MapManager.java

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package com.github.rosjava.android_apps.make_a_map;

import map_store.SaveMap;
import map_store.SaveMapRequest;
import map_store.SaveMapResponse;

import org.ros.exception.RosRuntimeException;
import org.ros.exception.ServiceNotFoundException;
import org.ros.namespace.GraphName;
import org.ros.namespace.NameResolver;
import org.ros.node.AbstractNodeMain;
import org.ros.node.ConnectedNode;
import org.ros.node.service.ServiceClient;
import org.ros.node.service.ServiceResponseListener;

public class MapManager extends AbstractNodeMain {

        private ConnectedNode connectedNode;
        private ServiceResponseListener<SaveMapResponse> saveServiceResponseListener;

        private String mapName;
    private NameResolver nameResolver;
    private boolean nameResolverSet = false;

        public MapManager() {
                mapName = "";
        }
        
        public void setMapName(String name) {
                mapName = name;
        }

    public void setNameResolver(NameResolver newNameResolver) {
        nameResolver = newNameResolver;
        nameResolverSet = true;
    }

        public void setSaveService(
                        ServiceResponseListener<SaveMapResponse> saveServiceResponseListener) {
                this.saveServiceResponseListener = saveServiceResponseListener;
        }

        public void saveMap() {
                ServiceClient<SaveMapRequest, SaveMapResponse> saveMapClient;
                if (connectedNode != null) {
                        try
            {
                String srvName = "save_map";
                if (nameResolverSet)
                {
                    srvName = nameResolver.resolve(srvName).toString();
                }
                saveMapClient = connectedNode.newServiceClient(srvName, SaveMap._TYPE);
                        } catch (ServiceNotFoundException e) {
                                try {
                                        Thread.sleep(1000L);
                                        return;
                                } catch (Exception ex) {
                                }
                                throw new RosRuntimeException(e);
                        }
                        final SaveMapRequest request = saveMapClient.newMessage();
                        request.setMapName(mapName);
                        saveMapClient.call(request, saveServiceResponseListener);
                }
        }

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

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