Placement.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 edu.wpi.rail.jrosbridge.messages.geometry.Pose;

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

public class Placement 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_POSITION = "position";

        public static final String FIELD_ROTATION = "rotation";

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

        private final Item item;
        private final Room room;
        private final Surface surface;
        private final String referenceFrameId;
        private final Point position;
        private final double rotation;

        public Placement() {
                this(new Item(), new Room(), new Surface(), "", new Point(), 0.0);
        }

        public Placement(Item item, Room room, Surface surface, String referenceFrameId, Point position, double rotation) {
                // build the JSON object
                super(Json.createObjectBuilder().add(Placement.FIELD_ITEM, item.toJsonObject())
                                .add(Placement.FIELD_ROOM, room.toJsonObject())
                                .add(Placement.FIELD_SURFACE, surface.toJsonObject())
                                .add(Placement.FIELD_REFERENCE_FRAME_ID, referenceFrameId)
                                .add(Placement.FIELD_POSITION, position.toJsonObject())
                                .add(Placement.FIELD_ROTATION, rotation).build(), Placement.TYPE);
                this.item = item;
                this.room = room;
                this.surface = surface;
                this.referenceFrameId = referenceFrameId;
                this.position = position;
                this.rotation = rotation;
        }

        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 Point getPosition() {
                return this.position;
        }

        public double getRotation() {
                return this.rotation;
        }

        @Override
        public Placement clone() {
                return new Placement(this.item, this.room, this.surface, this.referenceFrameId, this.position, this.rotation);
        }

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

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

        public static Placement fromJsonObject(JsonObject jsonObject) {
                // check the fields
                Item item = jsonObject.containsKey(Placement.FIELD_ITEM) ? Item
                                .fromJsonObject(jsonObject.getJsonObject(Placement.FIELD_ITEM))
                                : new Item();
                Room room = jsonObject.containsKey(Placement.FIELD_ROOM) ? Room
                                .fromJsonObject(jsonObject.getJsonObject(Placement.FIELD_ROOM))
                                : new Room();
                Surface surface = jsonObject.containsKey(Placement.FIELD_SURFACE) ? Surface
                                .fromJsonObject(jsonObject.getJsonObject(Placement.FIELD_SURFACE))
                                : new Surface();
                String referenceFrameId = jsonObject.containsKey(Placement.FIELD_REFERENCE_FRAME_ID) ? jsonObject
                                .getString(Placement.FIELD_REFERENCE_FRAME_ID) : "";
                Point position = jsonObject.containsKey(Placement.FIELD_POSITION) ? Point
                                .fromJsonObject(jsonObject.getJsonObject(Placement.FIELD_POSITION))
                                : new Point();
                double rotation = jsonObject.containsKey(Placement.FIELD_ROTATION) ? jsonObject
                                .getJsonNumber(Placement.FIELD_ROTATION).doubleValue() : 0.0;

                return new Placement(item, room, surface, referenceFrameId, position, rotation);
        }
}