Surface.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 Surface 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_POIS = "pois";

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

        private final String name;
        private final double width, height;
        private final Pose pose;
        private final PointOfInterest[] pois;

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

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

        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 PointOfInterest[] getPOIs() {
                return this.pois;
        }

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

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

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

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

                        return new Surface(name, width, height, pose, pois);
                }
        }
}