bundles/addons/org.eclipse.apogy.addons.sensors.pose/src-gen-custom/org/eclipse/apogy/addons/sensors/pose/impl/PositionSensorCustomImpl.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 - initial API and implementation
 *     
 * SPDX-License-Identifier: EPL-1.0
 *     
 *******************************************************************************/
package org.eclipse.apogy.addons.sensors.pose.impl;

import org.eclipse.apogy.common.geometry.data3d.ApogyCommonGeometryData3DFactory;
import org.eclipse.apogy.common.geometry.data3d.CartesianPositionCoordinates;
import org.eclipse.apogy.common.math.Tuple3d;
import org.eclipse.apogy.common.topology.ApogyCommonTopologyPackage;
import org.eclipse.apogy.common.topology.PositionNode;
import org.eclipse.emf.common.notify.Adapter;
import org.eclipse.emf.common.notify.Notification;
import org.eclipse.emf.common.notify.impl.AdapterImpl;

public class PositionSensorCustomImpl extends PositionSensorImpl {

	private Adapter positionAdapter = null;

	protected PositionSensorCustomImpl() {
		super();

		// Register listener to this node position to keep positionCoordinates updated.
		eAdapters().add(getPositionAdapter());
	}

	@Override
	public CartesianPositionCoordinates getPositionCoordinates() {
		if (this.positionCoordinates == null) {
			this.positionCoordinates = ApogyCommonGeometryData3DFactory.eINSTANCE.createCartesianPositionCoordinates();
		}
		return this.positionCoordinates;
	}

	/**
	 * Returns the adapter used to keep the positionCoordinates updated when the
	 * node position is changed.
	 * 
	 * @return The adapter.
	 */
	private Adapter getPositionAdapter() {
		if (this.positionAdapter == null) {
			this.positionAdapter = new AdapterImpl() {
				@Override
				public void notifyChanged(Notification msg) {
					if (msg.getFeatureID(PositionNode.class) == ApogyCommonTopologyPackage.POSITION_NODE__POSITION) {
						// Updates the current Orientation data with the new values.
						Tuple3d newPose = (Tuple3d) msg.getNewValue();

						getPositionCoordinates().setX(newPose.getX());
						getPositionCoordinates().setY(newPose.getY());
						getPositionCoordinates().setZ(newPose.getZ());
					}
				}
			};
		}
		return this.positionAdapter;
	}
} // PositionSensorImpl