Dashboard.java

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package com.github.rosjava.android_remocons.common_tools.dashboards;

import android.app.Activity;
import android.content.Context;
import android.util.Log;
import android.view.View;
import android.view.ViewGroup;

import org.ros.namespace.GraphName;
import org.ros.node.ConnectedNode;
import org.ros.node.Node;
import org.ros.node.NodeMain;

public class Dashboard implements NodeMain {
        public interface DashboardInterface {
                public void onStart(ConnectedNode connectedNode);

                public void onShutdown(Node node);
        }

    private static final String defaultDashboardPath = "com.github.rosjava.android_remocons.common_tools.dashboards.DefaultDashboard";
        private static final String turtlebotDashboardPath = "com.github.turtlebot.turtlebot_android.turtlebot_core.dashboards.TurtlebotDashboard";
        private static final String pr2DashboardPath = "com.ros.pr2.apps.core_components.Pr2Dashboard";

        private DashboardInterface dashboard;
        private Activity activity;
        private ViewGroup view;
        private ViewGroup.LayoutParams lparams;
        private static String robotName;
        private static String customDashboardPath;

        public Dashboard(Activity activity) {
                dashboard = null;
                this.activity = activity;
                this.view = null;
                this.lparams = null;
        }

        public void setView(ViewGroup view, ViewGroup.LayoutParams lparams) {
                if (view == null) {
                        Log.e("Dashboard", "Null view for dashboard");
                }
                this.view = view;
                this.lparams = lparams;
        }

        public void setRobotName(String name) {
                robotName = name;
        }

        public void setCustomDashboardPath(String path) {
                this.customDashboardPath = path;
        }

        private static DashboardInterface createDashboard(Class dashClass,
                        Context context) {
                ClassLoader classLoader = Dashboard.class.getClassLoader();
                Object[] args = new Object[1];
                DashboardInterface result = null;
                args[0] = context;
                try {
                        Class contextClass = Class.forName("android.content.Context");
                        result = (DashboardInterface) dashClass.getConstructor(contextClass).newInstance(args);
                } catch (Exception ex) {
                        Log.e("Dashboard", "Error during dashboard instantiation:", ex);
                        result = null;
                }
                return result;
        }

        private static DashboardInterface createDashboard(String className,
                        Context context) {
                Class dashClass = null;
                try {
                        dashClass = Class.forName(className);
                } catch (Exception ex) {
                        Log.e("Dashboard", "Error during dashboard class loading:", ex);
                        return null;
                }
                return createDashboard(dashClass, context);

        }

        // TODO: deal with the custom robot dashboard
        private static DashboardInterface createDashboard(Context context) {
                if (customDashboardPath != null) {
                        return createDashboard(customDashboardPath, context);
//              } else if (robotName.equals("turtlebot")) {
//                      return createDashboard(turtlebotDashboardPath, context);
//              } else if (robotName.equals("pr2")) {
//                      return createDashboard(pr2DashboardPath, context);
                } else {
                    return createDashboard(defaultDashboardPath, context);
        }
        }

        @Override
        public void onError(Node arg0, Throwable arg1) {
                // TODO Auto-generated method stub

        }

        @Override
        public void onShutdown(final Node node) {
                activity.runOnUiThread(new Runnable() {
                        @Override
                        public void run() {
                                DashboardInterface dash = dashboard;
                                if (dash != null) {
                                        dash.onShutdown(node);
                                        view.removeView((View) dash);
                                }
                                dashboard = null;
                        }
                });
        }

        @Override
        public void onShutdownComplete(Node node) {
                // TODO Auto-generated method stub

        }

        @Override
        public void onStart(ConnectedNode connectedNode) {
                if (dashboard != null) {
                        // FIXME: should we re-start the dashboard? I think this is really
                        // an error.
                        return;
                }
                dashboard = Dashboard.createDashboard(activity);
                if (dashboard != null) {
                        activity.runOnUiThread(new Runnable() {
                                @Override
                                public void run() {

                                        DashboardInterface dash = dashboard;
                                        ViewGroup localView = view;
                                        if (dash != null && localView != null) {
                                                localView.addView((View) dash, lparams);
                                        } else if (dash == null) {
                                                Log.e("Dashboard",
                                                                "Dashboard could not start: no dashboard");
                                        } else if (view == null) {
                                                Log.e("Dashboard", "Dashboard could not start: no view");
                                        } else {
                                                Log.e("Dashboard",
                                                                "Dashboard could not start: no view or dashboard");
                                        }
                                }
                        });
                        dashboard.onStart(connectedNode);
                }
        }

        @Override
        public GraphName getDefaultNodeName() {
                // TODO Auto-generated method stub
                return null;
        }
}