refactoring (no testing)

app/src/main/java/com/github/gidabotapp/domain/AppNavPhase.java

@@ -4,11 +4,4 @@ public enum AppNavPhase {
     WAITING_USER_INPUT,
     REACHING_ORIGIN,
     REACHING_DESTINATION
-    ;
-
-//    private static AppNavPhase[] vals = values();
-//    public AppNavPhase next()
-//    {
-//        return vals[(this.ordinal()+1) % vals.length];
-//    }
 }

app/src/main/java/com/github/gidabotapp/domain/Floor.java

@@ -37,9 +37,11 @@ public enum Floor {
     public int getFloorCode(){
         return this.ordinal();
     }
+
     public String getRobotNameShort(){
         return this.robot.getShortName();
     }
+
     public String getRobotNameLong(){
         return this.robot.longName;
     }

app/src/main/java/com/github/gidabotapp/domain/MapPosition.java

@@ -1,8 +1,6 @@
 package com.github.gidabotapp.domain;
 
 
-import android.util.Log;
-
 import com.google.android.gms.maps.model.LatLng;
 
 import java.util.Locale;
@@ -38,24 +36,31 @@ public double getZ() {
         return z;
     }
 
-    // Beste puntu batekiko distantzia euklidearra (karratua) kalkulatu
-    // ez da erroa erabiltzen -> distance square
+    // Returns square distance to given other Position
+    // Real distance is not meaningful, hence root is not computed
     public double dSquare(MapPosition otherPos){
         double dx = otherPos.x - this.x;
         double dy = otherPos.y - this.y;
         return dx * dx + dy * dy;
     }
 
+    // Converts MapPoint to Latitude and Longitude
+    // Conversion depends on floor, so floor is given as an argument
     public LatLng toLatLng(Floor floor){
+        // Map's Latitude and Longitude Bounds
         final double[] LAT_BOUNDS = new double[]{-65 , +65};
         final double[] LNG_BOUNDS = new double[]{-180, +180};
 
+        // Convert X coordinate to Longitude
         double lng = rangeConversion(floor.getXBounds(), LNG_BOUNDS, x);
+        // Convert Y coordinate to Latitude
         double lat = rangeConversion(floor.getYBounds(), LAT_BOUNDS, y);
 
         return new LatLng(lat,lng);
     }
 
+
+    // Converts old value from old_bounds range to new_bounds range
     public double rangeConversion(double[] old_bounds, double[] new_bounds, double old_value) {
         double old_range = (old_bounds[1] - old_bounds[0]);
         double new_range = (new_bounds[1] - new_bounds[0]);

app/src/main/java/com/github/gidabotapp/domain/Robot.java

@@ -4,7 +4,7 @@
 import com.github.gidabotapp.R;
 
 public enum Robot{
-    // StartPoint => 000 - Fakultateko sarrera nagusia
+    // StartPoint => 000 - Fakultateko Sarrera Nagusia
     TARTALO ("Tartalo",     R.drawable.tartalo_small,3.5503, -18.4937),
 
     // StartPoint => 122 - Dekanotza

app/src/main/java/com/github/gidabotapp/domain/Room.java

@@ -53,10 +53,6 @@ public double getZ(){
         return position.getZ();
     }
 
-    public boolean equals(Room room2){
-        return this.num.compareTo(room2.num) == 0;
-    }
-
     @NonNull
     @Override
     public String toString(){

app/src/main/java/com/github/gidabotapp/repository/QNode.java

@@ -38,38 +38,50 @@
 import std_srvs.EmptyResponse;
 
 public class QNode extends AbstractNodeMain {
+    // Singleton pattern instance
     private static QNode INSTANCE = null;
 
+    // Node publishers
     private Publisher<Goal> pubGoal;
     private Publisher<CancelRequest> pubCancel;
 
+    // Service to clear Global Costmap
     private ServiceClient<EmptyRequest, EmptyResponse> clearCostmapClient;
 
-    private HashMap<Floor, Subscriber<PoseWithCovarianceStamped>> positionSubs;
-    private HashMap<Floor, Subscriber<PendingGoals>> pendingReqSubs;
+    // Node subscribers
+    private HashMap<Floor, Subscriber<PoseWithCovarianceStamped>> positionSubHM;
+    private HashMap<Floor, Subscriber<PendingGoals>> pendingReqSubHM;
     private Subscriber<std_msgs.Int8> subNavPhase;
     private Subscriber<std_msgs.Int8> subDialogMessage;
 
