedNode.newPublisher("/Tablet/GetSpot",
                                std_msgs.Empty._TYPE);
                StartDemoPub = connectedNode.newPublisher("/Tablet/StartDemo",
                                roseus.StringStamped._TYPE);
                MoveToSpotPub = connectedNode.newPublisher("/Tablet/MoveToSpot",
                                roseus.StringStamped._TYPE);
                EmergencyStopPub = connectedNode.newPublisher(
                                "/Tablet/EmergencyCommand", roseus.StringStamped._TYPE);
                SelectPub = connectedNode.newPublisher("/Tablet/Select",
                                roseus.StringStamped._TYPE);
                TweetPub = connectedNode.newPublisher("/pr2twit_from_tablet",
                                roseus.StringStamped._TYPE);

                // try{
                // getSpotsParam();
                // getCameraParam();
                // getTasksParam();
                // getPointsParam();
                // }catch (Exception ex){
                // Log.e("JskAndroidGui", "Param cast error: " + ex.toString());
                // }
                getParamLoop();

                setupEnd = true;
        }

        public void getParamLoop() {
                try {
                        getSpotsParam();
                        getCameraParam();
                        getTasksParam();
                        getPointsParam();
                } catch (Exception ex) {
                        Log.e("JskAndroidGui", "Param cast error: " + ex.toString());
                        try {
                                Thread.sleep(1000);
                        } catch (Exception e) {
                                e.printStackTrace();
                        }
                        getParamLoop();
                }

        }

}