Room.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.Pose;

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

public class Room extends Message {

        public static final String FIELD_NAME = "name";

        public static final String FIELD_WIDTH = "width";

        public static final String FIELD_HEIGHT = "height";

        public static final String FIELD_POSE = "pose";

        public static final String FIELD_SURFACES = "surfaces";

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

        private final String name;
        private final double width, height;
        private final Pose pose;
        private final Surface[] surfaces;

        public Room() {
                this("", 0, 0, new Pose(), new Surface[0]);
        }

        public Room(String name, double width, double height, Pose pose, Surface[] surfaces) {
                // build the JSON object
                super(Json.createObjectBuilder().add(Room.FIELD_NAME, name)
                                .add(Room.FIELD_WIDTH, width)
                                .add(Room.FIELD_HEIGHT, height)
                                .add(Room.FIELD_POSE, pose.toJsonObject())
                                .add(Room.FIELD_SURFACES, Json.createReader(new StringReader(Arrays.deepToString(surfaces))).readArray()).build(), Room.TYPE);
                this.name = name;
                this.width = width;
                this.height = height;
                this.pose = pose;
                this.surfaces = surfaces;
        }

        public String getName() {
                return this.name;
        }

        public double getWidth() {
                return this.width;
        }

        public double getHeight() {
                return this.height;
        }

        public Pose getPose() {
                return this.pose;
        }

        public Surface[] getSurfaces() {
                return this.surfaces;
        }

        @Override
        public Room clone() {
                return new Room(this.name, this.width, this.height, this.pose, this.surfaces);
        }

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

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

        public static Room fromJsonObject(JsonObject jsonObject) {
                // check the fields
                String name = jsonObject.containsKey(Room.FIELD_NAME) ? jsonObject
                                .getString(Room.FIELD_NAME) : "";
                double width = jsonObject.containsKey(Room.FIELD_WIDTH) ? jsonObject
                                .getJsonNumber(Room.FIELD_WIDTH).doubleValue() : 0.0;
                double height = jsonObject.containsKey(Room.FIELD_HEIGHT) ? jsonObject
                                .getJsonNumber(Room.FIELD_HEIGHT).doubleValue() : 0.0;
                Pose pose = jsonObject.containsKey(Room.FIELD_POSE) ? Pose
                                .fromJsonObject(jsonObject.getJsonObject(Room.FIELD_POSE))
                                : new Pose();
                JsonArray jsonSurfaces = jsonObject.getJsonArray(Room.FIELD_SURFACES);
                if(jsonSurfaces == null) {
                        return new Room(name, width, height, pose, new Surface[0]);
                } else {
                        Surface[] surfaces = new Surface[jsonSurfaces.size()];
                        for(int i = 0; i < surfaces.length; ++i) {
                                surfaces[i] = Surface.fromJsonObject(jsonSurfaces.getJsonObject(i));
                        }

                        return new Room(name, width, height, pose, surfaces);
                }
        }
}