-    private final HashMap<Floor, MutableLiveData<MapPosition>> currentPositions;
-    private final HashMap<Floor, MutableLiveData<List<Goal>>> pendingRequests;
+    // All MutableLiveData to expose ROS system's current data
+    private final HashMap<Floor, MutableLiveData<MapPosition>> currentPositionsHM;
+    private final HashMap<Floor, MutableLiveData<List<Goal>>> pendingRequestsHM;
     private final MutableLiveData<PhaseMessage> phaseMessageLD;
     private final MutableLiveData<MultiNavPhase> multiNavPhaseLD;
 
+    // ConnectedNode will be injected through MainActivity (RosActivity)
     private ConnectedNode connectedNode;
 
+    // User Id will allow to differentiate possible different users in the system
     private final String userId;
 
-    private int sequenceNumber;
+    // Will increment with each goal sent
+    private int goalSequenceNumber;
 
+    // Singleton pattern, private constructor
     private QNode() {
+        // Get random UUID and set its first four characters as current instance's userID
         this.userId = UUID.randomUUID().toString().substring(0,4);
-        this.sequenceNumber = 0;
-        this.currentPositions = new HashMap<Floor, MutableLiveData<MapPosition>>(){{
+        this.goalSequenceNumber = 0;
+        // Initialize current position's LiveData HashMap
+        this.currentPositionsHM = new HashMap<Floor, MutableLiveData<MapPosition>>(){{
             for(Floor floor: Floor.values()){
                 put(floor, new MutableLiveData<MapPosition>());
             }
         }};
-        this.pendingRequests = new HashMap<Floor, MutableLiveData<List<Goal>>>(){{
+        // Initialize pending requests' LiveData HashMap
+        this.pendingRequestsHM = new HashMap<Floor, MutableLiveData<List<Goal>>>(){{
             for(Floor floor: Floor.values()){
                 put(floor, new MutableLiveData<List<Goal>>());
             }
@@ -78,18 +90,23 @@ private QNode() {
         this.multiNavPhaseLD = new MutableLiveData<>();
     }
 
+    // Singleton lazy initialization
     public static synchronized QNode getInstance(){
         if(INSTANCE == null){
             INSTANCE = new QNode();
         }
         return INSTANCE;
     }
 
+    // Node's name will be base name + current instance's userId
+    // This will allow to differentiate different users' nodes
     public GraphName getDefaultNodeName() {
         String GRAPH_NAME_BASE = "GidabotApp/QNode_";
         return GraphName.of(GRAPH_NAME_BASE + userId);
     }
 
+    // onStart event will initialize all publishers and subscribers needed
+    // ConnectedNode will be the the node received from nodeMainExecutor
     public void onStart(final ConnectedNode connectedNode) {
         this.connectedNode = connectedNode;
 
@@ -99,37 +116,42 @@ public void onStart(final ConnectedNode connectedNode) {
         pubCancel = connectedNode.newPublisher("/cancel_request", CancelRequest._TYPE);
         pubCancel.setLatchMode(true);
 
-        positionSubs = new HashMap<>();
-        final String amcl_topic_template = "/%s/amcl_pose";
-        for(final Floor floor: Floor.values()){
-            String topic = String.format(amcl_topic_template, floor.getRobotNameShort());
-            Subscriber<PoseWithCovarianceStamped> subscriber = connectedNode.newSubscriber(topic, PoseWithCovarianceStamped._TYPE);
-            subscriber.addMessageListener(new MessageListener<PoseWithCovarianceStamped>() {
-                @Override
-                public void onNewMessage(PoseWithCovarianceStamped message) {
-                    MapPosition position = new MapPosition(message);
-                    currentPositions.get(floor).postValue(position);
-                }
-            });
-            positionSubs.put(floor,subscriber);
-        }
+        // Initialize position subscribers' HashMap with a subscriber for each Floor (and hence, each Robot)
+        positionSubHM = new HashMap<Floor, Subscriber<PoseWithCovarianceStamped>>(){{
+            final String amcl_topic_template = "/%s/amcl_pose";
+            for(final Floor floor: Floor.values()) {
+                String topic = String.format(amcl_topic_template, floor.getRobotNameShort());
+                Subscriber<PoseWithCovarianceStamped> subscriber = connectedNode.newSubscriber(topic, PoseWithCovarianceStamped._TYPE);
+                subscriber.addMessageListener(new MessageListener<PoseWithCovarianceStamped>() {
+                    @Override
+                    public void onNewMessage(PoseWithCovarianceStamped message) {
+                        MapPosition position = new MapPosition(message);
+                        currentPositionsHM.get(floor).postValue(position);
+                    }
+                });
+                put(floor, subscriber);
+            }
+        }};
 
