added RoboterServer to better encapsulate methods/classes needed for communication with robots.

Author: Peter Kohout

build.gradle

@@ -8,7 +8,7 @@ plugins {
 
 group = 'io.github.robocup-logistics'
 archivesBaseName = "java-sdk"
-version = '0.1.11.6'
+version = '0.1.12'
 
 description = ""
 

src/main/java/com/rcll/robot/HandleRobotMessageThread.java

@@ -0,0 +1,74 @@
+package com.rcll.robot;
+
+import com.google.protobuf.GeneratedMessageV3;
+import com.google.protobuf.InvalidProtocolBufferException;
+import com.rcll.domain.Peer;
+import com.rcll.protobuf_lib.RobotConnections;
+import lombok.extern.apachecommons.CommonsLog;
+import org.robocup_logistics.llsf_msgs.AgentTasksProtos;
+import org.robocup_logistics.llsf_msgs.BeaconSignalProtos;
+
+import java.net.Socket;
+import java.util.AbstractMap;
+import java.util.function.Consumer;
+
+@CommonsLog
+public class HandleRobotMessageThread extends Thread {
+    private final RobotConnections robotConnections;
+
+    private final Consumer<Integer> robotAddedHandler;
+    private final Consumer<BeaconSignalProtos.BeaconSignal> beaconMsgHandler;
+    private final Consumer<AgentTasksProtos.AgentTask> prsTaskMsgHandler;
+    private final Socket socket;
+
+    private AbstractMap.SimpleEntry<GeneratedMessageV3, byte[]> msg;
+
+    public HandleRobotMessageThread(Socket socket,
+                                    RobotConnections robotConnections,
+                                    Consumer<Integer> robotAddedHandler,
+                                    Consumer<BeaconSignalProtos.BeaconSignal> beaconMsgHandler,
+                                    Consumer<AgentTasksProtos.AgentTask> prsTaskMsgHandler,
+                                    AbstractMap.SimpleEntry<GeneratedMessageV3, byte[]> msg) {
+        this.socket = socket;
+        this.robotConnections = robotConnections;
+        this.robotAddedHandler = robotAddedHandler;
+        this.beaconMsgHandler = beaconMsgHandler;
+        this.prsTaskMsgHandler = prsTaskMsgHandler;
+        this.msg = msg;
+    }
+
+    @Override
+    public void run() {
+        handleMsg(this.msg);
+    }
+
+    protected void handleMsg(AbstractMap.SimpleEntry<GeneratedMessageV3, byte[]> msg) {
+        try {
+            if (msg.getKey() instanceof BeaconSignalProtos.BeaconSignal) {
+                BeaconSignalProtos.BeaconSignal beaconSignal = BeaconSignalProtos.BeaconSignal.parseFrom(msg.getValue());
+                updateRobotNetworkActivity(beaconSignal);
+                beaconMsgHandler.accept(beaconSignal);
+            } else if(msg.getKey() instanceof AgentTasksProtos.AgentTask) {
+                prsTaskMsgHandler.accept(AgentTasksProtos.AgentTask .parseFrom(msg.getValue()));
+            } else {
+                log.error("Unknown message in RobotHandler! " + msg.getKey().getClass().getSimpleName());
+            }
+        } catch (InvalidProtocolBufferException e) {
+            log.error("Can't parse msg in RobotHandler!", e);
+        }
+    }
+
+    private void updateRobotNetworkActivity(BeaconSignalProtos.BeaconSignal beaconSignal) {
+        if (!robotConnections.isRobotConnected(beaconSignal.getNumber())) {
+            Peer robot = new Peer();
+            robot.setId(beaconSignal.getNumber());
+            robot.setLastActive(System.currentTimeMillis());
+            robot.setConnection(socket);
+            robotConnections.addRobot(robot);
+            this.robotAddedHandler.accept(beaconSignal.getNumber());
+        } else {
+            robotConnections.getRobot(beaconSignal.getNumber()).setLastActive(System.currentTimeMillis());
+        }
+    }
+
+}

src/main/java/com/rcll/robot/IRobotMessageThreadFactory.java

@@ -6,5 +6,5 @@
 import java.util.AbstractMap;
 
 public interface IRobotMessageThreadFactory {
-    Thread create(Socket _socket, AbstractMap.SimpleEntry<GeneratedMessageV3, byte[]> msg);
+    HandleRobotMessageThread create(Socket _socket, AbstractMap.SimpleEntry<GeneratedMessageV3, byte[]> msg);
 }

src/main/java/com/rcll/robot/RobotServer.java

@@ -0,0 +1,25 @@
+package com.rcll.robot;
+
+import com.rcll.protobuf_lib.ProtobufServer;
+import com.rcll.protobuf_lib.RobotConnections;
+
+import java.io.IOException;
+import java.util.function.Consumer;
+
+public class RobotServer {
+    private final RobotConnections robotConnections;
+    private final ProtobufServer protobufServer;
+    private final RobotTaskCreator robotTaskCreator;
+    private final RobotClient robotClient;
+    public RobotServer(int listeningPort, int robotTimeoutInMs, IRobotMessageThreadFactory threadFactory,
+                       Consumer<Integer> robotAddedHandler, RobotTaskCreator robotTaskCreator) {
+        this.robotConnections = new RobotConnections(robotTimeoutInMs);
+        this.robotTaskCreator = robotTaskCreator;
+        this.protobufServer = new ProtobufServer(listeningPort, robotConnections, threadFactory, robotAddedHandler);
+        this.robotClient = new RobotClient(this.robotTaskCreator, this.robotConnections);
+    }
+
+    public void start() throws IOException {
+        this.protobufServer.start();
+    }
+}