From 7889a9e970f36d9d1a12374bc728c4f1042d6b26 Mon Sep 17 00:00:00 2001
From: Xie Changrong <1225674957@qq.com>
Date: Sat, 11 Jun 2022 21:50:05 +0800
Subject: [PATCH 1/3] update

---
 src/Logistics/app/build.gradle                |   1 +
 src/Logistics/app/libs/java_websocket.jar     | Bin 88934 -> 0 bytes
 src/Logistics/app/src/main/assets/js.html     |  10 +-
 .../goodDao.java => manager/goodManager.java} |  62 +++-
 .../operationManager.java}                    |   6 +-
 .../userDao.java => manager/userManager.java} |   5 +-
 .../example/logistics/tools/DBOpenHelper.java |   4 +-
 .../logistics/tools/JWebSocketClient.java     |  35 ++
 .../example/logistics/ui/HistoryActivity.java |  10 +-
 .../example/logistics/ui/MainActivity.java    |  12 +-
 .../ui/{MyFragment3.java => MeUI.java}        |   4 +-
 .../example/logistics/ui/MenuActivity.java    |   6 +-
 .../com/example/logistics/ui/MyFragment2.java | 220 ------------
 .../example/logistics/ui/NoPickActivity.java  |  17 +-
 .../com/example/logistics/ui/PickUpUI.java    | 306 +++++++++++++++++
 .../ui/{MyFragment1.java => SearchUI.java}    |  14 +-
 .../example/logistics/ui/SignUpActivity.java  |   8 +-
 src/server/.gitignore                         |  33 ++
 src/server/.mvn/wrapper/maven-wrapper.jar     | Bin 0 -> 58727 bytes
 .../.mvn/wrapper/maven-wrapper.properties     |   2 +
 src/server/mvnw                               | 316 ++++++++++++++++++
 src/server/mvnw.cmd                           | 188 +++++++++++
 src/server/pom.xml                            |  80 +++++
 .../example/testdemo/TestdemoApplication.java |  42 +++
 .../testdemo/config/SendObjectMessage.java    | 176 ++++++++++
 .../testdemo/config/WebSocketConfig.java      |  17 +
 src/server/src/main/resources/a.js            |   1 +
 src/server/src/main/resources/application.yml |  18 +
 src/server/src/main/resources/em.js           |   1 +
 src/server/src/main/resources/roslib.min.js   |   1 +
 src/server/src/main/resources/test.html       |  59 ++++
 src/server/src/main/resources/test.js         |  97 ++++++
 .../testdemo/TestdemoApplicationTests.java    |  13 +
 33 files changed, 1480 insertions(+), 284 deletions(-)
 delete mode 100644 src/Logistics/app/libs/java_websocket.jar
 rename src/Logistics/app/src/main/java/com/example/logistics/{dao/goodDao.java => manager/goodManager.java} (72%)
 rename src/Logistics/app/src/main/java/com/example/logistics/{dao/operationDao.java => manager/operationManager.java} (95%)
 rename src/Logistics/app/src/main/java/com/example/logistics/{dao/userDao.java => manager/userManager.java} (98%)
 create mode 100644 src/Logistics/app/src/main/java/com/example/logistics/tools/JWebSocketClient.java
 rename src/Logistics/app/src/main/java/com/example/logistics/ui/{MyFragment3.java => MeUI.java} (95%)
 delete mode 100644 src/Logistics/app/src/main/java/com/example/logistics/ui/MyFragment2.java
 create mode 100644 src/Logistics/app/src/main/java/com/example/logistics/ui/PickUpUI.java
 rename src/Logistics/app/src/main/java/com/example/logistics/ui/{MyFragment1.java => SearchUI.java} (81%)
 create mode 100644 src/server/.gitignore
 create mode 100644 src/server/.mvn/wrapper/maven-wrapper.jar
 create mode 100644 src/server/.mvn/wrapper/maven-wrapper.properties
 create mode 100644 src/server/mvnw
 create mode 100644 src/server/mvnw.cmd
 create mode 100644 src/server/pom.xml
 create mode 100644 src/server/src/main/java/com/example/testdemo/TestdemoApplication.java
 create mode 100644 src/server/src/main/java/com/example/testdemo/config/SendObjectMessage.java
 create mode 100644 src/server/src/main/java/com/example/testdemo/config/WebSocketConfig.java
 create mode 100644 src/server/src/main/resources/a.js
 create mode 100644 src/server/src/main/resources/application.yml
 create mode 100644 src/server/src/main/resources/em.js
 create mode 100644 src/server/src/main/resources/roslib.min.js
 create mode 100644 src/server/src/main/resources/test.html
 create mode 100644 src/server/src/main/resources/test.js
 create mode 100644 src/server/src/test/java/com/example/testdemo/TestdemoApplicationTests.java

diff --git a/src/Logistics/app/build.gradle b/src/Logistics/app/build.gradle
index ef99642..bd44a64 100644
--- a/src/Logistics/app/build.gradle
+++ b/src/Logistics/app/build.gradle
@@ -43,4 +43,5 @@ dependencies {
     testImplementation 'junit:junit:4.13.2'
     androidTestImplementation 'androidx.test.ext:junit:1.1.3'
     androidTestImplementation 'androidx.test.espresso:espresso-core:3.4.0'
+    implementation "org.java-websocket:Java-WebSocket:1.4.0"
 }
\ No newline at end of file
diff --git a/src/Logistics/app/libs/java_websocket.jar b/src/Logistics/app/libs/java_websocket.jar
deleted file mode 100644
index bb5caeb4e80a53b60a83868128ac5fde26d7ac64..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

