com.github.hsmrs_gui.project.GuiNode.java Source code

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Here is the source code for com.github.hsmrs_gui.project.GuiNode.java

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/*
 * Copyright (C) 2014 Nicholas Otero.
 * 
 * Licensed under the Apache License, Version 2.0 (the "License"); you may not
 * use this file except in compliance with the License. You may obtain a copy of
 * the License at
 * 
 * http://www.apache.org/licenses/LICENSE-2.0
 * 
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
 * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
 * License for the specific language governing permissions and limitations under
 * the License.
 */

package com.github.hsmrs_gui.project;

import org.apache.commons.logging.Log;
import org.ros.message.MessageListener;
import org.ros.namespace.GraphName;
import org.ros.node.AbstractNodeMain;
import org.ros.node.ConnectedNode;
import org.ros.node.NodeMain;
import org.ros.node.topic.Subscriber;

import src.main.java.com.github.hsmrs_gui.project.controller.ConsoleController;
import src.main.java.com.github.hsmrs_gui.project.model.Robot;
import src.main.java.com.github.hsmrs_gui.project.model.RobotListModel;
import src.main.java.com.github.hsmrs_gui.project.model.Task;
import src.main.java.com.github.hsmrs_gui.project.model.TaskListModel;
import src.main.java.com.github.hsmrs_gui.project.ros.ImageListener;
import src.main.java.com.github.hsmrs_gui.project.ros.RobotRegistrationListener;
import src.main.java.com.github.hsmrs_gui.project.ros.SystemLogListener;
import src.main.java.com.github.hsmrs_gui.project.view.MainFrame;

import java.awt.EventQueue;
import java.util.ArrayList;
import java.util.List;

public class GuiNode extends AbstractNodeMain {

    private static Log log;
    private MessageListener<std_msgs.String> robotRegistrationListener;
    private MessageListener<std_msgs.String> systemLogListener;
    private MessageListener<sensor_msgs.Image> imageListener;

    @Override
    public GraphName getDefaultNodeName() {
        return GraphName.of("rosjava/gui_node");
    }

    public static Log getLog() {
        return log;
    }

    @Override
    public void onStart(final ConnectedNode connectedNode) {
        log = connectedNode.getLog();

        EventQueue.invokeLater(new Runnable() {
            @Override
            public void run() {
                RobotListModel rlm = RobotListModel.getRobotListModel();
                List<Robot> sampleRobots = new ArrayList<Robot>();
                sampleRobots.add(new Robot("Hermes", new Task()));
                sampleRobots.add(new Robot("Oryx", new Task()));
                sampleRobots.add(new Robot("Husky", new Task()));
                sampleRobots.add(new Robot("Aero", new Task()));

                rlm.addRobot(sampleRobots.get(0));
                rlm.addRobot(sampleRobots.get(1));
                rlm.addRobot(sampleRobots.get(2));
                rlm.addRobot(sampleRobots.get(3));

                TaskListModel tlm = TaskListModel.getTaskListModel();
                tlm.addTask(new Task());
                tlm.addTask(new Task("Go to (x, y)"));
                tlm.addTask(new Task("Search for sample", sampleRobots, "In progress"));

                ConsoleController.getInstance().createConsole(rlm.getRobotNames());

                robotRegistrationListener = new RobotRegistrationListener(connectedNode);
                systemLogListener = new SystemLogListener(connectedNode);
                imageListener = new ImageListener(connectedNode);

                MainFrame gui = new MainFrame(rlm, tlm);
                gui.setVisible(true);
            }
        });

        Subscriber<std_msgs.String> subscriber = connectedNode.newSubscriber("display", std_msgs.String._TYPE);
        subscriber.addMessageListener(new MessageListener<std_msgs.String>() {
            @Override
            public void onNewMessage(std_msgs.String message) {
                log.info("I heard: \"" + message.getData() + "\"");
            }
        });
    }
}