bundles/addons/org.eclipse.apogy.addons.ros/src-gen-custom/org/eclipse/apogy/addons/ros/impl/ROSPublisherManagerCustomImpl.java

/*******************************************************************************
 * Copyright (c) 2018 Agence spatiale canadienne / Canadian Space Agency 
 * All rights reserved. This program and the accompanying materials
 * are made available under the terms of the Eclipse Public License v1.0
 * which accompanies this distribution, and is available at
 * http://www.eclipse.org/legal/epl-v10.html
 *
 * Contributors:
 *     Pierre Allard, 
 *     Regent L'Archeveque,
 *     Sebastien Gemme - initial API and implementation
 * SPDX-License-Identifier: EPL-1.0
 *     
 *******************************************************************************/
package org.eclipse.apogy.addons.ros.impl;

import java.util.HashMap;

import org.eclipse.apogy.addons.ros.ApogyAddonsROSFactory;
import org.eclipse.apogy.addons.ros.ROSPublisher;
import org.ros.internal.message.Message;
import org.slf4j.Logger;
import org.slf4j.LoggerFactory;

public class ROSPublisherManagerCustomImpl extends ROSPublisherManagerImpl {

	private static final Logger Logger = LoggerFactory.getLogger(ROSPublisherManagerImpl.class);

	public static int PUBLISHER_LAUNCH_MAX_TRIES = 5;

	@Override
	public HashMap<String, ROSPublisher<?>> getPublishers() {
		if (this.publishers == null)
			this.publishers = new HashMap<String, ROSPublisher<?>>();
		return this.publishers;
	}

	@Override
	public void createPublisher(String topicName, String messageType) {
		ROSPublisher<Message> publisher = ApogyAddonsROSFactory.eINSTANCE.createROSPublisher();
		publisher.setTopicName(topicName);
		publisher.setMessageType(messageType);
		getPublishers().put(topicName, publisher);
	}

	@Override
	public void launch() {
		for (ROSPublisher<?> publisher : getPublishers().values()) {
			try {
				publisher.launch(getNode());
			} catch (Exception e) {

			}
		}
		setRunning(true);
	}

	@Override
	public void stop() {
		for (ROSPublisher<?> publisher : getPublishers().values())
			publisher.stop();
	}

	@Override
	public <T extends Message> T createMessage(String topicName) {
		ROSPublisher<T> publisher = getPublisher(topicName);
		if (publisher != null)
			return publisher.newMessage();
		else
			return null;
	}

	@Override
	public <T extends Message> void publish(String topicName, T message) {
		getPublisher(topicName).publish(message);
	}

	@Override
	@SuppressWarnings("unchecked")
	public <T extends Message> ROSPublisher<T> getPublisher(String topicName) {
		if (getPublishers().containsKey(topicName)) {
			ROSPublisher<T> publisher = (ROSPublisher<T>) (getPublishers().get(topicName));
			if (!publisher.isLaunched()) {
				int tries = 0;
				while (!publisher.isLaunched() && tries <= PUBLISHER_LAUNCH_MAX_TRIES) {
					try {
						publisher.launch(getNode());
						tries++;
					} catch (Exception ex) {
						Logger.error("Could not launch Publisher <" + topicName + ">.");
					}

					// Wait before we try again.
					if (!publisher.isLaunched()) {
						try {
							Thread.sleep(1000);
						} catch (InterruptedException e) {
							Logger.error(e.getMessage(), e);
						}
					}
				}
			}

			return publisher;
		}

		return null;
	}

} // ROSPublisherManagerImpl