bundles/examples/org.eclipse.apogy.examples.camera.apogy/src-gen-custom/org/eclipse/apogy/examples/camera/apogy/impl/CameraApogySystemApiAdapterCustomImpl.java - gerrit/apogy/apogy - Git at Google

 /*******************************************************************************
  * 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.examples.camera.apogy.impl;

 import javax.vecmath.Matrix4d;

 import org.eclipse.apogy.addons.sensors.fov.ApogyAddonsSensorsFOVFacade;
 import org.eclipse.apogy.common.math.ApogyCommonMathFacade;
 import org.eclipse.apogy.common.math.Matrix4x4;
 import org.eclipse.apogy.common.topology.ApogyCommonTopologyFacade;
 import org.eclipse.apogy.common.topology.Node;
 import org.eclipse.apogy.core.invocator.AbstractInitializationData;
 import org.eclipse.apogy.core.invocator.OperationCall;
 import org.eclipse.apogy.examples.camera.ApogyExamplesCameraPackage;
 import org.eclipse.apogy.examples.camera.Camera;
 import org.eclipse.apogy.examples.camera.apogy.ApogyExamplesCameraApogyFactory;
 import org.eclipse.apogy.examples.camera.apogy.CameraData;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;

 public class CameraApogySystemApiAdapterCustomImpl extends CameraApogySystemApiAdapterImpl {

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

 	/**
 	 * This is used to retrieve the API adapter's Camera instance
 	 *
 	 * @return The camera instance associated with this API adapter
 	 */
 	protected Camera getCamera() {
 		// Just return the casted instance reference
 		return (Camera) this.getInstance();
 	}

 	/**
 	 * This is a factory method that can be used to generate initialization data
 	 * instances of an appropriate type for this adapter.
 	 *
 	 * @return The newly created initialization data object
 	 */
 	@Override
 	public AbstractInitializationData createInitializationData() {
 		// Use the relevant factory method to create the desired
 		// initialization data object, which, in this case, is
 		// an instance of CameraData
 		return ApogyExamplesCameraApogyFactory.eINSTANCE.createCameraData();
 	}

 	/**
 	 * This is a method which is used to apply the given initialization data object
 	 * to the API adapter's instance; this is particularly useful in conjunction
 	 * with collect() as it can be used to save state and then load it back later.
 	 *
 	 * @param initializationData The initialization data that is to be applied to
 	 *                           the adapter's instance.
 	 * @see #collect(AbstractInitializationData)
 	 */
 	@Override
 	public void apply(AbstractInitializationData initializationData) {
 		// Call the superclass's version of this method
 		super.apply(initializationData);

 		// If this is an initialization data object that
 		// is relevant to the Camera adapter
 		if (initializationData instanceof CameraData) {
 			// Cast the reference accordingly
 			CameraData cameraData = (CameraData) initializationData;

 			// If the camera is supposed to be initialized
 			if (cameraData.isInitialized() == true) {
 				// If the camera currently isn't initialized
 				if (this.getCamera().isInitialized() == false) {
 					// Just initialize it
 					this.getCamera().init();
 				}

 				// Command the camera to change its zoom
 				this.getCamera().commandZoom(cameraData.getZoom());

 				// If the initialization data object has a field of view
 				if (cameraData.getFov() != null) {
 					// Update the camera with the a copy of the given FOV
 					this.getCamera().setFov(ApogyAddonsSensorsFOVFacade.INSTANCE
 							.createRectangularFrustrumFieldOfView(cameraData.getFov()));
 				}
 				// Otherwise
 				else {
 					// Just set the FOV to null
 					this.getCamera().setFov(null);
 				}
 			}
 			// Otherwise, the camera is not supposed to be initialized
 			else {
 				// If the camera is currently initialized
 				if (this.getCamera().isInitialized() == true) {
 					// Generate the error message
 					String message = "The given initialization data cannot be applied "
 							+ "to this camera; the given init data says that "
 							+ "the camera should not be initialized, when " + "it already is in that state.";

 					// Throw an exception to indicate that the apply() has failed; this will
 					// be caught and logged by Apogy
 					throw new RuntimeException(message);
 				}
 			}
 		}
 	}

 	/**
 	 * This is a method which is used to collect and fill the given initialization
 	 * data object with relevant data from the API adapter's instance; this is
 	 * particularly useful in conjunction with apply() as it can be used to save
 	 * data, which can then be loaded back later.
 	 *
 	 * @param initializationData The initialization data that is to store the state
 	 *                           of the adapter's instance.
 	 * @see #apply(AbstractInitializationData)
 	 */
 	@Override
 	public void collect(AbstractInitializationData initializationData) {
 		// Call the superclass's version of this method
 		super.collect(initializationData);

 		// If this is an initialization data object that
 		// is relevant to the Camera adapter
 		if (initializationData instanceof CameraData) {
 			// Cast the reference accordingly
 			CameraData cameraData = (CameraData) initializationData;

