re_comm_core: BinaryFileHandler.java Source File

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00001 /* \file BinaryFileHandler.java
00002  * \brief Binary file handler
00003  *
00004  * The binary file handler provides the callbacks for ROS services related to 
00005  * binary files.
00006  * 
00007  * This file is part of the RoboEarth ROS re_comm_core package.
00008  * 
00009  * It was originally created for <a href="http://www.roboearth.org/">RoboEarth</a>.
00010  * The research leading to these results has received funding from the 
00011  * European Union Seventh Framework Programme FP7/2007-2013 
00012  * under grant agreement no248942 RoboEarth.
00013  *
00014  * Copyright (C) 2010 by 
00015  * <a href=" mailto:perzylo@cs.tum.edu">Alexander Perzylo</a>
00016  * Technische Universitaet Muenchen
00017  * 
00018  * Redistribution and use in source and binary forms, with or without
00019  * modification, are permitted provided that the following conditions are met:
00020  * 
00021  *    <UL>
00022  *     <LI> Redistributions of source code must retain the above copyright
00023  *       notice, this list of conditions and the following disclaimer.
00024  *     <LI> Redistributions in binary form must reproduce the above copyright
00025  *       notice, this list of conditions and the following disclaimer in the
00026  *       documentation and/or other materials provided with the distribution.
00027  *     <LI> Neither the name of Willow Garage, Inc. nor the names of its
00028  *       contributors may be used to endorse or promote products derived from
00029  *       this software without specific prior written permission.
00030  *    </UL>
00031  * 
00032  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00033  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00034  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00035  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00036  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00037  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00038  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00039  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00040  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00041  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00042  * POSSIBILITY OF SUCH DAMAGE.
00043  *
00044  * \author Alexander Perzylo
00045  * \version 1.0
00046  * \date 2010
00047  * \image html http://www.roboearth.org/sites/default/files/RoboEarth.org_logo.gif
00048  * \image latex http://www.roboearth.org/sites/default/files/RoboEarth.org_logo.gif
00049  */
00050 package roboearth.wp5.module;
00051 
00052 import roboearth.wp5.conn.REInterface;
00053 import ros.NodeHandle;
00054 import ros.Ros;
00055 import ros.RosException;
00056 import ros.ServiceServer;
00057 import ros.pkg.re_srvs.srv.DelEnvironmentBinaryFile;
00058 import ros.pkg.re_srvs.srv.DelObjectBinaryFile;
00059 import ros.pkg.re_srvs.srv.GetEnvironmentBinaryFile;
00060 import ros.pkg.re_srvs.srv.GetObjectBinaryFile;
00061 import ros.pkg.re_srvs.srv.SetEnvironmentBinaryFile;
00062 import ros.pkg.re_srvs.srv.SetObjectBinaryFile;
00063 import ros.pkg.re_srvs.srv.UpdateEnvironmentBinaryFile;
00064 import ros.pkg.re_srvs.srv.UpdateObjectBinaryFile;
00065 
00066 public class BinaryFileHandler extends AbstractHandler {
00067 
00068         public BinaryFileHandler(Ros ros, NodeHandle n) throws RosException {
00069                 
00070                 super(ros, n);
00071 
00072                 this.n.advertiseService("/re_comm/get_object_binary_file", new GetObjectBinaryFile(), new GetObjectBinaryFileCallback());
00073                 this.n.advertiseService("/re_comm/set_object_binary_file", new SetObjectBinaryFile(), new SetObjectBinaryFileCallback());
00074                 this.n.advertiseService("/re_comm/del_object_binary_file", new DelObjectBinaryFile(), new DelObjectBinaryFileCallback());
00075                 this.n.advertiseService("/re_comm/update_object_binary_file", new UpdateObjectBinaryFile(), new UpdateObjectBinaryFileCallback());
00076 
00077                 this.n.advertiseService("/re_comm/get_environment_binary_file", new GetEnvironmentBinaryFile(), new GetEnvironmentBinaryFileCallback());
00078                 this.n.advertiseService("/re_comm/set_environment_binary_file", new SetEnvironmentBinaryFile(), new SetEnvironmentBinaryFileCallback());
00079                 this.n.advertiseService("/re_comm/del_environment_binary_file", new DelEnvironmentBinaryFile(), new DelEnvironmentBinaryFileCallback());