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zsee8L<B$K`pE3XY8CFIvMux5cW9Q$5O8x`@_Z#J^8P4n(GH5ygDR$ES0RRS;=Z66P
z%ZFS+vL|0PPe2odogKi2_3Om&y<%T+5AvrO5kYMr0@?L`n)z1p{3K9+jr&{ueg~CS
zlmgf|e3Q2O8QW6F$C(+lsZ$h$PxTELbj<Th2if2knvs7bOea^dw*maR!qmY%lhUA6
z?CKyDZPFh=(Xsy?^w)UtwOzDVpbA2RnoIKoUMk+-;|ZG@IRJmv_WKTpiFL4_1HsXN
z+W#Z$67k=|{*WgA&nCTx4Ld{FrU$uzrr6hgvfnD4=Xd?^?_uxd(td4$)Z<vhd5{w&
zf%d-q=vvkSe~&3==?nze{mKOQqvWYqViPn7*BA7<A6ef@o?kd91@^DH-^s|q0bnZP
z4g~z}Uq4s)*U~{>f$s;?g3vF4O@33N{b5Yq8#7+MB`hA)^@N~t1v>GMlIMpm{C7CN
z5Ec^sjp1**?hAVFivy51sDefs%O70#qX8NuEAR_*{9fxn2E|v7Z+oAA_6*MRZ5&vT
zrAI-pdzpf7CC^V-`oF;cMEAE%GCiy?L;;1+P*CK!SF`_C^8CtV{sZTK?PXZQUxJ%D
z8JPi{f9U0VH*8o#ztIKReFN0f+}~;lI_CL3{#zWedpL4Y8+&KK9~xz9?hbzumfRun
zKZt@@@<1%?Kd^i>`n%eGW%+|Z6=($f3x;H+O^kVvr$Uf`@(=&O@WS*T8GbhLSD7;L
zJ!{7nkiUEaRh<6^$ZV&7gfwJfCYQD|u?NK!01zPVW&&`yzX16)6Owr-au5y}SQ*Ik
zsefRq2mTwTU!zJLS0M#}>fR5ETtA}vhyM#yu3w{4tEYA$gACmP3e-QM%18Y(Di_DE
zQTwcXC!ah31M>%^H~0}XEA3yPa{i3^zo8IR-QUZ7D3mDwB`V-sKm9mR?!)2LnJ7gP
z$QzPC78Uvi1v=*WJ^x3n?~d??EB}K>;J%<cA_6hl{Lip-tNf>$OWU~^*;ty2fuvOb
zfn|53qJ9e0ruU!~!@UsSx02_#SN$(pB%F+F|H-|rjW$0`f@t<ZG@v>2kCNwyUH30(
z{;l1foYpHifT-+2w)?R~VxYz6FQ$<{^|+j+ttC+04PXiYnEr#|@(%d18bCCvpcefY
zH4&TsiAKR5s0y$%H8QsOYrFlg`x5+NwR`u)ZTTgO8K^TX?f$&J{u;^HlKd^8Ko-dX
zRrklWhVtJ7{TAPU>*AjW*jHc&9>@%LSkUwaS{~jjT7D~eei?0lTf^_bKL|ShJZ*QO
zmOo|y*%=yCd4_M`pktn&dH3Jq|5oR}gub8nI>qACvq7-(py>GHf@7uUpP}z{ipdon
zOzchnVm?xSvZKcYsyP~n;>Ts<X#c;1|Fy-jg@hToU_ezy`FT+xG5GIr|D+83-Q54{
zaG+)M@8#a%2F8C0Zee6+>TF?T4ftVQaUU*ikk4*QK>+8V*N>h7J@F4vUsrN}jQC&M
z;lZ-9X*~#=4`kyX2Rhi~f5ZPvFZu0?!c~m25k!LpqG1Cazm+^c<f(t4`J(}UOE9HE
zs+s@-#{~^du5aj|BPcdb|679Jdi1N+er>Fu#o52{<oSWm{wI>J3ZcIy`C0J$I|=&y
zza{xD|NY%Hzebv$m9W2~YcBj3^j~`aSBjtIdB0Ooy!!`=uXg#P$A4|0pJi{q<1?)M
zH~hcwsQ(?r_}@5wyZxf{{+BerYjXT-@t>t+zd_~s1^+G1FRuT-n&&SsmhQvx&!Ugt
z+2l6<uGW8CkbUL&)%D*!{LeCV-{C)R{}=e5=>E1zKTE59=WN>jf8zX6XzkDab>GCF
zMYO)t2_F1^(EYD3-;@0;_41tz`t(1L{S5xU9*p}9`8N-yMgsrUBJTH;Y2R;T-iPj=
zlcs$G%JVb$8<ZbYsQuZ-_n1HDulkNjh5FYu`>SkLKcoMgV&yyfD&{|;|8K&TpW%Pr
z`~Mxj2>+kpf9|NS5%cG7;l3j}JpOCMUw<d3Bnu5%*4$rP34wKj?o~#Jfo4Up{{y8z
Be2@SD

diff --git a/src/Logistics/app/src/main/assets/js.html b/src/Logistics/app/src/main/assets/js.html
index 113324c..7fd022d 100644
--- a/src/Logistics/app/src/main/assets/js.html
+++ b/src/Logistics/app/src/main/assets/js.html
@@ -8,7 +8,7 @@
 
      function callJS(){
   var ros = new ROSLIB.Ros({
-    url : 'ws://192.168.43.164:9090'
+    url : 'ws://192.168.43.20:9090'
   });
 
   ros.on('connection', function() {
@@ -86,11 +86,11 @@
     console.log('Connection to websocket server closed.');
   });
 
-  goal.send();
+  //goal.send();
 
-  /*var cmdVel = new ROSLIB.Topic({
+  var cmdVel = new ROSLIB.Topic({
     ros : ros,
-    name : '/cmd_vel_mux/input/navi',
+    name : '/cmd_vel',
     messageType : 'geometry_msgs/Twist'
   });
 
@@ -106,7 +106,7 @@
       z : 0.0
     }
   });
-  cmdVel.publish(twist);*/
+  cmdVel.publish(twist);
 }
 
