interactivespaces.master.server.services.internal.ros.MasterRosContext.java Source code

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Here is the source code for interactivespaces.master.server.services.internal.ros.MasterRosContext.java

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/*
 * Copyright (C) 2012 Google Inc.
 *
 * 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 interactivespaces.master.server.services.internal.ros;

import com.google.common.collect.Lists;

import org.apache.commons.logging.Log;
import org.ros.node.ConnectedNode;
import org.ros.node.Node;
import org.ros.node.NodeConfiguration;
import org.ros.node.NodeListener;
import org.ros.osgi.common.RosEnvironment;

import java.util.concurrent.CountDownLatch;

/**
 * A ROS context for the master.
 *
 * @author Keith M. Hughes
 */
public class MasterRosContext {

    /**
     * The ROS environment the client is running in.
     */
    private RosEnvironment rosEnvironment;

    /**
     * Node for this client.
     */
    private ConnectedNode node;

    /**
     * Logger for this node.
     */
    private Log log;

    public void startup() {
        log.error("Starting up master ROS context");

        final NodeConfiguration nodeConfiguration = rosEnvironment.getPublicNodeConfigurationWithNodeName();
        nodeConfiguration.setNodeName("interactivespaces/master");

        final CountDownLatch registrationLatch = new CountDownLatch(1);

        NodeListener listener = new NodeListener() {

            @Override
            public void onStart(ConnectedNode connectedNode) {
                setConnectedNode(connectedNode);
                registrationLatch.countDown();
            }

            @Override
            public void onShutdownComplete(Node node) {
                log.error(String.format("Got ROS node complete shutdown for Interactive Spaces master node %s",
                        node.getName()));
            }

            @Override
            public void onShutdown(Node node) {
                // TODO Auto-generated method stub

            }

            @Override
            public void onError(Node node, Throwable throwable) {
                log.error(String.format("Got ROS node error for Interactive Spaces master node %s", node.getName()),
                        throwable);
            }
        };
        rosEnvironment.newNode(nodeConfiguration, Lists.newArrayList(listener));
    }

    public void shutdown() {
        if (node != null) {
            node.shutdown();
        }
    }

    public ConnectedNode getNode() {
        return node;
    }

    public RosEnvironment getRosEnvironment() {
        return rosEnvironment;
    }

    private void setConnectedNode(ConnectedNode node) {
        this.node = node;
    }

    /**
     * @param rosEnvironment
     *          the rosEnvironment to set
     */
    public void setRosEnvironment(RosEnvironment rosEnvironment) {
        this.rosEnvironment = rosEnvironment;
    }

    /**
     * @param log
     *          the log to set
     */
    public void setLog(Log log) {
        this.log = log;
    }
}