org.robokind.api.motion.lifecycle.RemoteRobotHostLifecycle Maven / Gradle / Ivy

Go to download
/*
 * Copyright 2012 Hanson Robokind LLC.
 *
 * 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.robokind.api.motion.lifecycle;

import java.util.Map;
import java.util.logging.Level;
import java.util.logging.Logger;
import org.jflux.api.core.Listener;
import org.jflux.api.messaging.rk.Constants;
import org.jflux.api.messaging.rk.MessageAsyncReceiver;
import org.jflux.api.messaging.rk.MessageSender;
import org.jflux.impl.services.rk.lifecycle.AbstractLifecycleProvider;
import org.jflux.impl.services.rk.lifecycle.utils.DescriptorListBuilder;
import org.robokind.api.common.utils.ListenerConstants;
import org.robokind.api.motion.Robot;
import org.robokind.api.motion.messaging.RemoteRobotHost;
import org.robokind.api.motion.protocol.RobotRequest;
import org.robokind.api.motion.protocol.RobotResponse;
import org.robokind.api.motion.messaging.RobotResponseFactory;
import org.robokind.api.motion.protocol.MotionFrameEvent;

/**
 *
 * @author Matthew Stevenson 
 */
public class RemoteRobotHostLifecycle extends 
        AbstractLifecycleProvider{
    private final static Logger theLogger = 
            Logger.getLogger(RemoteRobotHostLifecycle.class.getName());
    private final static String theRobot = "robot";
    private final static String theRequestReceiver = "requestReceiver";
    private final static String theResponseSender = "responseSender";
    private final static String theFrameReceiver = "frameReceiver";
    private final static String theMoveHandler = "moveHandler";
    private final static String theResponseFactory = "responseFactory";
    
    private String mySourceId;
    private String myDestId;

    public RemoteRobotHostLifecycle(String sourceId, String destId,
            Robot.Id robotId, String reqReceiverId, String respSenderId, 
            String frameReceiverId, String moveHandlerId){
        super(new DescriptorListBuilder()
                .dependency(theRobot, Robot.class)
                    .with(Robot.PROP_ID, robotId.getRobtIdString())
                .dependency(theRequestReceiver, MessageAsyncReceiver.class)
                    .with(Constants.PROP_MESSAGE_RECEIVER_ID, reqReceiverId)
                    .with(Constants.PROP_MESSAGE_TYPE, 
                            RobotRequest.class.getName())
                .dependency(theResponseSender, MessageSender.class) 
                    .with(Constants.PROP_MESSAGE_SENDER_ID, respSenderId)
                    .with(Constants.PROP_MESSAGE_TYPE, 
                            RobotResponse.class.getName())
                .dependency(theFrameReceiver, MessageAsyncReceiver.class)
                    .with(Constants.PROP_MESSAGE_RECEIVER_ID, frameReceiverId)
                    .with(Constants.PROP_MESSAGE_TYPE, 
                                MotionFrameEvent.class.getName())
                .dependency(theMoveHandler, Listener.class)
                    .with(ListenerConstants.PROP_LISTENER_ID, moveHandlerId)
                    .with(ListenerConstants.PROP_LISTENER_TYPE, 
                            MotionFrameEvent.class.getName())
                .dependency(theResponseFactory, RobotResponseFactory.class)
                .getDescriptors());
        if(sourceId == null || destId == null){
            throw new NullPointerException();
        }
        mySourceId = sourceId;
        myDestId = destId;
    }

    @Override
    protected RemoteRobotHost create(Map services) {
        Robot robot = (Robot)services.get(theRobot);
        MessageAsyncReceiver reqReceiver = 
                (MessageAsyncReceiver)services.get(theRequestReceiver);
        MessageSender respSender = 
                (MessageSender) services.get(theResponseSender);
        MessageAsyncReceiver frameReceiver = 
                (MessageAsyncReceiver)services.get(theFrameReceiver);
        Listener moveHandler = 
                (Listener)services.get(theMoveHandler);
        RobotResponseFactory respFact = 
                (RobotResponseFactory)services.get(theResponseFactory);
        RemoteRobotHost host = new RemoteRobotHost(robot, mySourceId, myDestId, 
                respSender, reqReceiver, respFact, frameReceiver, moveHandler);
        try{
            reqReceiver.start();
            respSender.start();
            frameReceiver.start();
        }catch(Exception ex){
            theLogger.log(Level.WARNING, "Error starting RemoteRobotHost "
                    + "messaging components.", ex);
        }
        return host;
    }

    @Override
    protected void handleChange(
            String serviceId, Object service, Map dependencies) {
        if(myService == null){
            if(isSatisfied()){
                myService = create(dependencies);
            }
            return;
        }
        if(theRobot.equals(serviceId)){
            myService.setRobot((Robot)service);
        }else if(theResponseSender.equals(serviceId)){
            myService.setResponseSender((MessageSender)service);            
        }else if(theRequestReceiver.equals(serviceId)){
            myService.setRequestReceiver(
                    (MessageAsyncReceiver)service);            
        }else if(theFrameReceiver.equals(serviceId)){
            myService.setMotionFrameReceiver(
                    (MessageAsyncReceiver)service);            
        }else if(theMoveHandler.equals(serviceId)){
            myService.setMoveHandler((Listener)service);            
        }else if(theResponseFactory.equals(serviceId)){
            myService.setResponseFactory((RobotResponseFactory)service);            
        }
    }

    @Override
    public Class getServiceClass() {
        return RemoteRobotHost.class;
    }
}