EnvironmentHandler.java

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/* \file EnvironmentHandler.java
 * \brief Environment handler
 *
 * The environment handler provides the callbacks for ROS services related to environments.
 * 
 * This file is part of the RoboEarth ROS re_comm_core package.
 * 
 * It was originally created for <a href="http://www.roboearth.org/">RoboEarth</a>.
 * The research leading to these results has received funding from the 
 * European Union Seventh Framework Programme FP7/2007-2013 
 * under grant agreement no248942 RoboEarth.
 *
 * Copyright (C) 2010 by 
 * <a href=" mailto:perzylo@cs.tum.edu">Alexander Perzylo</a>
 * Technische Universitaet Muenchen
 * 
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 * 
 *    <UL>
 *     <LI> Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     <LI> Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     <LI> Neither the name of Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *    </UL>
 * 
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 *
 * \author Alexander Perzylo
 * \version 1.0
 * \date 2010
 * \image html http://www.roboearth.org/sites/default/files/RoboEarth.org_logo.gif
 * \image latex http://www.roboearth.org/sites/default/files/RoboEarth.org_logo.gif
 */
package roboearth.wp5.module;

import java.util.ArrayList;

import roboearth.wp5.conn.REInterface;
import ros.NodeHandle;
import ros.Ros;
import ros.RosException;
import ros.ServiceServer;
import ros.pkg.re_msgs.msg.StringArray;
import ros.pkg.re_srvs.srv.DelEnvironment;
import ros.pkg.re_srvs.srv.GetEnvironment;
import ros.pkg.re_srvs.srv.QueryEnvironments;
import ros.pkg.re_srvs.srv.SearchEnvironments;
import ros.pkg.re_srvs.srv.SetEnvironment;
import ros.pkg.re_srvs.srv.UpdateEnvironment;

public class EnvironmentHandler extends AbstractHandler {

        public EnvironmentHandler(Ros ros, NodeHandle n) throws RosException {

                super(ros, n);

                this.n.advertiseService("/re_comm/get_environment", new GetEnvironment(), new GetEnvironmentCallback());
                this.n.advertiseService("/re_comm/set_environment", new SetEnvironment(), new SetEnvironmentCallback());
                this.n.advertiseService("/re_comm/del_environment", new DelEnvironment(), new DelEnvironmentCallback());
                this.n.advertiseService("/re_comm/update_environment", new UpdateEnvironment(), new UpdateEnvironmentCallback());
                this.n.advertiseService("/re_comm/search_environments", new SearchEnvironments(), new SearchEnvironmentsCallback());
                this.n.advertiseService("/re_comm/query_environments", new QueryEnvironments(), new QueryEnvironmentsCallback());

                ros.logInfo("Module 'EnvironmentHandler' loaded.");

        }

        class GetEnvironmentCallback implements ServiceServer.Callback<GetEnvironment.Request, GetEnvironment.Response> {

                @Override
                public GetEnvironment.Response call(GetEnvironment.Request req) {

                        GetEnvironment.Response res = new GetEnvironment.Response();
                        
                        REInterface con = getREConnection(guestInterfaceKey);
                        ArrayList<String> outFilenames = new ArrayList<String>();
                        ArrayList<String> outFileURLs = new ArrayList<String>();
                        String ont = con.requestEnvironment(req.environmentUID, outFilenames, outFileURLs);
                        
                        if (ont != null) {
                                res.environment = ont;
                                res.filenames = outFilenames;
                                res.fileURLs = outFileURLs;
                                res.success = true;
                                ros.logInfo("GetEnvironment (UID: " + req.environmentUID + "): Done");
                        } else {
                                res.success = false;
                                ros.logInfo("GetEnvironment (UID: " + req.environmentUID + "): Failed");
                        }

                        return res;

                }

        }

        class SetEnvironmentCallback implements ServiceServer.Callback<SetEnvironment.Request, SetEnvironment.Response> {

                @Override
                public SetEnvironment.Response call(SetEnvironment.Request req) {

                        SetEnvironment.Response res = new SetEnvironment.Response();
                        res.success = false;
                        
                        if (req.apiKey != null && req.apiKey.length() > 0) {

                                REInterface con = getREConnection(req.apiKey);
                                
                                ArrayList<String> filenames = new ArrayList<String>();
                                ArrayList<byte[]> dataArray = new ArrayList<byte[]>();
                                for (ros.pkg.re_msgs.msg.File file : req.files) {
                                        filenames.add(file.name);
                                        dataArray.add(file.data);
                                }
                                
