PlacementSet.java

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package edu.wpi.rail.jinteractiveworld.ros.msgs.interactiveworldmsgs;

import edu.wpi.rail.jrosbridge.messages.Message;
import edu.wpi.rail.jrosbridge.messages.geometry.Point;

import javax.json.Json;
import javax.json.JsonArray;
import javax.json.JsonObject;
import java.io.StringReader;
import java.util.Arrays;

public class PlacementSet extends Message {

        public static final String FIELD_ITEM = "item";

        public static final String FIELD_ROOM = "room";

        public static final String FIELD_SURFACE = "surface";

        public static final String FIELD_REFERENCE_FRAME_ID = "reference_frame_id";

        public static final String FIELD_PLACEMENTS = "placements";

        public static final String TYPE = "interactive_world_msgs/PlacementSet";

        private final Item item;
        private final Room room;
        private final Surface surface;
        private final String referenceFrameId;
        private final Placement[] placements;

        public PlacementSet() {
                this(new Item(), new Room(), new Surface(), "", new Placement[0]);
        }

        public PlacementSet(Item item, Room room, Surface surface, String referenceFrameId, Placement[] placements) {
                // build the JSON object
                super(Json.createObjectBuilder().add(PlacementSet.FIELD_ITEM, item.toJsonObject())
                                .add(PlacementSet.FIELD_ROOM, room.toJsonObject())
                                .add(PlacementSet.FIELD_SURFACE, surface.toJsonObject())
                                .add(PlacementSet.FIELD_REFERENCE_FRAME_ID, referenceFrameId)
                                .add(PlacementSet.FIELD_PLACEMENTS, Json.createReader(new StringReader(Arrays.deepToString(placements))).readArray())
                                .build(), PlacementSet.TYPE);
                this.item = item;
                this.room = room;
                this.surface = surface;
                this.referenceFrameId = referenceFrameId;
                this.placements = placements;
        }

        public Item getItem() {
                return this.item;
        }

        public Room getRoom() {
                return this.room;
        }

        public Surface getSurface() {
                return this.surface;
        }

        public String getReferenceFrameId() {
                return this.referenceFrameId;
        }

        public Placement[] getPlacements() {
                return this.placements;
        }

        @Override
        public PlacementSet clone() {
                return new PlacementSet(this.item, this.room, this.surface, this.referenceFrameId, this.placements);
        }

        public static PlacementSet fromJsonString(String jsonString) {
                // convert to a message
                return PlacementSet.fromMessage(new Message(jsonString));
        }

        public static PlacementSet fromMessage(Message m) {
                // get it from the JSON object
                return PlacementSet.fromJsonObject(m.toJsonObject());
        }

        public static PlacementSet fromJsonObject(JsonObject jsonObject) {
                // check the fields
                Item item = jsonObject.containsKey(PlacementSet.FIELD_ITEM) ? Item
                                .fromJsonObject(jsonObject.getJsonObject(PlacementSet.FIELD_ITEM))
                                : new Item();
                Room room = jsonObject.containsKey(PlacementSet.FIELD_ROOM) ? Room
                                .fromJsonObject(jsonObject.getJsonObject(PlacementSet.FIELD_ROOM))
                                : new Room();
                Surface surface = jsonObject.containsKey(PlacementSet.FIELD_SURFACE) ? Surface
                                .fromJsonObject(jsonObject.getJsonObject(PlacementSet.FIELD_SURFACE))
                                : new Surface();
                String referenceFrameId = jsonObject.containsKey(PlacementSet.FIELD_REFERENCE_FRAME_ID) ? jsonObject
                                .getString(PlacementSet.FIELD_REFERENCE_FRAME_ID) : "";
                JsonArray jsonPlacements = jsonObject.getJsonArray(PlacementSet.FIELD_PLACEMENTS);
                if(jsonPlacements == null) {
                        return new PlacementSet(item, room, surface, referenceFrameId, new Placement[0]);
                } else {
                        Placement[] placements = new Placement[jsonPlacements.size()];
                        for(int i = 0; i < placements.length; ++i) {
                                placements[i] = Placement.fromJsonObject(jsonPlacements.getJsonObject(i));
                        }
                        return new PlacementSet(item, room, surface, referenceFrameId, placements);
                }
        }
}