-        pendingReqSubs = new HashMap<>();
-        final String pReq_topic_template = "/%s/pending_requests";
-        for(final Floor floor: Floor.values()){
-            String topic = String.format(pReq_topic_template, floor.getRobotNameShort());
-            Subscriber<PendingGoals> subscriber = connectedNode.newSubscriber(topic, PendingGoals._TYPE);
-            subscriber.addMessageListener(new MessageListener<PendingGoals>() {
-                @Override
-                public void onNewMessage(PendingGoals message) {
-                    List<Goal> pendingGoals = message.getGoals();
-                    pendingRequests.get(floor).postValue(pendingGoals);
-                }
-            });
-            pendingReqSubs.put(floor,subscriber);
-        }
+        // Initialize pending requests' subscribers' HashMap with a subscriber for each Floor (and hence, each Robot)
+        pendingReqSubHM = new HashMap<Floor, Subscriber<PendingGoals>>(){{
+            final String pReq_topic_template = "/%s/pending_requests";
+            for(final Floor floor: Floor.values()){
+                String topic = String.format(pReq_topic_template, floor.getRobotNameShort());
+                Subscriber<PendingGoals> subscriber = connectedNode.newSubscriber(topic, PendingGoals._TYPE);
+                subscriber.addMessageListener(new MessageListener<PendingGoals>() {
+                    @Override
+                    public void onNewMessage(PendingGoals message) {
+                        List<Goal> pendingGoals = message.getGoals();
+                        pendingRequestsHM.get(floor).postValue(pendingGoals);
+                    }
+                });
+                put(floor,subscriber);
+            }
+        }};
 
 
+        // Nav Phase subscriber connection
         subNavPhase = connectedNode.newSubscriber("/nav_phase", Int8._TYPE);
         subNavPhase.addMessageListener(new MessageListener<Int8>() {
             @Override
@@ -140,6 +162,7 @@ public void onNewMessage(Int8 message) {
             }
         });
 
+        // Dialog QT message subscriber connection
         subDialogMessage = connectedNode.newSubscriber("/dialog_qt_message", Int8._TYPE);
         subDialogMessage.addMessageListener(new MessageListener<Int8>() {
             @Override
@@ -159,27 +182,27 @@ public void onNewMessage(Int8 message) {
 
     }
 
-
+    // Publishes a goal, posting currentRoom, goal and chosen way as information
+    // for the robot to make the correct path
     public void publishGoal(Room current, Room goal, Way chosenWay){
         MessageFactory topicMessageFactory = connectedNode.getTopicMessageFactory();
 
-        // Clear Global costmap
+        // Clear Global costmap. This clears current stored obstacles, to prevent errors, such as the robot getting stuck
         clearGlobalCostmap();
 
         Goal message = topicMessageFactory.newFromType(Goal._TYPE);
-
-        message.setGoalSeq(sequenceNumber);
+        message.setGoalSeq(goalSequenceNumber);
         message.setInitialFloor((float) current.getFloor());
         message.setGoalFloor((float) goal.getFloor());
 
+        // Initial pose will be current Room's mapPosition coordinates
         Point initial_pose = topicMessageFactory.newFromType(Point._TYPE);
-
         initial_pose.setX(current.getX());
         initial_pose.setY(current.getY());
         initial_pose.setZ(current.getZ());
         message.setInitialPose(initial_pose);
 
-
+        // Goal pose will be current Room's mapPosition coordinates
         Point goal_pose = topicMessageFactory.newFromType(Point._TYPE);
         goal_pose.setX(goal.getX());
         goal_pose.setY(goal.getY());
@@ -188,6 +211,8 @@ public void publishGoal(Room current, Room goal, Way chosenWay){
 
         message.setIntermediateRobot(false); //TODO
         message.setIntermediateFloor((float)0.0); //TODO
+
+        // If not null, way will be chosenWay argument
         String way = "";
         if (chosenWay != null){
            way = chosenWay.toString();
@@ -198,11 +223,12 @@ public void publishGoal(Room current, Room goal, Way chosenWay){
         message.setLanguage("EU");
         message.setUserName(this.userId);
 