 			// If the camera currently has a field of view
 			if (this.getCamera().getFov() != null) {
 				// Store a copy of the camera's current field of
 				// view in the initialization object
 				cameraData.setFov(ApogyAddonsSensorsFOVFacade.INSTANCE
 						.createRectangularFrustrumFieldOfView(this.getCamera().getFov()));
 			}
 			// Otherwise
 			else {
 				// Just set it to null
 				cameraData.setFov(null);
 			}

 			// Store the camera's other values in the initialization data object
 			cameraData.setZoom(this.getCamera().getCurrentZoom());
 			cameraData.setInitialized(this.getCamera().isInitialized());
 		}
 	}

 	/**
 	 * This method will return a 4x4 matrix, whose components represent the
 	 * transformation (e.g. rotations, translations, etc.) from where the given
 	 * operation took place to the camera's root topology node; for example, for the
 	 * operation takeSnapshot(), this describes the transformation from the camera's
 	 * lens to its base (e.g. root). If no transformation occurred, then the
 	 * identity matrix should be returned; note that this, in fact, is what is
 	 * returned by the superclass's version of this method.
 	 *
 	 * @param operationCall The operation which took place
 	 * @return The transformation from where the operation took place to the
 	 *         camera's root
 	 */
 	@Override
 	public Matrix4x4 createResultMatrix(OperationCall operationCall) {
 		// If the takeSnapshot() method was called
 		if (operationCall.getEOperation().getOperationID() == ApogyExamplesCameraPackage.CAMERA___TAKE_SNAPSHOT) {
 			// Extract the camera lens and root nodes
 			Node tip = ApogyCommonTopologyFacade.INSTANCE
 					.findNodesByID("CAMERA_SYM_SYS_BODY_TO_LENS", getApogySystem().getTopologyRoot().getOriginNode())
 					.get(0);
 			Node root = ApogyCommonTopologyFacade.INSTANCE
 					.findNodesByID("CAMERA_SYM_SYS_ROOT", getApogySystem().getTopologyRoot().getOriginNode()).get(0);

 			// Determine the series of transformations that have taken place
 			Matrix4d matrix4d = ApogyCommonTopologyFacade.INSTANCE.expressInFrame(tip, root);

 			// Create a 4x4 Matrix with the transformation and return it
 			return ApogyCommonMathFacade.INSTANCE.createMatrix4x4(matrix4d);
 		}
 		// Otherwise, any other operation was called
 		else {
 			// Just return the identity matrix
 			return super.createResultMatrix(operationCall);
 		}
 	}

 	@Override
 	public void dispose() {
 		try {
 			// Stops streaming if it is enabled.
 			if (this.getCamera().isStreamingEnabled()) {
 				this.getCamera().commandStreaming(false);
 			}
 		} catch (Exception e) {
 			Logger.error(e.getMessage(), e);
 		}

 		super.dispose();
 	}
 } // CameraApogySystemApiAdapterImpl
	/*******************************************************************************
	* 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.examples.camera.apogy.impl;

	import javax.vecmath.Matrix4d;

	import org.eclipse.apogy.addons.sensors.fov.ApogyAddonsSensorsFOVFacade;
	import org.eclipse.apogy.common.math.ApogyCommonMathFacade;
	import org.eclipse.apogy.common.math.Matrix4x4;
	import org.eclipse.apogy.common.topology.ApogyCommonTopologyFacade;
	import org.eclipse.apogy.common.topology.Node;
	import org.eclipse.apogy.core.invocator.AbstractInitializationData;
	import org.eclipse.apogy.core.invocator.OperationCall;
	import org.eclipse.apogy.examples.camera.ApogyExamplesCameraPackage;
	import org.eclipse.apogy.examples.camera.Camera;
	import org.eclipse.apogy.examples.camera.apogy.ApogyExamplesCameraApogyFactory;
	import org.eclipse.apogy.examples.camera.apogy.CameraData;
	import org.slf4j.Logger;
	import org.slf4j.LoggerFactory;

	public class CameraApogySystemApiAdapterCustomImpl extends CameraApogySystemApiAdapterImpl {

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

	/**
	* This is used to retrieve the API adapter's Camera instance
	*
	* @return The camera instance associated with this API adapter
	*/
	protected Camera getCamera() {
	// Just return the casted instance reference
	return (Camera) this.getInstance();
	}

	/**
	* This is a factory method that can be used to generate initialization data
	* instances of an appropriate type for this adapter.
	*
	* @return The newly created initialization data object
	*/
	@Override
	public AbstractInitializationData createInitializationData() {
	// Use the relevant factory method to create the desired
	// initialization data object, which, in this case, is
	// an instance of CameraData
	return ApogyExamplesCameraApogyFactory.eINSTANCE.createCameraData();
	}

	/**
	* This is a method which is used to apply the given initialization data object
	* to the API adapter's instance; this is particularly useful in conjunction
	* with collect() as it can be used to save state and then load it back later.
	*
	* @param initializationData The initialization data that is to be applied to
	* the adapter's instance.
	* @see #collect(AbstractInitializationData)
	*/
	@Override
	public void apply(AbstractInitializationData initializationData) {
	// Call the superclass's version of this method
	super.apply(initializationData);

