link with nomad command system

src/main/java/fr/ill/ics/n3d/link/NomadLinker.java

+/**
+ * 
+ */
+package fr.ill.ics.n3d.link;
+
+import java.util.HashMap;
+import java.util.Set;
+import java.util.logging.Logger;
+
+import org.omg.PortableInterceptor.ServerIdHelper;
+
+import fr.ill.ics.bridge.Controller;
+import fr.ill.ics.bridge.ControllerManager;
+import fr.ill.ics.bridge.LoginManager;
+import fr.ill.ics.bridge.LoginManager.ClientAlreadyLaunchedException;
+import fr.ill.ics.bridge.LoginManager.ConnectionFailure;
+import fr.ill.ics.bridge.LoginManager.LoginIncorrectException;
+import fr.ill.ics.bridge.command.CommandZoneWrapper;
+import fr.ill.ics.cameo.Application;
+import fr.ill.ics.core.property.Property;
+import fr.ill.ics.core.property.PropertyManager;
+import fr.ill.ics.nscclient.servant.ControllerServant;
+import fr.ill.ics.nscclient.serverconnection.ServerInstance;
+import fr.ill.ics.util.ConfigManager;
+
+/**
+ * @author dages
+ */
+public class NomadLinker {
+	public final static int LOGIN_OK = 0; 
+	public final static int LOGIN_NOT_OK = 1; 
+	public final static int LOGIN_REFUSED = 2;
+
+	private final static NomadLinker instance = new NomadLinker();
+	
+	private HashMap<String, ControllerServant> controllers;
+	
+	/**
+	 * Default constructor.
+	 */
+	private NomadLinker() {
+		controllers = new HashMap<>();
+	}
+
+	public static NomadLinker getInstance() {
+		return instance;
+	}
+	
+	public void init(String[] args) {
+		Application.This.init(args);
+
+		// Initialize the ConfigManager at the very beginning because it is in this class where all .nomad/settings.properties are initialized!
+		ConfigManager.initInstance();
+		
+		ServerInstance.getInstance().init();
+		
+		Logger.getLogger("nomad-3d").info("Nomad server endpoint : " + ConfigManager.getInstance().getNomadServerEndpoint());
+		
+		int status = login("", "", true);
+		Logger.getLogger("nomad-3d").info("Nomad server login status : " + status);
+
+		PropertyManager.getInstance().init();
+		
+		Set<String> controllersNames = ControllerManager.getInstance().getControllersOfType("axis", true);
+		// System.out.println("Controllers : \n " + controllers);
+		
+		for (String controllerName : controllersNames) {
+			ControllerServant controller = ControllerManager.getInstance().getController(controllerName);
+			controllers.put(controllerName, controller);
+			// Property prop = PropertyManager.getInstance().getProperty(controller, "actual_position");
+			// System.out.println("server value : " + prop.getServerValue());
+		}
+		// System.out.println("Loaded controllers : \n" + controllers);
+		displayActualPositions();
+	}
+	
+	public Set<String> getAxisControllersNames() {
+		return controllers.keySet();
+	}
+	
+	public String getServerValue(String controllerName, String propertyName) {
+		ControllerServant controller = controllers.get(controllerName);
+		Property prop = PropertyManager.getInstance().getProperty(controller, propertyName);
+		return prop.getServerValue();
+	}
+	
+	public String getValue(String controllerName, String propertyName) {
+		ControllerServant controller = controllers.get(controllerName);
+		Property prop = PropertyManager.getInstance().getProperty(controller, propertyName);
+		return prop.getValue();
+	}
+	
+	// TODO TEST
+	private void displayActualPositions() {
+		System.out.println("Controllers positions : ");
+		for (String controllerName : getAxisControllersNames()) {
+			double pos = Double.parseDouble(getServerValue(controllerName, "actual_position"));
+			System.out.println("\t" + controllerName + " : " + pos);
+		}
+	}
+	
+	public void terminate() {
+		// Close connection with Nomad Server
+		LoginManager.getInstance().logout(CommandZoneWrapper.SERVER_ID);
+		
+		Application.This.terminate();
+	}
+	
+
+    private int login(String login, String password, boolean standalone) {
+    	int loginState = LOGIN_NOT_OK;
+        // Check login and password
+        try {
+            LoginManager.getInstance().login(login, password, standalone, CommandZoneWrapper.SERVER_ID);
+            loginState = LOGIN_OK;
+        } catch (LoginIncorrectException e) {
+        	loginState = LOGIN_NOT_OK;
+		} catch (ClientAlreadyLaunchedException e) {
+			loginState = LOGIN_REFUSED;
+		} catch (ConnectionFailure e) {
+			System.exit(1);
+		}
+        
+        return loginState;
+    }
+}