AndroidVoiceMessageService.java

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package org.ros.android.androidVoiceMessage;

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

import org.ros.address.InetAddressFactory;
import org.ros.android.androidVoiceMessage.AndroidVoiceMessageNode;
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.hardware.Sensor;
import android.hardware.SensorManager;
import android.os.Binder;
import android.os.Bundle;
import android.os.IBinder;
import android.speech.SpeechRecognizer;
import android.util.Log;
import android.widget.TextView;
import android.widget.ImageView;


public class AndroidVoiceMessageService extends IntentService {

        SensorManager sensorManager;
        List<Sensor> sensors;
        AndroidVoiceMessageNode androidVoiceMessageNode;
        Intent mintent;
        NodeMainExecutor nodeMainExecutor;
        private String packageName;
        SpeechRecognizer speechRecognizer;

        final IBinder binder = new MyBinder();

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

        public AndroidVoiceMessageService() {
                super("AndroidVoiceMessageService");
        }

        @Override
        public IBinder onBind(Intent intent) {
                mintent = intent;
                sensorManager = (SensorManager) getSystemService(SENSOR_SERVICE);
                sensors = sensorManager.getSensorList(Sensor.TYPE_ALL);
                return binder;
        }

        public void setNode(SpeechRecognizer speechRecognizer, TextView textView, ImageView imageView, String packageName) {
                showNotification();
                this.speechRecognizer = speechRecognizer;
                this.packageName = packageName;

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

                if (this.androidVoiceMessageNode == null) {
                        try {
                                URI masterUri = new URI(b.getString("masterUri"));
                                String hostLocal = InetAddressFactory.newNonLoopback()
                                                .getHostAddress();
                                nodeMainExecutor = DefaultNodeMainExecutor.newDefault();

                                NodeConfiguration nodeConfiguration = NodeConfiguration
                                                .newPublic(hostLocal, masterUri);
                                nodeConfiguration.setMasterUri(masterUri);
                                nodeConfiguration.setNodeName("android_voice_message");

                                androidVoiceMessageNode = new AndroidVoiceMessageNode(
                                                sensorManager, speechRecognizer, packageName);
                                
                                setView(textView,imageView);
                                
                                nodeMainExecutor.execute(androidVoiceMessageNode,
                                                nodeConfiguration);
                        

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

        public void setStart() {
                androidVoiceMessageNode.setFlag();
        }
        
        public void setRawModeStart(AndroidVoiceMessageView androidVoiceMessageView) {
                androidVoiceMessageNode.publishRawSound(androidVoiceMessageView);
        }
        
        public void setRawModeStop(){
                androidVoiceMessageNode.stopRawSound();
        }
        
        public void setView(TextView textView,ImageView imageView){
                androidVoiceMessageNode.setView(textView,imageView);
        }

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

        }

        private void showNotification() {

                Intent intent = new Intent(this, AndroidVoiceMessage.class);

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

                PendingIntent pendingIntent = PendingIntent.getActivity(this, 0,
                                intent, 0);

        }

        @Override
        public void onDestroy() {
                nodeMainExecutor.shutdownNodeMain(androidVoiceMessageNode);
        }
}