TaskModels.java

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

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

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

public class TaskModels extends Message {

        public static final String FIELD_MODELS = "models";

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

        private final Model[] models;

        public TaskModels() {
                this(new Model[0]);
        }

        public TaskModels(Model[] models) {
                // build the JSON object
                super(Json.createObjectBuilder().add(TaskModels.FIELD_MODELS,
                                Json.createReader(new StringReader(Arrays.deepToString(models))).readArray())
                                .build(), TaskModels.TYPE);
                this.models = models;
        }

        public Model[] getDate() {
                return this.models;
        }

        @Override
        public TaskModels clone() {
                return new TaskModels(this.models);
        }

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

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

        public static TaskModels fromJsonObject(JsonObject jsonObject) {
                // check the fields
                JsonArray jsonModels = jsonObject.getJsonArray(TaskModels.FIELD_MODELS);
                if(jsonModels == null) {
                        return new TaskModels(new Model[0]);
                } else {
                        Model[] models = new Model[jsonModels.size()];
                        for(int i = 0; i < models.length; ++i) {
                                models[i] = Model.fromJsonObject(jsonModels.getJsonObject(i));
                        }
                        return new TaskModels(models);
                }
        }
}