 </script>
diff --git a/src/Logistics/app/src/main/java/com/example/logistics/dao/goodDao.java b/src/Logistics/app/src/main/java/com/example/logistics/manager/goodManager.java
similarity index 72%
rename from src/Logistics/app/src/main/java/com/example/logistics/dao/goodDao.java
rename to src/Logistics/app/src/main/java/com/example/logistics/manager/goodManager.java
index ffde8d0..e5ec254 100644
--- a/src/Logistics/app/src/main/java/com/example/logistics/dao/goodDao.java
+++ b/src/Logistics/app/src/main/java/com/example/logistics/manager/goodManager.java
@@ -1,4 +1,4 @@
-package com.example.logistics.dao;
+package com.example.logistics.manager;
 
 import android.app.AlertDialog;
 import android.content.Context;
@@ -7,8 +7,6 @@ import android.util.Log;
 
 import com.example.logistics.tools.DBOpenHelper;
 import com.example.logistics.tools.MD5Utils;
-import com.example.logistics.ui.MainActivity;
-import com.example.logistics.ui.MenuActivity;
 
 import java.sql.Connection;
 import java.sql.PreparedStatement;
@@ -18,7 +16,7 @@ import java.util.HashMap;
 import java.util.List;
 import java.util.Map;
 
-public class goodDao {
+public class goodManager {
 
     private static final String TAG = "goodDao";
 
@@ -165,5 +163,61 @@ public class goodDao {
         return datalist;
     }
 
+    public int pickup(String pickupcode, String phonenum){
+        HashMap<String, Object> map = new HashMap<>();
+
+        Connection connection = DBOpenHelper.getConn();
+
+        int msg = 0;
+        try{
+            String sql = "select * from goods where id=?";
+
+            if(connection != null){
+                PreparedStatement ps = connection.prepareStatement(sql);
+                if(ps != null){
+                    Log.e(TAG, "pickupcode: " + pickupcode);
+                    ps.setInt(1,Integer.parseInt(pickupcode));
+                    ResultSet rs = ps.executeQuery();
+
+                    int count = rs.getMetaData().getColumnCount();
+                    while(rs.next()){
+                        for(int i = 1; i <= count; i++){
+                            String field = rs.getMetaData().getColumnName(i);
+                            map.put(field, rs.getString(field));
+                        }
+                    }
+                    connection.close();
+                    ps.close();
+                    if(map.size() != 0){
+                        StringBuilder s = new StringBuilder();
+                        for(String key:map.keySet()){
+                            if(key.equals("phonenum")){
+                                if(phonenum.equals(map.get(key).toString().substring(7,11))){
+                                    msg = 1;        //password correct
+                                }else{
+                                    msg = 2;        //password incorrect
+                                }
+                                break;
+                            }
+                        }
+                    }else{
+                        Log.e(TAG, "result is null");
+                        msg = 3;                    //result is null
+                    }
+                }else{
+                    Log.e(TAG, "ps is null");
+                    msg = 0;
+                }
+            }else{
+                Log.e(TAG, "connection is null");
+                msg = 0;
+            }
+        }catch (Exception e){
+            e.printStackTrace();
+            Log.d(TAG, "login bug: " + e.getMessage());
+            msg = 0;
+        }
+        return msg;
+    }
 
 }
diff --git a/src/Logistics/app/src/main/java/com/example/logistics/dao/operationDao.java b/src/Logistics/app/src/main/java/com/example/logistics/manager/operationManager.java
similarity index 95%
rename from src/Logistics/app/src/main/java/com/example/logistics/dao/operationDao.java
rename to src/Logistics/app/src/main/java/com/example/logistics/manager/operationManager.java
index e6800ee..415034b 100644
--- a/src/Logistics/app/src/main/java/com/example/logistics/dao/operationDao.java
+++ b/src/Logistics/app/src/main/java/com/example/logistics/manager/operationManager.java
@@ -1,10 +1,8 @@
-package com.example.logistics.dao;
+package com.example.logistics.manager;
 
 import android.util.Log;
 
-import com.example.logistics.entity.User;
 import com.example.logistics.tools.DBOpenHelper;
-import com.example.logistics.tools.MD5Utils;
 
 import java.sql.Connection;
 import java.sql.PreparedStatement;
@@ -16,7 +14,7 @@ import java.util.HashMap;
 import java.util.List;
 import java.util.Map;
 
-public class operationDao {
+public class operationManager {
     private static final String TAG = "operationDao";
 
     public boolean add(String pickupcode, String phonenum){
diff --git a/src/Logistics/app/src/main/java/com/example/logistics/dao/userDao.java b/src/Logistics/app/src/main/java/com/example/logistics/manager/userManager.java
similarity index 98%
rename from src/Logistics/app/src/main/java/com/example/logistics/dao/userDao.java
rename to src/Logistics/app/src/main/java/com/example/logistics/manager/userManager.java
index bd3bd0d..0f50cf0 100644
--- a/src/Logistics/app/src/main/java/com/example/logistics/dao/userDao.java
+++ b/src/Logistics/app/src/main/java/com/example/logistics/manager/userManager.java
@@ -1,4 +1,4 @@
-package com.example.logistics.dao;
+package com.example.logistics.manager;
 
 import android.util.Log;
 
@@ -12,7 +12,7 @@ import java.util.HashMap;
 import java.sql.ResultSet;
 import java.sql.Connection;
 
-public class userDao {
+public class userManager {
 
     private static final String TAG = "userDao";
 
