bundles/addons/org.eclipse.apogy.addons.vehicle.ui/src/org/eclipse/apogy/addons/vehicle/ui/commands/ReInitializeWheeledVehiclePoseCorrectorCommand.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:
<<<<<<< HEAD
 *     Pierre Allard - initial API and implementation
 *     Regent L'Archeveque
 * 
=======
 *     Pierre Allard, 
 *     Regent L'Archeveque - initial API and implementation
 *     
>>>>>>> refs/heads/eclipse_pa
 * SPDX-License-Identifier: EPL-1.0
 *     
 *******************************************************************************/
package org.eclipse.apogy.addons.vehicle.ui.commands;

import java.util.Iterator;

import org.eclipse.apogy.addons.vehicle.VehiclePoseCorrector;
import org.eclipse.apogy.common.ApogyCommonOSGiUtilities;
import org.eclipse.core.commands.AbstractHandler;
import org.eclipse.core.commands.ExecutionEvent;
import org.eclipse.core.commands.ExecutionException;
import org.eclipse.core.commands.IHandler;
import org.eclipse.core.runtime.IProgressMonitor;
import org.eclipse.core.runtime.IStatus;
import org.eclipse.core.runtime.Status;
import org.eclipse.core.runtime.jobs.Job;
import org.eclipse.jface.viewers.IStructuredSelection;
import org.eclipse.ui.handlers.HandlerUtil;

public class ReInitializeWheeledVehiclePoseCorrectorCommand extends AbstractHandler implements IHandler {

	@Override
	public Object execute(ExecutionEvent event) throws ExecutionException {
		Iterator<?> selections = ((IStructuredSelection) HandlerUtil.getActiveMenuSelection(event)).iterator();

		while (selections.hasNext()) {
			Object selection = selections.next();

			if (selection instanceof VehiclePoseCorrector) {
				final VehiclePoseCorrector corrector = (VehiclePoseCorrector) selection;

				if (!corrector.isInitializing()) {
					Job job = new Job("ReInitialize WheeledVehiculePoseCorrector") {
						@Override
						protected IStatus run(IProgressMonitor monitor) {
							try {
								corrector.reInitialize();
								return Status.OK_STATUS;
							} catch (Throwable t) {
								return new Status(IStatus.ERROR, ApogyCommonOSGiUtilities.INSTANCE.getBundleSymbolicName(getClass()),
										"Failed to ReInitialize VehiclePoseCorrector !", t);
							}

						}
					};
					job.schedule();
				} else {
					return new Status(IStatus.WARNING, ApogyCommonOSGiUtilities.INSTANCE.getBundleSymbolicName(getClass()),
							"ReInitialize rejected : corrector is already initializing.");
				}
			}
		}
		return null;
	}
}