public static NodeConfiguration createNodeConfiguration(URI master) {
InetAddress listenAddress = getMyIP(master);
NodeConfiguration nodeConfiguration =
NodeConfiguration.newPublic(listenAddress.getHostAddress(), master);
nodeConfiguration.setMasterUri(master);
return nodeConfiguration;
}
@Override
protected void init(NodeMainExecutor nodeMainExecutor) {
// talker = new Talker("TALKING");
NodeConfiguration nodeConfiguration =
NodeConfiguration.newPublic(InetAddressFactory.newNonLoopback().getHostAddress());
// At this point, the user has already been prompted to either enter the URI
// of a master to use or to start a master locally.
nodeConfiguration.setMasterUri(getMasterUri());
// nodeMainExecutor.execute(talker, nodeConfiguration);
// The RosTextView is also a NodeMain that must be executed in order to
// start displaying incoming messages.
nodeMainExecutor.execute(rosTextView, nodeConfiguration);
}
@Override
protected void init(NodeMainExecutor nodeMainExecutor) {
// TODO Auto-generated method stub
String host = InetAddressFactory.newNonLoopback().getHostName();
NodeConfiguration nodeConfiguration = NodeConfiguration.newPublic(host, getMasterUri());
// Execute the location node
sensorNode = new AndroidPhoneSensorNode();
nodeMainExecutor.execute(sensorNode, nodeConfiguration);
}
/**
* Creates a new {@link NodeConfiguration} for a {@link Node} that is only accessible on the local
* host.
*
* @param masterUri the {@link URI} for the master that the {@link Node} will register with
* @return a new {@link NodeConfiguration} for a private {@link Node}
*/
public static NodeConfiguration newPrivate(URI masterUri) {
NodeConfiguration configuration = new NodeConfiguration();
configuration.setXmlRpcBindAddress(BindAddress.newPrivate());
configuration.setXmlRpcAdvertiseAddressFactory(new PrivateAdvertiseAddressFactory());
configuration.setTcpRosBindAddress(BindAddress.newPrivate());
configuration.setTcpRosAdvertiseAddressFactory(new PrivateAdvertiseAddressFactory());
configuration.setMasterUri(masterUri);
return configuration;
}
/**
* Creates a new {@link NodeConfiguration} for a publicly accessible {@link Node}.
*
* @param host the host that the {@link Node} will run on
* @param masterUri the {@link URI} for the master that the {@link Node} will register with
* @return a new {@link NodeConfiguration} for a publicly accessible {@link Node}
*/
public static NodeConfiguration newPublic(String host, URI masterUri) {
NodeConfiguration configuration = new NodeConfiguration();
configuration.setXmlRpcBindAddress(BindAddress.newPublic());
configuration.setXmlRpcAdvertiseAddressFactory(new PublicAdvertiseAddressFactory(host));
configuration.setTcpRosBindAddress(BindAddress.newPublic());
configuration.setTcpRosAdvertiseAddressFactory(new PublicAdvertiseAddressFactory(host));
configuration.setMasterUri(masterUri);
return configuration;
}
public LookatFeedback newFeedbackMessage() {
NodeConfiguration nc = NodeConfiguration.newPrivate();
MessageFactory mf = nc.getTopicMessageFactory();
return mf.newFromType(LookatFeedback._TYPE);
}
public LookatResult newResultMessage() {
NodeConfiguration nc = NodeConfiguration.newPrivate();
MessageFactory mf = nc.getTopicMessageFactory();
return mf.newFromType(LookatResult._TYPE);
}
@Override
public void run() {
try {
// Check if the concert exists by looking for concert name parameter
// getParam throws when it can't find the parameter.
ParameterClient paramClient =
new ParameterClient(
NodeIdentifier.forNameAndUri("/concert_checker", concertUri.toString()),
concertUri);
String name = (String) paramClient.getParam(GraphName.of(CONCERT_NAME_PARAM)).getResult();
Log.i("ConcertRemocon", "Concert " + name + " found; retrieve additional information");
NodeMainExecutorService nodeMainExecutorService = new NodeMainExecutorService();
NodeConfiguration nodeConfiguration =
NodeConfiguration.newPublic(
InetAddressFactory.newNonLoopback().getHostAddress(), concertUri);
// Check for the concert information topic
ListenerNode<concert_msgs.ConcertInfo> readInfoTopic =
new ListenerNode(CONCERT_INFO_TOPIC, concert_msgs.ConcertInfo._TYPE);
nodeMainExecutorService.execute(
readInfoTopic, nodeConfiguration.setNodeName("read_info_node"));
readInfoTopic.waitForResponse();
concert_msgs.ConcertInfo concertInfo = readInfoTopic.getLastMessage();
String concertName = concertInfo.getName();
String concertDesc = concertInfo.getDescription();
rocon_std_msgs.Icon concertIcon = concertInfo.getIcon();
if (name.equals(concertName) == false)
Log.w(
"ConcertRemocon", "Concert names from parameter and topic differs; we use the later");
// Check for the concert roles topic
ListenerNode<concert_msgs.Roles> readRolesTopic =
new ListenerNode(CONCERT_ROLES_TOPIC, concert_msgs.Roles._TYPE);
nodeMainExecutorService.execute(
readRolesTopic, nodeConfiguration.setNodeName("concert_roles_node"));
readRolesTopic.waitForResponse();
nodeMainExecutorService.shutdownNodeMain(readInfoTopic);
nodeMainExecutorService.shutdownNodeMain(readRolesTopic);
// configure concert description
Date timeLastSeen = new Date();
ConcertDescription description =
new ConcertDescription(masterId, concertName, concertDesc, concertIcon, timeLastSeen);
Log.i("ConcertRemocon", "Concert is available");
description.setConnectionStatus(ConcertDescription.OK);
description.setUserRoles(readRolesTopic.getLastMessage());
foundConcertCallback.receive(description);
return;
} catch (RuntimeException e) {
// thrown if concert could not be found in the getParam call (from
// java.net.ConnectException)
Log.w(
"ConcertRemocon", "could not find concert [" + concertUri + "][" + e.toString() + "]");
failureCallback.handleFailure(e.toString());
} catch (Throwable e) {
Log.w(
"ConcertRemocon",
"exception while creating node in concert checker for URI " + concertUri,
e);
failureCallback.handleFailure(e.toString());
}
}
/**
* @param nodeConfiguration the {@link NodeConfiguration} to copy
* @return a copy of the supplied {@link NodeConfiguration}
*/
public static NodeConfiguration copyOf(NodeConfiguration nodeConfiguration) {
NodeConfiguration copy = new NodeConfiguration();
copy.parentResolver = nodeConfiguration.parentResolver;
copy.masterUri = nodeConfiguration.masterUri;
copy.rosRoot = nodeConfiguration.rosRoot;
copy.rosPackagePath = nodeConfiguration.rosPackagePath;
copy.nodeName = nodeConfiguration.nodeName;
copy.messageSerializationFactory = nodeConfiguration.messageSerializationFactory;
copy.tcpRosBindAddress = nodeConfiguration.tcpRosBindAddress;
copy.tcpRosAdvertiseAddressFactory = nodeConfiguration.tcpRosAdvertiseAddressFactory;
copy.timeProvider = nodeConfiguration.timeProvider;
copy.xmlRpcBindAddress = nodeConfiguration.xmlRpcBindAddress;
copy.xmlRpcAdvertiseAddressFactory = nodeConfiguration.xmlRpcAdvertiseAddressFactory;
copy.executorService = nodeConfiguration.executorService;
copy.log = nodeConfiguration.log;
return copy;
}
