TaskTrainingData.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 TaskTrainingData extends Message {

        public static final String FIELD_DATA = "data";

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

        private final PlacementSet[] data;

        public TaskTrainingData() {
                this(new PlacementSet[0]);
        }

        public TaskTrainingData(PlacementSet[] data) {
                // build the JSON object
                super(Json.createObjectBuilder().add(TaskTrainingData.FIELD_DATA,
                                Json.createReader(new StringReader(Arrays.deepToString(data))).readArray())
                                .build(), TaskTrainingData.TYPE);
                this.data = data;
        }

        public PlacementSet[] getData() {
                return this.data;
        }

        @Override
        public TaskTrainingData clone() {
                return new TaskTrainingData(this.data);
        }

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

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

        public static TaskTrainingData fromJsonObject(JsonObject jsonObject) {
                // check the fields
                JsonArray jsonData = jsonObject.getJsonArray(TaskTrainingData.FIELD_DATA);
                if(jsonData == null) {
                        return new TaskTrainingData(new PlacementSet[0]);
                } else {
                        PlacementSet[] data = new PlacementSet[jsonData.size()];
                        for(int i = 0; i < data.length; ++i) {
                                data[i] = PlacementSet.fromJsonObject(jsonData.getJsonObject(i));
                        }
                        return new TaskTrainingData(data);
                }
        }
}