org.ros.internal.node.topic.PublisherIdentifier.java Source code

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Here is the source code for org.ros.internal.node.topic.PublisherIdentifier.java

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/*
 * Copyright (C) 2011 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 org.ros.internal.node.topic;

import com.google.common.base.Preconditions;
import com.google.common.collect.Sets;

import org.ros.internal.node.server.NodeIdentifier;
import org.ros.internal.transport.ConnectionHeader;
import org.ros.namespace.GraphName;
import org.ros.node.Node;
import org.ros.node.topic.Publisher;

import java.net.URI;
import java.util.Collection;
import java.util.Set;

/**
 * All information needed to identify a publisher.
 *
 * @author damonkohler@google.com (Damon Kohler)
 */
public class PublisherIdentifier {

    private final NodeIdentifier nodeIdentifier;
    private final TopicIdentifier topicIdentifier;

    public static Collection<PublisherIdentifier> newCollectionFromUris(Collection<URI> publisherUris,
            TopicDeclaration topicDeclaration) {
        Set<PublisherIdentifier> publishers = Sets.newHashSet();
        for (URI uri : publisherUris) {
            NodeIdentifier nodeIdentifier = new NodeIdentifier(null, uri);
            publishers.add(new PublisherIdentifier(nodeIdentifier, topicDeclaration.getIdentifier()));
        }
        return publishers;
    }

    public static PublisherIdentifier newFromStrings(String nodeName, String uri, String topicName) {
        return new PublisherIdentifier(NodeIdentifier.forNameAndUri(nodeName, uri),
                TopicIdentifier.forName(topicName));
    }

    public PublisherIdentifier(NodeIdentifier nodeIdentifier, TopicIdentifier topicIdentifier) {
        Preconditions.checkNotNull(nodeIdentifier);
        Preconditions.checkNotNull(topicIdentifier);
        this.nodeIdentifier = nodeIdentifier;
        this.topicIdentifier = topicIdentifier;
    }

    public ConnectionHeader toConnectionHeader() {
        ConnectionHeader connectionHeader = new ConnectionHeader();
        connectionHeader.merge(nodeIdentifier.toConnectionHeader());
        connectionHeader.merge(topicIdentifier.toConnectionHeader());
        return connectionHeader;
    }

    public NodeIdentifier getNodeIdentifier() {
        return nodeIdentifier;
    }

    /**
     * @return the {@link GraphName} of the {@link Node} hosting this
     *         {@link Publisher}
     */
    public GraphName getNodeName() {
        return nodeIdentifier.getName();
    }

    /**
     * @return the {@link URI} of the {@link Node} hosting this {@link Publisher}
     */
    public URI getNodeUri() {
        return nodeIdentifier.getUri();
    }

    /**
     * @return the {@link TopicIdentifier} for the {@link Publisher}'s topic
     */
    public TopicIdentifier getTopicIdentifier() {
        return topicIdentifier;
    }

    /**
     * @return the {@link GraphName} of this {@link Publisher}'s topic
     */
    public GraphName getTopicName() {
        return topicIdentifier.getName();
    }

    @Override
    public String toString() {
        return "PublisherIdentifier<" + nodeIdentifier + ", " + topicIdentifier + ">";
    }

    @Override
    public int hashCode() {
        final int prime = 31;
        int result = 1;
        result = prime * result + nodeIdentifier.hashCode();
        result = prime * result + topicIdentifier.hashCode();
        return result;
    }

    @Override
    public boolean equals(Object obj) {
        if (this == obj)
            return true;
        if (obj == null)
            return false;
        if (getClass() != obj.getClass())
            return false;
        PublisherIdentifier other = (PublisherIdentifier) obj;
        if (!nodeIdentifier.equals(other.nodeIdentifier))
            return false;
        if (!topicIdentifier.equals(other.topicIdentifier))
            return false;
        return true;
    }
}