@@ -46,6 +46,7 @@ public class userDao {
                         StringBuilder s = new StringBuilder();
                         for(String key:map.keySet()){
                             if(key.equals("password")){
+
                                 if(password.equals(map.get(key))){
                                     msg = 1;        //password correct
                                 }else{
diff --git a/src/Logistics/app/src/main/java/com/example/logistics/tools/DBOpenHelper.java b/src/Logistics/app/src/main/java/com/example/logistics/tools/DBOpenHelper.java
index c561dbb..73f0b02 100644
--- a/src/Logistics/app/src/main/java/com/example/logistics/tools/DBOpenHelper.java
+++ b/src/Logistics/app/src/main/java/com/example/logistics/tools/DBOpenHelper.java
@@ -7,9 +7,9 @@ import java.sql.SQLException;
 public class DBOpenHelper {
     private static String diver = "com.mysql.jdbc.Driver";
     //加入utf-8是为了后面往表中输入中文，表中不会出现乱码的情况
-    private static String url = "jdbc:mysql://49.235.83.73:3306/logistics?characterEncoding=utf-8";
+    private static String url = "jdbc:mysql://192.168.43.203:3306/logistics?characterEncoding=utf-8";
     private static String user = "root";//用户名
-    private static String password = "123";//密码
+    private static String password = "";//密码
     /*
      * 连接数据库
      * */
diff --git a/src/Logistics/app/src/main/java/com/example/logistics/tools/JWebSocketClient.java b/src/Logistics/app/src/main/java/com/example/logistics/tools/JWebSocketClient.java
new file mode 100644
index 0000000..4236ecf
--- /dev/null
+++ b/src/Logistics/app/src/main/java/com/example/logistics/tools/JWebSocketClient.java
@@ -0,0 +1,35 @@
+package com.example.logistics.tools;
+
+import android.util.Log;
+
+import org.java_websocket.client.WebSocketClient;
+import org.java_websocket.drafts.Draft_6455;
+import org.java_websocket.handshake.ServerHandshake;
+
+import java.net.URI;
+
+public class JWebSocketClient extends WebSocketClient {
+    public JWebSocketClient(URI serverUri) {
+        super(serverUri, new Draft_6455());
+    }
+
+    @Override
+    public void onOpen(ServerHandshake handshakedata) {
+        Log.e("JWebSocketClient", "onOpen()");
+    }
+
+    @Override
+    public void onMessage(String message) {
+        Log.e("JWebSocketClient", "onMessage()");
+    }
+
+    @Override
+    public void onClose(int code, String reason, boolean remote) {
+        Log.e("JWebSocketClient", "onClose()");
+    }
+
+    @Override
+    public void onError(Exception ex) {
+        Log.e("JWebSocketClient", "onError()");
+    }
+}
diff --git a/src/Logistics/app/src/main/java/com/example/logistics/ui/HistoryActivity.java b/src/Logistics/app/src/main/java/com/example/logistics/ui/HistoryActivity.java
index 4cc6c2e..3a89a44 100644
--- a/src/Logistics/app/src/main/java/com/example/logistics/ui/HistoryActivity.java
+++ b/src/Logistics/app/src/main/java/com/example/logistics/ui/HistoryActivity.java
@@ -1,11 +1,8 @@
 package com.example.logistics.ui;
 
-import androidx.appcompat.app.AppCompatActivity;
-
 import android.annotation.SuppressLint;
 import android.app.Activity;
 import android.content.Intent;
-import android.media.Image;
 import android.os.Bundle;
 import android.os.Handler;
 import android.os.Message;
@@ -22,8 +19,7 @@ import android.widget.AdapterView.OnItemClickListener;
 import android.widget.Toast;
 
 import com.example.logistics.R;
-import com.example.logistics.dao.goodDao;
-import com.example.logistics.dao.operationDao;
+import com.example.logistics.manager.operationManager;
 
 import java.util.ArrayList;
 import java.util.List;
@@ -101,8 +97,8 @@ public class HistoryActivity extends Activity implements OnItemClickListener, On
         new Thread(){
             @Override
             public void run(){
-                operationDao operationDao = new operationDao();
-                dataList = operationDao.history(phonenum);
+                operationManager operationManager = new operationManager();
+                dataList = operationManager.history(phonenum);
 
                 int msg = 1;
                 hand1.sendEmptyMessage(msg);
diff --git a/src/Logistics/app/src/main/java/com/example/logistics/ui/MainActivity.java b/src/Logistics/app/src/main/java/com/example/logistics/ui/MainActivity.java
index fc419de..b2e3517 100644
--- a/src/Logistics/app/src/main/java/com/example/logistics/ui/MainActivity.java
+++ b/src/Logistics/app/src/main/java/com/example/logistics/ui/MainActivity.java
@@ -1,9 +1,8 @@
 package com.example.logistics.ui;
 
 import com.example.logistics.R;
-import com.example.logistics.dao.userDao;
+import com.example.logistics.manager.userManager;
 import com.example.logistics.entity.User;
-import com.example.logistics.tools.MD5Utils;
 
 import android.annotation.SuppressLint;
 import android.app.Activity;
@@ -17,9 +16,6 @@ import android.widget.Button;
 import android.widget.EditText;
 import android.widget.Toast;
 
-import java.text.SimpleDateFormat;
-import java.util.Date;
-
 
 public class MainActivity extends Activity {
 
@@ -60,12 +56,12 @@ public class MainActivity extends Activity {
         new Thread(){
             @Override
             public void run(){
-                userDao userDao = new userDao();
-                int msg = userDao.login(userName.getText().toString().trim(), passWord.getText().toString().trim());
+                userManager userManager = new userManager();
+                int msg = userManager.login(userName.getText().toString().trim(), passWord.getText().toString().trim());
                 Log.e("MAin", "msg");
                 hand1.sendEmptyMessage(msg);
                 if(msg == 1){
-                    User owner = userDao.findUser(userName.getText().toString().trim());
+                    User owner = userManager.findUser(userName.getText().toString().trim());
                     Intent intent = new Intent(MainActivity.this, MenuActivity.class);
                     intent.putExtra("user", owner.getPhoneNum());
                     startActivity(intent);
diff --git a/src/Logistics/app/src/main/java/com/example/logistics/ui/MyFragment3.java b/src/Logistics/app/src/main/java/com/example/logistics/ui/MeUI.java
similarity index 95%
rename from src/Logistics/app/src/main/java/com/example/logistics/ui/MyFragment3.java
rename to src/Logistics/app/src/main/java/com/example/logistics/ui/MeUI.java
index 2ff01f4..84e6ba6 100644
--- a/src/Logistics/app/src/main/java/com/example/logistics/ui/MyFragment3.java
+++ b/src/Logistics/app/src/main/java/com/example/logistics/ui/MeUI.java
@@ -18,14 +18,14 @@ import com.example.logistics.R;
 
 import org.w3c.dom.Text;
 