00080                 this.n.advertiseService("/re_comm/update_environment_binary_file", new UpdateEnvironmentBinaryFile(), new UpdateEnvironmentBinaryFileCallback());
00081                 
00082                 ros.logInfo("Module 'BinaryFileHandler' loaded.");
00083                 
00084         }
00085 
00093         class GetObjectBinaryFileCallback implements ServiceServer.Callback<GetObjectBinaryFile.Request, GetObjectBinaryFile.Response> {
00094 
00095                 @Override
00096                 public GetObjectBinaryFile.Response call(GetObjectBinaryFile.Request req) {
00097 
00098                         GetObjectBinaryFile.Response res = new GetObjectBinaryFile.Response();
00099 
00100                         REInterface con = getREConnection(guestInterfaceKey);
00101                         byte[] data = con.requestObjectBinaryFile(req.objectUID, req.filename);
00102                         
00103                         if (data != null) {
00104                                 res.file.data = data;
00105                                 res.file.name = req.filename;
00106                                 res.success = true;
00107                                 ros.logInfo("GetBinaryFile (UID: "+req.objectUID+", " +
00108                                                 "file: "+req.filename+"): Done");
00109                         } else {
00110                                 res.success = false;
00111                                 ros.logInfo("GetBinaryFile (UID: "+req.objectUID+", " +
00112                                                 "file: "+req.filename+"): Failed");
00113                         }
00114 
00115                         return res;
00116 
00117                 }
00118 
00119         }
00120         
00128         class SetObjectBinaryFileCallback implements ServiceServer.Callback<SetObjectBinaryFile.Request, SetObjectBinaryFile.Response> {
00129 
00130                 @Override
00131                 public SetObjectBinaryFile.Response call(SetObjectBinaryFile.Request req) {
00132 
00133                         SetObjectBinaryFile.Response res = new SetObjectBinaryFile.Response();
00134                         res.success = false;
00135 
00136                         if (req.apiKey != null && req.apiKey.length() > 0) {
00137 
00138                                 REInterface con = getREConnection(req.apiKey);
00139                                 res.success = con.submitObjectBinaryFile(req.objectUID, req.file.data, req.file.name);
00140                                 if (res.success) {
00141                                         ros.logInfo("SetBinaryFile (UID: "+req.objectUID+", " +
00142                                                         "file: "+req.file.name+"): Done");
00143                                 } else {
00144                                         ros.logInfo("SetBinaryFile (UID: "+req.objectUID+", " +
00145                                                         "file: "+req.file.name+"): Failed");
00146                                 }
00147 
00148                         } else {
00149                                 ros.logError("SetBinaryFile (UID: "+req.objectUID+", " +
00150                                                 "file: "+req.file.name+"): API key is missing!");
00151                         }
00152 
00153                         return res;
00154 
00155                 }
00156 
00157         }
00158         
00159         
00167         class DelObjectBinaryFileCallback implements ServiceServer.Callback<DelObjectBinaryFile.Request, DelObjectBinaryFile.Response> {
00168 
00169                 @Override
00170                 public DelObjectBinaryFile.Response call(DelObjectBinaryFile.Request req) {
00171 
00172                         DelObjectBinaryFile.Response res = new DelObjectBinaryFile.Response();
00173                         res.success = false;
00174 
00175                         if (req.apiKey != null && req.apiKey.length() > 0) {
00176 
00177                                 REInterface con = getREConnection(req.apiKey);
00178                                 res.success = con.deleteObjectBinaryFile(req.objectUID, req.filename);
00179                                 if (res.success) {
00180                                         ros.logInfo("DelBinaryFile (UID: "+req.objectUID+", " +
00181                                                         "File: '"+req.filename+"'): Done");
00182                                 } else {
