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

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/*
 * 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.Properties;
import java.util.logging.Level;
import java.util.logging.Logger;
import org.jflux.impl.services.rk.lifecycle.utils.DescriptorBuilder;
import org.robokind.api.common.config.VersionProperty;
import org.robokind.api.common.osgi.lifecycle.ConfiguredServiceLifecycle;
import org.robokind.api.common.osgi.lifecycle.ConfiguredServiceParams;
import org.robokind.api.motion.Robot;
import org.robokind.api.motion.jointgroup.JointGroup;
import org.robokind.api.motion.jointgroup.RobotJointGroup;
import org.robokind.api.motion.jointgroup.RobotJointGroupConfig;

/**
 *
 * @author Matthew Stevenson 
 */
public class RobotJointGroupLifecycle extends
        ConfiguredServiceLifecycle {
    private final static Logger theLogger = 
            Logger.getLogger(RobotJointGroupLifecycle.class.getName());
    private final static String theRobot = "robot";
    
    public RobotJointGroupLifecycle(Robot.Id robotId, Class paramClass, 
            String paramId, VersionProperty configFormat){
        super(new ConfiguredServiceParams(
                JointGroup.class, RobotJointGroupConfig.class, paramClass, 
                null, null, paramId, RobotJointGroup.VERSION, configFormat));
        getDependencyDescriptors().add(
                new DescriptorBuilder(theRobot, Robot.class)
                        .with(Robot.PROP_ID, robotId.getRobtIdString())
                        .getDescriptor());
        if(myRegistrationProperties == null){
            myRegistrationProperties = new Properties();
        }
        myRegistrationProperties.put(Robot.PROP_ID, robotId.getRobtIdString());
    }
    
    @Override
    protected synchronized JointGroup create(Map dependencies) {
        JointGroup group = super.create(dependencies);
        if(group == null){
            return null;
        }
        Robot robot = (Robot)dependencies.get(theRobot);
        setRobot(group, robot);
        return group;
    }

    @Override
    protected void handleChange(String name, Object dependency, Map availableDependencies) {
        super.handleChange(name, dependency, availableDependencies);
        if(myService != null && theRobot.equals(name)){
            setRobot(myService, (Robot)dependency);
        }
    }
    
    private void setRobot(JointGroup group, Robot robot){
        if(group == null){
            return;
        }
        if(!(group instanceof RobotJointGroup)){
            theLogger.log(Level.WARNING, 
                    "JointGroup is not a RobotJointGroup.  Found {0}.  "
                    + "Unable to set Robot.", group.getClass());
            return;
        }
        ((RobotJointGroup)group).setRobot(robot);
    }
}