-public class MyFragment3 extends Fragment implements View.OnClickListener{
+public class MeUI extends Fragment implements View.OnClickListener{
     private LinearLayout ll_waiting;
     private LinearLayout ll_history;
     private LinearLayout ll_exit;
     private Context mContext;
     private String user;
 
-    public MyFragment3(){
+    public MeUI(){
 
     }
     @Nullable
diff --git a/src/Logistics/app/src/main/java/com/example/logistics/ui/MenuActivity.java b/src/Logistics/app/src/main/java/com/example/logistics/ui/MenuActivity.java
index c366436..95ed844 100644
--- a/src/Logistics/app/src/main/java/com/example/logistics/ui/MenuActivity.java
+++ b/src/Logistics/app/src/main/java/com/example/logistics/ui/MenuActivity.java
@@ -93,7 +93,7 @@ public class MenuActivity extends AppCompatActivity implements View.OnClickListe
                 mTextView1.setSelected(true);
                 mTextNum1.setVisibility(View.INVISIBLE);
                 if (mFrag1 == null) {
-                    mFrag1 = new MyFragment1();
+                    mFrag1 = new SearchUI();
 
 
                     transaction.add(R.id.fragment_container, mFrag1);
@@ -106,7 +106,7 @@ public class MenuActivity extends AppCompatActivity implements View.OnClickListe
                 mTextView2.setSelected(true);
                 mTextNum2.setVisibility(View.INVISIBLE);
                 if (mFrag2 == null) {
-                    mFrag2 = new MyFragment2();
+                    mFrag2 = new PickUpUI();
                     Bundle bundle = new Bundle();
                     bundle.putString("user", owner);
                     mFrag2.setArguments(bundle);
@@ -120,7 +120,7 @@ public class MenuActivity extends AppCompatActivity implements View.OnClickListe
                 mTextView3.setSelected(true);
                 mTextNum3.setVisibility(View.INVISIBLE);
                 if (mFrag3 == null) {
-                    mFrag3 = new MyFragment3();
+                    mFrag3 = new MeUI();
                     Bundle bundle = new Bundle();
                     bundle.putString("user", owner);
                     mFrag3.setArguments(bundle);
diff --git a/src/Logistics/app/src/main/java/com/example/logistics/ui/MyFragment2.java b/src/Logistics/app/src/main/java/com/example/logistics/ui/MyFragment2.java
deleted file mode 100644
index 8f28860..0000000
--- a/src/Logistics/app/src/main/java/com/example/logistics/ui/MyFragment2.java
+++ /dev/null
@@ -1,220 +0,0 @@
-package com.example.logistics.ui;
-
-import androidx.fragment.app.Fragment;
-
-import android.annotation.SuppressLint;
-import android.app.AlertDialog;
-import android.content.Context;
-import android.content.Intent;
-import android.os.Bundle;
-import android.os.Handler;
-import android.os.Message;
-import android.util.Log;
-import android.view.LayoutInflater;
-import android.view.View;
-import android.view.ViewGroup;
-import android.webkit.WebSettings;
-import android.webkit.WebView;
-import android.webkit.WebViewClient;
-import android.widget.Button;
-import android.widget.EditText;
-import android.widget.TextView;
-import android.widget.Toast;
-
-import androidx.annotation.Nullable;
-
-import com.example.logistics.R;
-import com.example.logistics.dao.goodDao;
-import com.example.logistics.dao.operationDao;
-import com.example.logistics.dao.userDao;
-import com.example.logistics.entity.User;
-import com.google.zxing.integration.android.IntentIntegrator;
-import com.google.zxing.integration.android.IntentResult;
-import com.journeyapps.barcodescanner.CaptureActivity;
-
-import java.io.ByteArrayOutputStream;
-import java.io.IOException;
-import java.io.InputStream;
-
-public class MyFragment2 extends Fragment implements View.OnClickListener{
-
-    private Button mButton;
-    private Context mContext;
-
-    private WebView mWebView;
-
-    public MyFragment2(){
-
-    }
-    @Nullable
-
-    @Override
-    public View onCreateView(LayoutInflater inflater, ViewGroup container, Bundle savedInstanceState) {
-        View view = inflater.inflate(R.layout.my_fragment2,container,false);
-        mWebView = (WebView) view.findViewById(R.id.webview);
-
-        WebSettings webSettings = mWebView.getSettings();
-        mButton = (Button)view.findViewById(R.id.Pick_Button);
-        mButton.setOnClickListener(this);
-        mContext = getActivity();
-
-        webSettings.setJavaScriptEnabled(true);
-        mWebView.loadUrl("file:///android_asset/js.html");
-
-        Log.i("set", "listner");
-
-        mWebView.setWebViewClient(new WebViewClient(){
-            @Override
-            public void onPageFinished(WebView view, String url){
-                super.onPageFinished(view, url);
-                String jsStr1 = "";
-                try{
-                    InputStream in1 = mContext.getAssets().open("em.js");
-                    byte buff[] = new byte[1024];
-                    ByteArrayOutputStream fromFile = new ByteArrayOutputStream();
-                    do {
-                        int numRead = in1.read(buff);
-                        if (numRead <= 0) {
-                            break;
-                        }
-                        fromFile.write(buff, 0, numRead);
-                    } while (true);
-                    jsStr1 = fromFile.toString();
-                    in1.close();
-                    fromFile.close();
-                } catch (IOException e) {
-                    e.printStackTrace();
-                }
-                mWebView.loadUrl("javascript:" + jsStr1);
-
-                String jsStr2 = "";
-                try{
-                    InputStream in2 = mContext.getAssets().open("roslib.min.js");
-                    byte buff[] = new byte[1024];
-                    ByteArrayOutputStream fromFile = new ByteArrayOutputStream();
-                    do {
-                        int numRead = in2.read(buff);
-                        if (numRead <= 0) {
-                            break;
-                        }
-                        fromFile.write(buff, 0, numRead);
-                    } while (true);
-                    jsStr2 = fromFile.toString();
-                    in2.close();
-                    fromFile.close();
-                } catch (IOException e) {
-                    e.printStackTrace();
-                }
-                mWebView.loadUrl("javascript:" + jsStr2);
-            }
-
-        });
-
-
-        return view;
-    }
-
-    @Override
-    public void onClick(View view) {
-        switch(view.getId()){
-            case R.id.Pick_Button:
-                /*new IntentIntegrator(getActivity())
-                        .setDesiredBarcodeFormats(IntentIntegrator.QR_CODE)// 扫码的类型,一维码，二维码，一/二维码，默认为一/二维码
-                        .setPrompt("请对准摄像头")
-                        .setCameraId(0)
-                        .setBeepEnabled(false)
-                        .setCaptureActivity(CaptureActivity.class)
-                        .initiateScan();*/
-                pickup("abnc");
-
-        }
-    }
-
-    public void test(){
-        mWebView.loadUrl("javascript:callJS()");
-        Log.i("abc", "bcd");
-    }
-
-
-    @Override
-    @SuppressLint("MissingSuperCall")
-    public void onActivityResult(int requestCode, int resultCode, Intent data) {
-        IntentResult result = IntentIntegrator.parseActivityResult(requestCode, resultCode, data);
-        if(result != null) {
-            if(result.getContents() != null) {
-                //Toast.makeText(mContext, "Scanned: " + result.getContents(), Toast.LENGTH_LONG).show();
-                pickup(result.getContents());
-            }
-        }
-    }
-
-    public void pickup(String result){
-        AlertDialog.Builder builder = new AlertDialog.Builder(mContext);
-
-        View view2 = View.inflate(mContext, R.layout.pickup, null);
-
-        EditText PickUpCode = (EditText) view2.findViewById(R.id.pk_PickUp);
-        EditText PhoneNum = (EditText) view2.findViewById(R.id.pk_PhoneNum);
-        Button button = (Button) view2.findViewById(R.id.pk_button);
-
-        builder.setTitle("取件").setView(view2);
-
-        builder.create().show();
-        button.setOnClickListener(new View.OnClickListener() {
-            @Override
-            public void onClick(View view) {
-                String pickupcode = PickUpCode.getText().toString().trim();
-                String phonenum = PhoneNum.getText().toString().trim();
-                Log.d("onclick", "123");
-                //String QR_pickup = result.split(" ")[0];
-                //String QR_phone = result.split(" ")[1];
-
-                if(true){
-                //if (pickupcode.equals(QR_pickup) && phonenum.equals(QR_phone)) {
-                    /*new Thread() {
-                        @Override
-                        public void run() {
-                            int msg = 0;
-
-                            operationDao operationDao = new operationDao();
-                            goodDao goodDao = new goodDao();
-                            Bundle bundle = getArguments();
-
-                            String user = bundle.getString("user");
-
-                            boolean flag1 = operationDao.add(pickupcode, user);
-                            boolean flag2 = goodDao.delete(pickupcode);
-
-                            boolean flag = flag1 & flag2;
-                            if (flag) {
-                                msg = 1;
-                            }
-                            int msg = 1;
-                            test();
-                            hand1.sendEmptyMessage(msg);
-                        }
-                    }.start();*/
-                    Toast.makeText(mContext, "取件成功", Toast.LENGTH_LONG).show();
-                    test();
-
-                } else {
-                    Toast.makeText(mContext, "取件失败", Toast.LENGTH_LONG).show();
-                }
-            }
-
-
-        });
-    }
-
-    @SuppressLint("HandlerLeak")
-    final Handler hand1 = new Handler() {
-        @Override
-        public void handleMessage(Message msg) {
-            if (msg.what == 1) {
-                Toast.makeText(mContext, "取件成功", Toast.LENGTH_SHORT).show();
-            } else {
-                Toast.makeText(mContext, "取件失败", Toast.LENGTH_SHORT);
-            }
-        }
-    };
-}
\ No newline at end of file
diff --git a/src/Logistics/app/src/main/java/com/example/logistics/ui/NoPickActivity.java b/src/Logistics/app/src/main/java/com/example/logistics/ui/NoPickActivity.java
index d23a064..104bee1 100644
--- a/src/Logistics/app/src/main/java/com/example/logistics/ui/NoPickActivity.java
+++ b/src/Logistics/app/src/main/java/com/example/logistics/ui/NoPickActivity.java
@@ -1,9 +1,5 @@
 package com.example.logistics.ui;
 