00183                                         ros.logInfo("DelBinaryFile (UID: "+req.objectUID+", " +
00184                                                         "File: '"+req.filename+"'): Failed");
00185                                 }
00186 
00187                         } else {
00188                                 ros.logError("DelBinaryFile (UID: " + req.objectUID + ", " +
00189                                                 "File: '"+req.filename+"'): API key is missing!");
00190                         }
00191 
00192                         return res;
00193 
00194                 }
00195 
00196         }
00197         
00205         class UpdateObjectBinaryFileCallback implements ServiceServer.Callback<UpdateObjectBinaryFile.Request, UpdateObjectBinaryFile.Response> {
00206 
00207                 @Override
00208                 public UpdateObjectBinaryFile.Response call(UpdateObjectBinaryFile.Request req) {
00209 
00210                         UpdateObjectBinaryFile.Response res = new UpdateObjectBinaryFile.Response();
00211                         res.success = false;
00212 
00213                         if (req.apiKey != null && req.apiKey.length() > 0) {
00214 
00215                                 REInterface con = getREConnection(req.apiKey);
00216                                 res.success = con.updateObjectBinaryFile(req.objectUID, req.file.data, req.file.name);
00217                                 if (res.success) {
00218                                         ros.logInfo("UpdateBinaryFile (UID: " + req.objectUID + ", " +
00219                                                 "File: '"+req.file.name+"'): Done");
00220                                 } else {
00221                                         ros.logInfo("UpdateBinaryFile (UID: " + req.objectUID + ", " +
00222                                                 "File: '"+req.file.name+"'): Failed");
00223                                 }
00224 
00225                         } else {
00226                                 ros.logError("UpdateBinaryFile (UID: " + req.objectUID + ", " +
00227                                                 "File: '"+req.file.name+"'): API key is missing!");
00228                         }
00229 
00230                         return res;
00231 
00232                 }
00233 
00234         }
00235         
00243         class GetEnvironmentBinaryFileCallback implements ServiceServer.Callback<GetEnvironmentBinaryFile.Request, GetEnvironmentBinaryFile.Response> {
00244 
00245                 @Override
00246                 public GetEnvironmentBinaryFile.Response call(GetEnvironmentBinaryFile.Request req) {
00247 
00248                         GetEnvironmentBinaryFile.Response res = new GetEnvironmentBinaryFile.Response();
00249 
00250                         REInterface con = getREConnection(guestInterfaceKey);
00251                         byte[] data = con.requestEnvironmentBinaryFile(req.envUID, req.filename);
00252                         
00253                         if (data != null) {
00254                                 res.file.data = data;
00255                                 res.file.name = req.filename;
00256                                 res.success = true;
00257                                 ros.logInfo("GetBinaryFile (UID: "+req.envUID+", " +
00258                                                 "file: "+req.filename+"): Done");
00259                         } else {
00260                                 res.success = false;
00261                                 ros.logInfo("GetBinaryFile (UID: "+req.envUID+", " +
00262                                                 "file: "+req.filename+"): Failed");
00263                         }
00264 
00265                         return res;
00266 
00267                 }
00268 
00269         }
00270         
00278         class SetEnvironmentBinaryFileCallback implements ServiceServer.Callback<SetEnvironmentBinaryFile.Request, SetEnvironmentBinaryFile.Response> {
00279 
00280                 @Override
00281                 public SetEnvironmentBinaryFile.Response call(SetEnvironmentBinaryFile.Request req) {
00282 
00283                         SetEnvironmentBinaryFile.Response res = new SetEnvironmentBinaryFile.Response();
00284                         res.success = false;
00285 
00286                         if (req.apiKey != null && req.apiKey.length() > 0) {
00287 
00288                                 REInterface con = getREConnection(req.apiKey);
