RobotNameResolver.java

Go to the documentation of this file.

package com.github.rosjava.android_apps.application_management;

import android.util.Log;

import org.ros.master.client.MasterStateClient;
import org.ros.master.client.SystemState;
import org.ros.master.client.TopicSystemState;
import org.ros.namespace.GraphName;
import org.ros.namespace.NameResolver;
import org.ros.node.AbstractNodeMain;
import org.ros.node.ConnectedNode;
import org.ros.exception.RosRuntimeException;

public class RobotNameResolver extends AbstractNodeMain {

        private RobotDescription currentRobot;
        private NameResolver applicationNamespaceResolver;
        private NameResolver robotNameResolver;
        private GraphName name;
        private GraphName applicationNamespace;
        private ConnectedNode connectedNode;
    private boolean resolved = false;

        public RobotNameResolver() {
        }

        public void setRobot(RobotDescription currentRobot) {
                this.currentRobot = currentRobot;
        }

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

        public void setRobotName(String name) {
                this.name = GraphName.of(name);
        }
        
        public void resetRobotName(String name) {
                robotNameResolver = connectedNode.getResolver().newChild(name);
        }


        public NameResolver getAppNameSpace() {
                return applicationNamespaceResolver;
        }

    public NameResolver getRobotNameSpace() {
                return robotNameResolver;
        }

    public void waitForResolver() {
        while (!resolved) {
            try {
                Thread.sleep(100);
            } catch (Exception e) {
                Log.w("RobotRemocon", "robot name waitForResolver caught an arbitrary exception");
            }
        }
    }

        @Override
        public void onStart(final ConnectedNode connectedNode) {
                this.connectedNode = connectedNode;
        if (currentRobot != null) {
            name = GraphName.of(currentRobot.getRobotName());
        } else {
            // This is duplicated in PlatformInfoServiceClient and could be better stored somewhere, but it's not much.
            MasterStateClient masterClient = new MasterStateClient(this.connectedNode, this.connectedNode.getMasterUri());
            SystemState systemState = masterClient.getSystemState();
            for (TopicSystemState topic : systemState.getTopics()) {
                String name = topic.getTopicName();
                GraphName graph_name = GraphName.of(name);
                if ( graph_name.getBasename().toString().equals("app_list") ) {
                    this.name = graph_name.getParent().toRelative();
                    Log.i("ApplicationManagement", "configuring a robot namespace resolver [" + this.name + "]");
                    break;
                }
            }
        }
        applicationNamespace = name.join(GraphName.of("application"));  // hard coded, might we need to change this?
        applicationNamespaceResolver = connectedNode.getResolver().newChild(applicationNamespace);
        robotNameResolver = connectedNode.getResolver().newChild(name);
        resolved = true;
        }
}