de.citec.csra.highlight.HighlightService.java Source code

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Here is the source code for de.citec.csra.highlight.HighlightService.java

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package de.citec.csra.highlight;

//import de.citec.csra.task.srv.TaskServer;
import de.citec.csra.highlight.cfg.Defaults;
import de.citec.csra.task.srv.TaskServer;
import java.util.concurrent.ExecutorService;
import java.util.concurrent.Executors;
import java.util.logging.Level;
import java.util.logging.Logger;
import org.apache.commons.cli.BasicParser;
import org.apache.commons.cli.CommandLine;
import org.apache.commons.cli.CommandLineParser;
import org.apache.commons.cli.HelpFormatter;
import org.apache.commons.cli.Options;
import org.apache.commons.cli.ParseException;
import rsb.InitializeException;
import rsb.RSBException;
import rsb.converter.DefaultConverterRepository;
import rsb.converter.ProtocolBufferConverter;
import rst.communicationpatterns.TaskStateType.TaskState;
import rst.geometry.SphericalDirectionFloatType.SphericalDirectionFloat;
import rst.hri.HighlightTargetType.HighlightTarget;
import rst.spatial.PanTiltAngleType.PanTiltAngle;

/**
 *
 * @author Patrick Holthaus
 * (<a href=mailto:patrick.holthaus@uni-bielefeld.de>patrick.holthaus@uni-bielefeld.de</a>)
 */
public class HighlightService {

    private static String scope = "/home/highlight/target";
    private static String cfg = "/home/highlight/cfg";
    private final static String SCOPEVAR = "SCOPE_HIGHLIGHT";
    private final static Logger LOG = Logger.getLogger(HighlightService.class.getName());

    static {
        DefaultConverterRepository.getDefaultConverterRepository()
                .addConverter(new ProtocolBufferConverter<>(TaskState.getDefaultInstance()));
        DefaultConverterRepository.getDefaultConverterRepository()
                .addConverter(new ProtocolBufferConverter<>(HighlightTarget.getDefaultInstance()));
        DefaultConverterRepository.getDefaultConverterRepository()
                .addConverter(new ProtocolBufferConverter<>(SphericalDirectionFloat.getDefaultInstance()));
        DefaultConverterRepository.getDefaultConverterRepository()
                .addConverter(new ProtocolBufferConverter<>(PanTiltAngle.getDefaultInstance()));
    }

    public static void main(String[] args)
            throws InitializeException, RSBException, InterruptedException, ParseException {

        Options opts = new Options();
        opts.addOption("scope", true, "RSB scope for highlight targets.\nDefault: '" + scope + "'");
        opts.addOption("server", true, "RSB server for configuration, e.g., tokens.\nDefault: '" + cfg + "'");
        opts.addOption("help", false, "Print this help and exit");

        String footer = null;
        //      String footer = "\nThe following sub-scopes are registered automatically:\n"
        //            + "\n.../preset for color presets:\n" + Arrays.toString(ColorConfig.values())
        //            + "\n.../color for color values:\n" + "HSV (comma separated)"
        //            + "\n.../power for power states:\n" + Arrays.toString(PowerState.State.values())
        //            + "\n.../history for history commands:\n" + Arrays.toString(ColorHistory.values());

        CommandLineParser parser = new BasicParser();
        CommandLine cmd = parser.parse(opts, args);
        if (cmd.hasOption("help")) {
            HelpFormatter formatter = new HelpFormatter();
            formatter.printHelp("csra-highlight-service [OPTION...]", "where OPTION includes:", opts, footer);
            System.exit(0);
        }

        if (System.getenv().containsKey(SCOPEVAR)) {
            scope = System.getenv(SCOPEVAR);
        }

        String s = cmd.getOptionValue("scope");
        if (s != null) {
            scope = s;
        }
        scope = scope.replaceAll("/$", "");

        String c = cmd.getOptionValue("cfg");
        if (c != null) {
            cfg = c;
        }
        cfg = cfg.replaceAll("/$", "");

        Defaults.loadDefaults();
        ExecutorService exec = Executors.newFixedThreadPool(2);

        exec.submit(() -> {
            try {
                ConfigServer cfgServer = new ConfigServer(cfg);
                cfgServer.execute();
            } catch (RSBException ex) {
                LOG.log(Level.SEVERE, "Config server failed", ex);
            }
        });

        exec.submit(() -> {
            try {
                TaskServer server = new TaskServer(scope, new HighlightTaskHandler());
                server.execute();
            } catch (RSBException | InterruptedException ex) {
                LOG.log(Level.SEVERE, "Task server failed", ex);
            }
        });

    }
}