00289                                 res.success = con.submitEnvironmentBinaryFile(req.envUID, req.file.data, req.file.name);
00290                                 if (res.success) {
00291                                         ros.logInfo("SetBinaryFile (UID: "+req.envUID+", " +
00292                                                         "file: "+req.file.name+"): Done");
00293                                 } else {
00294                                         ros.logInfo("SetBinaryFile (UID: "+req.envUID+", " +
00295                                                         "file: "+req.file.name+"): Failed");
00296                                 }
00297 
00298                         } else {
00299                                 ros.logError("SetBinaryFile (UID: "+req.envUID+", " +
00300                                                 "file: "+req.file.name+"): API key is missing!");
00301                         }
00302 
00303                         return res;
00304 
00305                 }
00306 
00307         }
00308         
00309         
00317         class DelEnvironmentBinaryFileCallback implements ServiceServer.Callback<DelEnvironmentBinaryFile.Request, DelEnvironmentBinaryFile.Response> {
00318 
00319                 @Override
00320                 public DelEnvironmentBinaryFile.Response call(DelEnvironmentBinaryFile.Request req) {
00321 
00322                         DelEnvironmentBinaryFile.Response res = new DelEnvironmentBinaryFile.Response();
00323                         res.success = false;
00324 
00325                         if (req.apiKey != null && req.apiKey.length() > 0) {
00326 
00327                                 REInterface con = getREConnection(req.apiKey);
00328                                 res.success = con.deleteEnvironmentBinaryFile(req.envUID, req.filename);
00329                                 if (res.success) {
00330                                         ros.logInfo("DelBinaryFile (UID: "+req.envUID+", " +
00331                                                         "File: '"+req.filename+"'): Done");
00332                                 } else {
00333                                         ros.logInfo("DelBinaryFile (UID: "+req.envUID+", " +
00334                                                         "File: '"+req.filename+"'): Failed");
00335                                 }
00336 
00337                         } else {
00338                                 ros.logError("DelBinaryFile (UID: " + req.envUID + ", " +
00339                                                 "File: '"+req.filename+"'): API key is missing!");
00340                         }
00341 
00342                         return res;
00343 
00344                 }
00345 
00346         }
00347         
00355         class UpdateEnvironmentBinaryFileCallback implements ServiceServer.Callback<UpdateEnvironmentBinaryFile.Request, UpdateEnvironmentBinaryFile.Response> {
00356 
00357                 @Override
00358                 public UpdateEnvironmentBinaryFile.Response call(UpdateEnvironmentBinaryFile.Request req) {
00359 
00360                         UpdateEnvironmentBinaryFile.Response res = new UpdateEnvironmentBinaryFile.Response();
00361                         res.success = false;
00362 
00363                         if (req.apiKey != null && req.apiKey.length() > 0) {
00364 
00365                                 REInterface con = getREConnection(req.apiKey);
00366                                 res.success = con.updateEnvironmentBinaryFile(req.envUID, req.file.data, req.file.name);
00367                                 if (res.success) {
00368                                         ros.logInfo("UpdateBinaryFile (UID: " + req.envUID + ", " +
00369                                                 "File: '"+req.file.name+"'): Done");
00370                                 } else {
00371                                         ros.logInfo("UpdateBinaryFile (UID: " + req.envUID + ", " +
00372                                                 "File: '"+req.file.name+"'): Failed");
00373                                 }
00374 
00375                         } else {
00376                                 ros.logError("UpdateBinaryFile (UID: " + req.envUID + ", " +
00377                                                 "File: '"+req.file.name+"'): API key is missing!");
00378                         }
00379 
00380                         return res;
00381 
00382                 }
00383 
00384         }
00385         
00386 }