io.smartspaces.workbench.devinfrastructure.StandaloneDevelopmentInfrastructure.java Source code

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Here is the source code for io.smartspaces.workbench.devinfrastructure.StandaloneDevelopmentInfrastructure.java

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/*
 * Copyright (C) 2016 Keith M. Hughes
 * Copyright (C) 2015 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 io.smartspaces.workbench.devinfrastructure;

import io.smartspaces.SmartSpacesException;

import java.net.URI;
import java.util.concurrent.Executors;
import java.util.concurrent.ScheduledExecutorService;

import org.apache.commons.logging.Log;
import org.apache.commons.logging.impl.Jdk14Logger;
import org.ros.log.RosLogFactory;
import org.ros.osgi.common.SimpleRosEnvironment;
import org.ros.osgi.master.core.internal.RosJavaRosMasterController;

/**
 * @author Keith M. Hughes
 */
public class StandaloneDevelopmentInfrastructure implements DevelopmentInfrastructure {

    /**
     * The ROS Master URI.
     */
    private static final String ROS_MASTER_URI = "http://localhost:11311";

    /**
     * The number of threads in the pool for the scheduled executor.
     */
    private static final int NUMBER_THREADS_IN_POOL = 100;

    /**
     * The logger for the infrastructure.
     */
    private Log log;

    /**
     * The executor service to use.
     */
    private ScheduledExecutorService executorService;

    /**
     * The ROS environment.
     */
    private SimpleRosEnvironment rosEnvironment;

    /**
     * The controller for the ROS Master.
     */
    private RosJavaRosMasterController rosMasterController;

    @Override
    public void startup() {
        log = new Jdk14Logger("smartspaces-Development-Infrastructure");
        try {
            executorService = Executors.newScheduledThreadPool(NUMBER_THREADS_IN_POOL);

            initializeRosEnvironment();
            initializeRosMasterController();

        } catch (Throwable e) {
            throw SmartSpacesException.newFormattedException(e,
                    "Could not start up the Smart Spaces Development Infrastructure");
        }
    }

    @Override
    public void shutdown() {
        rosMasterController.shutdown();
        rosEnvironment.shutdown();
        executorService.shutdown();
    }

    /**
     * Initialize the ROS environment.
     *
     * @throws Exception
     *           something bad happened
     */
    private void initializeRosEnvironment() throws Exception {
        rosEnvironment = new SimpleRosEnvironment();
        rosEnvironment.setExecutorService(executorService);
        rosEnvironment.setMaster(true);

        // TODO(keith): Decide if this should come from a config.
        rosEnvironment.setMasterUri(new URI(ROS_MASTER_URI));
        rosEnvironment.setLog(log);
    }

    /**
     * Initialize the ROS Master.
     */
    private void initializeRosMasterController() {
        RosLogFactory.setLog(log);

        rosMasterController = new RosJavaRosMasterController();
        rosMasterController.setRosEnvironment(rosEnvironment);
        rosMasterController.startup();
    }
}