AndroidAudioRecordService.java

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package org.ros.android.android_camera_viewer;


import java.net.URI;
import java.net.URISyntaxException;
import java.util.List;

import org.ros.address.InetAddressFactory;
import org.ros.node.DefaultNodeMainExecutor;
import org.ros.node.NodeConfiguration;
import org.ros.node.NodeMain;
import org.ros.node.NodeMainExecutor;

import android.app.IntentService;
import android.app.PendingIntent;
import android.content.Intent;


import android.os.Binder;
import android.os.Bundle;
import android.os.IBinder;
import android.util.Log;


public class AndroidAudioRecordService extends IntentService{


    AndroidAudioRecordNode main_node;
    NodeMain talker;
    Intent mintent;

    private String package_name;

    final IBinder binder = new MyBinder();

    public class MyBinder extends Binder{
        AndroidAudioRecordService getService(){
            return AndroidAudioRecordService.this;
        }
    }

    public AndroidAudioRecordService(){
        super("Service");
    }

    @Override
        public IBinder onBind(Intent intent){
        mintent = intent;

        return binder;
    }


    public void setNode(String package_name){
        showNotification();
        this.package_name = package_name;


        // We use this bundle                                 
        Bundle b = mintent.getExtras();


        if(this.main_node == null){
            try{
                URI masterUri = new URI(b.getString("masterUri"));
                String hostLocal = InetAddressFactory.newNonLoopback().getHostAddress();
                // At this point, the user has already been prompted to either enter the URI                                  // of a master to use or to start a master locally.           
                    NodeMainExecutor e = DefaultNodeMainExecutor.newDefault();

                NodeConfiguration nodeConfiguration = NodeConfiguration.newPublic(hostLocal,masterUri);
                nodeConfiguration.setMasterUri(masterUri);
                nodeConfiguration.setNodeName("/android/audio");

                talker = new AndroidAudioRecordNode(package_name);

                e.execute(talker, nodeConfiguration);


            }catch(URISyntaxException e){
                e.printStackTrace();
            }
        }
    }

    @Override
        protected void onHandleIntent(Intent intent) {
        try {
            Thread.sleep(10000);
        } catch (InterruptedException e) {
            e.printStackTrace();
        }

    }


    private void showNotification() {

        Intent i=new Intent(this, MainActivity.class);

        i.setFlags(Intent.FLAG_ACTIVITY_CLEAR_TOP|
                   Intent.FLAG_ACTIVITY_SINGLE_TOP);

        PendingIntent pi=PendingIntent.getActivity(this, 0, i, 0);

    }

    @Override
        public void onDestroy(){
        this.talker.onShutdown(null);
    }
}