-import androidx.annotation.NonNull;
-import androidx.annotation.Nullable;
-import androidx.appcompat.app.AppCompatActivity;
-
 import android.annotation.SuppressLint;
 import android.app.Activity;
 import android.content.Intent;
@@ -19,21 +15,14 @@ import android.widget.AdapterView;
 import android.widget.ArrayAdapter;
 import android.widget.ImageButton;
 import android.widget.ListView;
-import android.widget.NumberPicker;
 import android.widget.SimpleAdapter;
 import android.widget.Toast;
 
 import com.example.logistics.R;
-import com.example.logistics.dao.goodDao;
-import com.example.logistics.dao.userDao;
-import com.example.logistics.entity.User;
+import com.example.logistics.manager.goodManager;
 
 import java.util.ArrayList;
-import java.util.Collection;
-import java.util.HashMap;
-import java.util.Iterator;
 import java.util.List;
-import java.util.ListIterator;
 import java.util.Map;
 
 public class NoPickActivity extends Activity implements OnItemClickListener, OnScrollListener, View.OnClickListener {
@@ -110,8 +99,8 @@ public class NoPickActivity extends Activity implements OnItemClickListener, OnS
         new Thread(){
             @Override
             public void run(){
-                goodDao goodDao = new goodDao();
-                dataList = goodDao.nopick(phonenum);
+                goodManager goodManager = new goodManager();
+                dataList = goodManager.nopick(phonenum);
 