	// If this is an initialization data object that
	// is relevant to the Camera adapter
	if (initializationData instanceof CameraData) {
	// Cast the reference accordingly
	CameraData cameraData = (CameraData) initializationData;

	// If the camera is supposed to be initialized
	if (cameraData.isInitialized() == true) {
	// If the camera currently isn't initialized
	if (this.getCamera().isInitialized() == false) {
	// Just initialize it
	this.getCamera().init();
	}

	// Command the camera to change its zoom
	this.getCamera().commandZoom(cameraData.getZoom());

	// If the initialization data object has a field of view
	if (cameraData.getFov() != null) {
	// Update the camera with the a copy of the given FOV
	this.getCamera().setFov(ApogyAddonsSensorsFOVFacade.INSTANCE
	.createRectangularFrustrumFieldOfView(cameraData.getFov()));
	}
	// Otherwise
	else {
	// Just set the FOV to null
	this.getCamera().setFov(null);
	}
	}
	// Otherwise, the camera is not supposed to be initialized
	else {
	// If the camera is currently initialized
	if (this.getCamera().isInitialized() == true) {
	// Generate the error message
	String message = "The given initialization data cannot be applied "
	+ "to this camera; the given init data says that "
	+ "the camera should not be initialized, when " + "it already is in that state.";

	// Throw an exception to indicate that the apply() has failed; this will
	// be caught and logged by Apogy
	throw new RuntimeException(message);
	}
	}
	}
	}

	/**
	* This is a method which is used to collect and fill the given initialization
	* data object with relevant data from the API adapter's instance; this is
	* particularly useful in conjunction with apply() as it can be used to save
	* data, which can then be loaded back later.
	*
	* @param initializationData The initialization data that is to store the state
	* of the adapter's instance.
	* @see #apply(AbstractInitializationData)
	*/
	@Override
	public void collect(AbstractInitializationData initializationData) {
	// Call the superclass's version of this method
	super.collect(initializationData);

	// If this is an initialization data object that
	// is relevant to the Camera adapter
	if (initializationData instanceof CameraData) {
	// Cast the reference accordingly
	CameraData cameraData = (CameraData) initializationData;

	// If the camera currently has a field of view
	if (this.getCamera().getFov() != null) {
	// Store a copy of the camera's current field of
	// view in the initialization object
	cameraData.setFov(ApogyAddonsSensorsFOVFacade.INSTANCE
	.createRectangularFrustrumFieldOfView(this.getCamera().getFov()));
	}
	// Otherwise
	else {
	// Just set it to null
	cameraData.setFov(null);
	}

	// Store the camera's other values in the initialization data object
	cameraData.setZoom(this.getCamera().getCurrentZoom());
	cameraData.setInitialized(this.getCamera().isInitialized());
	}
	}

	/**
	* This method will return a 4x4 matrix, whose components represent the
	* transformation (e.g. rotations, translations, etc.) from where the given
	* operation took place to the camera's root topology node; for example, for the
	* operation takeSnapshot(), this describes the transformation from the camera's
	* lens to its base (e.g. root). If no transformation occurred, then the
	* identity matrix should be returned; note that this, in fact, is what is
	* returned by the superclass's version of this method.
	*
	* @param operationCall The operation which took place
	* @return The transformation from where the operation took place to the
	* camera's root
	*/
	@Override
	public Matrix4x4 createResultMatrix(OperationCall operationCall) {
	// If the takeSnapshot() method was called
	if (operationCall.getEOperation().getOperationID() == ApogyExamplesCameraPackage.CAMERA___TAKE_SNAPSHOT) {
	// Extract the camera lens and root nodes
	Node tip = ApogyCommonTopologyFacade.INSTANCE
	.findNodesByID("CAMERA_SYM_SYS_BODY_TO_LENS", getApogySystem().getTopologyRoot().getOriginNode())
	.get(0);
	Node root = ApogyCommonTopologyFacade.INSTANCE
	.findNodesByID("CAMERA_SYM_SYS_ROOT", getApogySystem().getTopologyRoot().getOriginNode()).get(0);

	// Determine the series of transformations that have taken place
	Matrix4d matrix4d = ApogyCommonTopologyFacade.INSTANCE.expressInFrame(tip, root);

	// Create a 4x4 Matrix with the transformation and return it
	return ApogyCommonMathFacade.INSTANCE.createMatrix4x4(matrix4d);
	}
	// Otherwise, any other operation was called
	else {
	// Just return the identity matrix
	return super.createResultMatrix(operationCall);
	}
	}

	@Override
	public void dispose() {
	try {
	// Stops streaming if it is enabled.
	if (this.getCamera().isStreamingEnabled()) {
	this.getCamera().commandStreaming(false);
	}
	} catch (Exception e) {
	Logger.error(e.getMessage(), e);
	}

	super.dispose();
	}
	} // CameraApogySystemApiAdapterImpl