RoconAppManager.java

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package com.ros.turtlebot.apps.rocon;

import org.ros.namespace.GraphName;
import org.ros.node.AbstractNodeMain;
import org.ros.node.ConnectedNode;
import org.ros.node.service.ServiceResponseBuilder;

import android.util.Log;

import rocon_app_manager_msgs.* ;

public class RoconAppManager extends AbstractNodeMain {

        public static final String ACTION_PLATFORMINFO = "platform_info";
        public static final String ACTION_APPLIST = "list_apps";
        public static final String ACTION_INVITE = "invite";
        public static final String ACTION_STATUS = "status";
        public static final String ACTION_STARTAPP = "start_app";

        private ServiceResponseBuilder<GetPlatformInfoRequest, GetPlatformInfoResponse> platformInfoResponseBuilder = null ;
        private ServiceResponseBuilder<GetAppListRequest, GetAppListResponse> appListResponseBuilder = null ;
        private ServiceResponseBuilder<InviteRequest, InviteResponse> inviteResponseBuilder = null ;
        private ServiceResponseBuilder<StatusRequest, StatusResponse> statusResponseBuilder = null ;
        private ServiceResponseBuilder<StartAppRequest, StartAppResponse> startAppResponseBuilder = null ;
        
        private ConnectedNode connectedNode = null ;
        
        private String nodeName = "" ;
        private String actionName = "" ;
        private String serviceName = "";
        
        private RosBaseActivity parent = null ;
        

        public RoconAppManager(String nodeName, String actionName) {
                this.nodeName = nodeName ;
                this.actionName = actionName ;
        }
        

        @Override
        public GraphName getDefaultNodeName() {
                // TODO Auto-generated method stub
                return null;
        }
        
        @Override
        public void onStart(ConnectedNode connectedNode) {
                // TODO Auto-generated method stub
                Log.d("RoconAppManager", "onStart() - " + actionName);
                this.connectedNode = connectedNode ;
                if(actionName.equals(ACTION_PLATFORMINFO))
                        onStartPlatformInfo() ;
                else if(actionName.equals(ACTION_APPLIST))
                        onStartAppList() ;
                else if(actionName.equals(ACTION_STATUS))
                        onStartStatus() ;
                else if(actionName.equals(ACTION_INVITE))
                        onStartInvite() ;
                else if(actionName.equals(ACTION_STARTAPP))
                        onStartApp() ;
        }
        
        private void onStartPlatformInfo() {
                Log.d("RoconAppManager", "onStartPlatformInfo()");
                serviceName = nodeName + "/" + ACTION_PLATFORMINFO ;
                if(connectedNode != null)
                        connectedNode.newServiceServer (serviceName, GetPlatformInfo._TYPE, platformInfoResponseBuilder) ;
                else
                        Log.e("RoconAppManager", "onStartPlatformInfo()-connectedNode is null");
                
        }
        
        private void onStartAppList() {
                Log.d("RoconAppManager", "onStartAppList()");
                serviceName = nodeName + "/" + ACTION_APPLIST ;
                if(connectedNode != null)
                        connectedNode.newServiceServer(serviceName, GetAppList._TYPE, appListResponseBuilder) ;
                else
                        Log.e("RoconAppManager", "onStartAppList()-connectedNode is null");
                
        }
        
        private void onStartStatus() {
                Log.d("RoconAppManager", "onStartStatus()");
                serviceName = nodeName + "/" + ACTION_STATUS ;
                if(connectedNode != null)
                        connectedNode.newServiceServer(serviceName, Status._TYPE, statusResponseBuilder) ;
                else
                        Log.e("RoconAppManager", "onStartStatus()-connectedNode is null");
                
        }
        
        private void onStartInvite() {
                Log.d("RoconAppManager", "onStartInvite()");
                serviceName = nodeName + "/" + ACTION_INVITE ;
                if(connectedNode != null)
                        connectedNode.newServiceServer(serviceName, Invite._TYPE, inviteResponseBuilder) ;
                else
                        Log.e("RoconAppManager", "onStartInvite()-connectedNode is null");
                parent.onServerConnected(ACTION_INVITE);
        }
        
        private void onStartApp() {
                Log.d("RoconAppManager", "onStartApp()");
                serviceName = nodeName + "/" + ACTION_STARTAPP ;
                if(connectedNode != null)
                        connectedNode.newServiceServer(serviceName, StartApp._TYPE, startAppResponseBuilder) ;
                else
                        Log.e("RoconAppManager", "onStartApp()-connectedNode is null");
                
        }
        
        
        public void setNodeName(String nodeName) {
                this.nodeName = nodeName ;
        }
        
        public void setActionName(String actionName) {
                this.actionName = actionName ;
        }
        
        public String getActionName() {
                return this.actionName ;
        }
        
        public void setPlatformInfoResponseBuilder(
                        ServiceResponseBuilder<GetPlatformInfoRequest, GetPlatformInfoResponse> platformInfoResponseBuilder) {
                this.platformInfoResponseBuilder = platformInfoResponseBuilder ;
        }
        
        public void setAppListResponseBuilder(
                        ServiceResponseBuilder<GetAppListRequest, GetAppListResponse> appListResponseBuilder) {
                this.appListResponseBuilder = appListResponseBuilder ;
        }
        
        public void setInviteResponseBuilder(
                        ServiceResponseBuilder<InviteRequest, InviteResponse> inviteResponseBuilder) {
                this.inviteResponseBuilder = inviteResponseBuilder ;
        }
        
        public void setStatusResponseBuilder(
                        ServiceResponseBuilder<StatusRequest, StatusResponse> statusResponseBuilder) {
                this.statusResponseBuilder = statusResponseBuilder ;
        }
        
        public void setStartAppResponseBuilder(
                        ServiceResponseBuilder<StartAppRequest, StartAppResponse> startAppResponseBuilder) {
                this.startAppResponseBuilder = startAppResponseBuilder ;
        }
        
        public ConnectedNode getConnectedNode() {
                return this.connectedNode ;
        }
        
        public void setParent(RosBaseActivity parent) {
                this.parent = parent ;
        }

}