                 int msg = 1;
                 hand1.sendEmptyMessage(msg);
diff --git a/src/Logistics/app/src/main/java/com/example/logistics/ui/PickUpUI.java b/src/Logistics/app/src/main/java/com/example/logistics/ui/PickUpUI.java
new file mode 100644
index 0000000..d0d0912
--- /dev/null
+++ b/src/Logistics/app/src/main/java/com/example/logistics/ui/PickUpUI.java
@@ -0,0 +1,306 @@
+package com.example.logistics.ui;
+
+import androidx.fragment.app.Fragment;
+
+import android.annotation.SuppressLint;
+import android.app.AlertDialog;
+import android.content.Context;
+import android.content.DialogInterface;
+import android.content.Intent;
+import android.graphics.Color;
+import android.os.Bundle;
+import android.os.Handler;
+import android.os.Message;
+import android.util.Log;
+import android.view.LayoutInflater;
+import android.view.View;
+import android.view.ViewGroup;
+import android.webkit.WebSettings;
+import android.widget.Button;
+import android.widget.EditText;
+import android.widget.Toast;
+
+import androidx.annotation.Nullable;
+
+import com.example.logistics.R;
+import com.example.logistics.manager.goodManager;
+import com.example.logistics.manager.operationManager;
+import com.example.logistics.tools.JWebSocketClient;
+import com.google.zxing.integration.android.IntentIntegrator;
+import com.google.zxing.integration.android.IntentResult;
+
+import org.java_websocket.handshake.ServerHandshake;
+import org.json.JSONException;
+import org.json.JSONObject;
+
+import java.io.ByteArrayOutputStream;
+import java.io.IOException;
+import java.io.InputStream;
+import java.net.URI;
+
+public class PickUpUI extends Fragment implements View.OnClickListener{
+
+    private Button mButton;
+    private Context mContext;
+    private JWebSocketClient client;
+    private AlertDialog alert;
+    private AlertDialog alert2;
+    private EditText PickUpCode;
+    private EditText PhoneNum;
+    private String pickupcode;
+    private String phonenum;
+    private int shelfnum = 1;
+    private int floornum = 1;
+
+    private String ws = "ws://192.168.43.203:8080/result";
+
+    private String TAG = "PickUpUI";
+
+    int flag = 0; //flag=0:chushi
+
+    public PickUpUI(){
+
+    }
+    @Nullable
+
+    @Override
+    public View onCreateView(LayoutInflater inflater, ViewGroup container, Bundle savedInstanceState) {
+        View view = inflater.inflate(R.layout.my_fragment2,container,false);
+
+        mButton = (Button)view.findViewById(R.id.Pick_Button);
+        mButton.setOnClickListener(this);
+        mContext = getActivity();
+
+        Log.i("set", "listner");
+
+        setAlert();
+        return view;
+    }
+
+
+    void setAlert(){
+        alert = new android.app.AlertDialog.Builder(mContext)
+                .setTitle("提醒")
+                .setMessage("是否确认取件")
+                .setPositiveButton("确认", new DialogInterface.OnClickListener() {
+                    @Override
+                    public void onClick(DialogInterface dialogInterface, int i) {
+                        Log.d("alert","yes");
+                        //add(operation);
+                        JSONObject js = new JSONObject();
+                        try {
+                            js.put("content", "yes");
+                            js.put("op", "confirm");
+                        } catch (JSONException e) {
+                            e.printStackTrace();
+                        }
+                        flag = 1;
+
+                        mButton.setText("确认");
+
+                        client.send(js.toString());
+                        Log.d("alert", "send");
+                    }
+                })
+                .setNegativeButton("取消", new DialogInterface.OnClickListener() {
+                    @Override
+                    public void onClick(DialogInterface dialogInterface, int i) {
+                        Log.d("alert","no");
+
+                        JSONObject js = new JSONObject();
+                        try {
+                            js.put("confirm", "no");
+                            js.put("op", "confirm");
+                        } catch (JSONException e) {
+                            e.printStackTrace();
+                        }
+
+                        client.send(js.toString());
+                    }
+                })
+                .create();
+        Log.d(TAG, "setAlert");
+    }
+
+    void setWebsocket(){
+        URI uri = URI.create(ws);
+        client = new JWebSocketClient(uri){
+            @Override
+            public void onMessage(String message) {
+                Log.e("JWebSocketClientService", "收到的消息：" + message);
+                Log.e("alert",message);
+                if(message.equals("confirm")){
+                    alert.dismiss();
+                    hand2.sendEmptyMessage(3);
+                    Log.e("alert","show");
+                }
+            }
+
+            @Override
+            public void onOpen(ServerHandshake handshakedata) {
+                super.onOpen(handshakedata);
+                Log.e("JWebSocketClientService", "websocket连接成功");
+            };
+        };
+        connect();
+    }
+
+    private void connect() {
+        new Thread() {
+            @Override
+            public void run() {
+                try {
+                    //connectBlocking多出一个等待操作，会先连接再发送，否则未连接发送会报错
+                    client.connectBlocking();
+                } catch (InterruptedException e) {
+                    e.printStackTrace();
+                }
+            }
+        }.start();
+
+    }
+
+    @SuppressLint("HandlerLeak")
+    final Handler hand2 = new Handler(){
+        @Override
+        public void handleMessage(Message msg){
+            alert.show();
+        }
+    };
+
+    @Override
+    public void onClick(View view) {
+        switch(view.getId()){
+            case R.id.Pick_Button:
+                Log.e(TAG, "onclick");
+                if(flag == 1){
+                    confirm();
+                }else{
+                    pickup();
+                }
+
+
+        }
+    }
+
+    void confirm(){
+        JSONObject js = new JSONObject();
+        try {
+            js.put("op","finish");
+            client.send(js.toString());
+
+            flag = 0;
+            mButton.setText("取件");
+            client.onClose(1,"close",true);
+            Log.d("finish", "over");
+
+        } catch (JSONException jsonException) {
+            jsonException.printStackTrace();
+        }
+    }
+
+
+    public void pickup(){
+        AlertDialog.Builder builder = new AlertDialog.Builder(mContext);
+
+        View view2 = View.inflate(mContext, R.layout.pickup, null);
+
+        PickUpCode = (EditText) view2.findViewById(R.id.pk_PickUp);
+        PhoneNum = (EditText) view2.findViewById(R.id.pk_PhoneNum);
+        Button button = (Button) view2.findViewById(R.id.pk_button);
+
+        builder.setTitle("取件").setView(view2);
+
+
+        alert2 = builder.create();
+        alert2.show();
+        button.setOnClickListener(new View.OnClickListener() {
+            @Override
+            public void onClick(View view) {
+                Log.e(TAG,"onclick");
+                setWebsocket();
+                pickupcode = PickUpCode.getText().toString().trim();
+                phonenum = PhoneNum.getText().toString().trim();
+                Log.d("onclick", "123");
+                new Thread() {
+                    @Override
+                    public void run() {
+                        int msg = 0;
+
+                        operationManager operationManager = new operationManager();
+                        goodManager goodManager = new goodManager();
+                        Bundle bundle = getArguments();
+
+                        String user = bundle.getString("user");
+
+                        msg = goodManager.pickup(pickupcode,phonenum);
+
+                        Log.d(TAG, "pickup");
+                        if(msg != 1){
+                            Log.d(TAG, "pickup,failed");
+                            hand1.sendEmptyMessage(msg);
+                            return;
+                        }
+
+                        Log.d(TAG, "pickup,success");
+
+                        boolean flag1 = operationManager.add(pickupcode, user);
+                        boolean flag2 = goodManager.delete(pickupcode);
+
+                        boolean flag = flag1 & flag2;
+                        if (flag) {
+                            msg = 1;
+                        }
+
+                        hand1.sendEmptyMessage(msg);
+                    }
+                }.start();
+            }
+        });
+    }
+
+    @SuppressLint("HandlerLeak")
+    final Handler hand1 = new Handler() {
+        @Override
+        public void handleMessage(Message msg) {
+            if(msg.what == 0){
+                Toast.makeText(mContext, "取件失败", Toast.LENGTH_SHORT).show();
+            }else if(msg.what == 1){
+                Toast.makeText(mContext, "加入队列成功", Toast.LENGTH_SHORT).show();
+                joinQueue();
+            }else if(msg.what == 2){
+                Toast.makeText(mContext, "手机号错误", Toast.LENGTH_SHORT).show();
+            }else if(msg.what == 3){
+                Toast.makeText(mContext, "取件码不存在", Toast.LENGTH_SHORT).show();
+            }
+        }
+    };
+
+    void joinQueue(){
+        alert2.dismiss();
+        if (client != null && client.isOpen()) {
+
+            JSONObject js = new JSONObject();
+            JSONObject con = new JSONObject();
+            try {
+                Log.d(TAG, pickupcode);
+                Log.d(TAG, phonenum);
+
+                con.put("code", Integer.parseInt(pickupcode));
+                con.put("shelf", shelfnum);
+                con.put("floor", floornum);
+                con.put("user", "xcr");
+                js.put("content", con);
+                js.put("op", "connect");
+            } catch (JSONException jsonException) {
+                jsonException.printStackTrace();
+            }
+
+            if (null != client) {
+                Log.e("JWebSocketClientService", "发送的消息：" + js.toString());
+                client.send(js.toString());
+                //暂时将发送的消息加入消息列表，实际以发送成功为准（也就是服务器返回你发的消息时）
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/src/Logistics/app/src/main/java/com/example/logistics/ui/MyFragment1.java b/src/Logistics/app/src/main/java/com/example/logistics/ui/SearchUI.java
similarity index 81%
rename from src/Logistics/app/src/main/java/com/example/logistics/ui/MyFragment1.java
rename to src/Logistics/app/src/main/java/com/example/logistics/ui/SearchUI.java
index 46caef0..e9bf32b 100644
--- a/src/Logistics/app/src/main/java/com/example/logistics/ui/MyFragment1.java
+++ b/src/Logistics/app/src/main/java/com/example/logistics/ui/SearchUI.java
@@ -2,9 +2,7 @@ package com.example.logistics.ui;
 
