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

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Here is the source code for org.ros.internal.node.topic.TopicDefinition.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.ImmutableMap;
import com.google.common.collect.Lists;

import org.ros.internal.transport.ConnectionHeaderFields;
import org.ros.message.MessageDefinition;
import org.ros.namespace.GraphName;

import java.util.List;
import java.util.Map;

/**
 * The full definition of a topic in a ROS graph.
 * 
 * @author damonkohler@google.com (Damon Kohler)
 */
public class TopicDefinition {

    private final TopicIdentifier topicIdentifier;
    private final MessageDefinition messageDefinition;

    /**
     * @param header
     *          a {@link Map} of header fields
     * @return a new {@link TopicDefinition} from the given header
     */
    public static TopicDefinition newFromHeader(Map<String, String> header) {
        Preconditions.checkArgument(header.containsKey(ConnectionHeaderFields.TOPIC));
        GraphName name = new GraphName(header.get(ConnectionHeaderFields.TOPIC));
        return new TopicDefinition(new TopicIdentifier(name), MessageDefinition.newFromHeader(header));
    }

    public static TopicDefinition newFromTopicName(GraphName topicName, MessageDefinition messageDefinition) {
        return new TopicDefinition(new TopicIdentifier(topicName), messageDefinition);
    }

    public TopicDefinition(TopicIdentifier topicIdentifier, MessageDefinition messageDefinition) {
        Preconditions.checkNotNull(topicIdentifier);
        Preconditions.checkNotNull(messageDefinition);
        this.topicIdentifier = topicIdentifier;
        this.messageDefinition = messageDefinition;
    }

    public TopicIdentifier toIdentifier() {
        return topicIdentifier;
    }

    public GraphName getName() {
        return topicIdentifier.getName();
    }

    public String getMessageType() {
        return messageDefinition.getType();
    }

    public Map<String, String> toHeader() {
        return new ImmutableMap.Builder<String, String>().putAll(topicIdentifier.toHeader())
                .putAll(messageDefinition.toHeader()).build();
    }

    public List<String> toList() {
        return Lists.newArrayList(getName().toString(), getMessageType());
    }

    @Override
    public String toString() {
        return "TopicDefinition<" + topicIdentifier + ", " + messageDefinition.toString() + ">";
    }

    @Override
    public int hashCode() {
        final int prime = 31;
        int result = 1;
        result = prime * result + ((messageDefinition == null) ? 0 : messageDefinition.hashCode());
        result = prime * result + ((topicIdentifier == null) ? 0 : 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;
        TopicDefinition other = (TopicDefinition) obj;
        if (messageDefinition == null) {
            if (other.messageDefinition != null)
                return false;
        } else if (!messageDefinition.equals(other.messageDefinition))
            return false;
        if (topicIdentifier == null) {
            if (other.topicIdentifier != null)
                return false;
        } else if (!topicIdentifier.equals(other.topicIdentifier))
            return false;
        return true;
    }
}