                                res.success = con.submitEnvironment(req.environment, req.cls, req.id, req.description, dataArray, filenames);
                                if (res.success) {
                                        ros.logInfo("SetEnvironment (UID: " + req.cls+"."+req.id + "): Done");
                                } else {
                                        ros.logInfo("SetEnvironment (UID: " + req.cls+"."+req.id + "): Failed");
                                }

                        } else {
                                ros.logError("SetEnvironment (UID: " + req.cls+"."+req.id + "): API key is missing!");
                        }

                        return res;

                }

        }

        class DelEnvironmentCallback implements ServiceServer.Callback<DelEnvironment.Request, DelEnvironment.Response> {

                @Override
                public DelEnvironment.Response call(DelEnvironment.Request req) {

                        DelEnvironment.Response res = new DelEnvironment.Response();
                        res.success = false;

                        if (req.apiKey != null && req.apiKey.length() > 0) {

                                REInterface con = getREConnection(req.apiKey);
                                res.success = con.deleteEnvironment(req.environmentUID);
                                if (res.success) {
                                        ros.logInfo("DelEnvironment (UID: " + req.environmentUID + "): Done");
                                } else {
                                        ros.logInfo("DelEnvironment (UID: " + req.environmentUID + "): Failed");
                                }

                        } else {
                                ros.logError("DelEnvironment (UID: " + req.environmentUID + "): API key is missing!");
                        }

                        return res;

                }

        }

        class UpdateEnvironmentCallback implements ServiceServer.Callback<UpdateEnvironment.Request, UpdateEnvironment.Response> {

                @Override
                public UpdateEnvironment.Response call(UpdateEnvironment.Request req) {

                        UpdateEnvironment.Response res = new UpdateEnvironment.Response();
                        res.success = false;

                        if (req.apiKey != null && req.apiKey.length() > 0) {

                                REInterface con = getREConnection(req.apiKey);
                                res.success = con.updateEnvironment(req.uid, req.environment, req.description);
                                if (res.success) {
                                        ros.logInfo("UpdateEnvironment (UID: " + req.uid + "): Done");
                                } else {
                                        ros.logInfo("UpdateEnvironment (UID: " + req.uid + "): Failed");
                                }

                        } else {
                                ros.logError("UpdateEnvironment (UID: " + req.uid + "): API key is missing!");
                        }

                        return res;

                }

        }

        class SearchEnvironmentsCallback implements ServiceServer.Callback<SearchEnvironments.Request, SearchEnvironments.Response> {

                @Override
                public SearchEnvironments.Response call(SearchEnvironments.Request req) {

                        SearchEnvironments.Response res = new SearchEnvironments.Response();
                        res.success = false;

                        REInterface con = getREConnection(guestInterfaceKey);
                        ArrayList<String> uids = new ArrayList<String>();
                        ArrayList<ArrayList<String>> filenames = new ArrayList<ArrayList<String>>();
                        ArrayList<ArrayList<String>> urls = new ArrayList<ArrayList<String>>();
                        
                        String[] onts = con.searchEnvironments(req.searchID, uids, filenames, urls);
                        if (onts != null) {
                                for (String ont : onts) {
                                        StringArray saNames = new StringArray();
                                        saNames.list = filenames.remove(0);
                                        res.filenames.add(saNames);
                                        
                                        StringArray saURLs = new StringArray();
                                        saURLs.list = urls.remove(0);
                                        res.fileURLs.add(saURLs);
                                        
                                        res.environments.add(ont);
                                }
                                res.uids = uids;
                                res.success = true;
                                ros.logInfo("SearchEnvironments (search: " + req.searchID + "): Done");                         
                        } else {
                                res.success = false;
                                ros.logInfo("SearchEnvironments (search: " + req.searchID + "): Failed");
                        }

                        return res;

                }

        }
        
        class QueryEnvironmentsCallback implements ServiceServer.Callback<QueryEnvironments.Request, QueryEnvironments.Response> {

                @Override
                public QueryEnvironments.Response call(QueryEnvironments.Request req) {

                        QueryEnvironments.Response res = new QueryEnvironments.Response();
                        res.result = "";

                        REInterface con = getREConnection(guestInterfaceKey);
                        String result = con.queryEnvironmentDB(req.query);
                        if (result != null) {
                                res.result = result;
                                ros.logInfo("QueryEnvironment (query:\n" + req.query + "): Done");
                        } else {
                                ros.logInfo("QueryEnvironment (query:\n" + req.query + "): Failed");
                        }

                        return res;

                }

        }
        
}