+        // Publish built message and increment sequenceNumber
         pubGoal.publish(message);
-        this.sequenceNumber++;
+        this.goalSequenceNumber++;
     }
 
-
+    // Publishes a cancel request message
     public void publishCancel(int goal_seq, boolean intermediateRobot, Floor initialFloor, Floor goalFloor, Floor intermediateFloor){
         MessageFactory topicMessageFactory = connectedNode.getTopicMessageFactory();
 
@@ -211,7 +237,7 @@ public void publishCancel(int goal_seq, boolean intermediateRobot, Floor initial
         message.setIntermediateRobot(intermediateRobot);
         message.setInitialFloor((float) initialFloor.getFloorCode());
         message.setGoalFloor((float) goalFloor.getFloorCode());
-        message.setRequestFloor((float) initialFloor.getFloorCode()); // IMPORTANTE: hau gabe ez doa
+        message.setRequestFloor((float) initialFloor.getFloorCode()); // !! Important, if not set correctly, it won't work
         if (intermediateRobot){
             message.setIntermediateFloor((float) intermediateFloor.getFloorCode());
         }
@@ -220,7 +246,7 @@ public void publishCancel(int goal_seq, boolean intermediateRobot, Floor initial
     }
 
 
-
+    // Clears global costmap, sending an empty request to clear costmap topic
     public void clearGlobalCostmap(){
         MessageFactory requestMessageFactory = connectedNode.getServiceRequestMessageFactory();
 
@@ -244,35 +270,14 @@ public void onFailure(RemoteException e) {
         }
     }
 
-
-    public MutableLiveData<PhaseMessage> getPhaseMessageLD(){
-        return this.phaseMessageLD;
-    }
-
-
-    public MutableLiveData<MultiNavPhase> getMultiNavPhaseLD(){
-        return this.multiNavPhaseLD;
-    }
-
-
-    public HashMap<Floor, MutableLiveData<MapPosition>> getCurrentPositions(){
-        return this.currentPositions;
-    }
-
-    public HashMap<Floor, MutableLiveData<List<Goal>>> getPendingRequests(){
-        return this.pendingRequests;
-    }
-
-    public String getUserId(){
-        return this.userId;
-    }
-
+    // Shuts down every powered subscriber and listener
+    // Finally sets instance to null
     public void shutdown() {
         try {
-            for(Subscriber<PoseWithCovarianceStamped> sub: positionSubs.values()){
+            for(Subscriber<PoseWithCovarianceStamped> sub: positionSubHM.values()){
                 sub.shutdown();
             }
-            for(Subscriber<PendingGoals> sub: pendingReqSubs.values()){
+            for(Subscriber<PendingGoals> sub: pendingReqSubHM.values()){
                 sub.shutdown();
             }
 
@@ -292,4 +297,21 @@ public void shutdown() {
 
     }
 
+    // Getters
+    public MutableLiveData<PhaseMessage> getPhaseMessageLD(){
+        return this.phaseMessageLD;
+    }
+    public MutableLiveData<MultiNavPhase> getMultiNavPhaseLD(){
+        return this.multiNavPhaseLD;
+    }
+    public HashMap<Floor, MutableLiveData<MapPosition>> getCurrentPositionsHM(){
+        return this.currentPositionsHM;
+    }
+    public HashMap<Floor, MutableLiveData<List<Goal>>> getPendingRequestsHM(){
+        return this.pendingRequestsHM;
+    }
+    public String getUserId(){
+        return this.userId;
+    }
+
 }

app/src/main/java/com/github/gidabotapp/repository/RoomDatabase.java

@@ -27,7 +27,8 @@ public static RoomDatabase getInstance(final Context context){
                 if(INSTANCE == null){
                     INSTANCE = androidx.room.Room.databaseBuilder(context,
                             RoomDatabase.class, db_name)
-//                            .addCallback(populateDB)
+                            // Populate database with stored information at assets/Rooms.db. This is only executed on app's first launch,
+                            // Which means that if you want to repopulate database you will have to uninstall the app
                             .createFromAsset("database/"+db_name)
                             .build();
                     Log.i("DAO", "Database instantiated");