 
 import android.annotation.SuppressLint;
-import android.app.AlertDialog;
 import android.content.Context;
-import android.content.Intent;
 import android.os.Bundle;
 import android.os.Handler;
 import android.os.Message;
@@ -14,23 +12,21 @@ import android.view.View;
 import android.view.ViewGroup;
 import android.widget.Button;
 import android.widget.EditText;
-import android.widget.TextView;
 import android.widget.Toast;
 
 import androidx.annotation.Nullable;
 import androidx.fragment.app.Fragment;
 
 import com.example.logistics.R;
-import com.example.logistics.dao.goodDao;
-import com.example.logistics.dao.userDao;
+import com.example.logistics.manager.goodManager;
 
-public class MyFragment1 extends Fragment implements View.OnClickListener{
+public class SearchUI extends Fragment implements View.OnClickListener{
     private Context mContext;
     private Button mButton;
     private EditText mPickUpCode;
     private EditText mPhoneNum;
 
-    public MyFragment1(){
+    public SearchUI(){
 
     }
     @Nullable
@@ -60,8 +56,8 @@ public class MyFragment1 extends Fragment implements View.OnClickListener{
         new Thread(){
             @Override
             public void run(){
-                goodDao goodDao = new goodDao();
-                int msg = goodDao.search(mPickUpCode.getText().toString().trim(), mPhoneNum.getText().toString().trim(), getActivity());
+                goodManager goodManager = new goodManager();
+                int msg = goodManager.search(mPickUpCode.getText().toString().trim(), mPhoneNum.getText().toString().trim(), getActivity());
                 Log.e("Main", "msg");
                 hand1.sendEmptyMessage(msg);
             }
diff --git a/src/Logistics/app/src/main/java/com/example/logistics/ui/SignUpActivity.java b/src/Logistics/app/src/main/java/com/example/logistics/ui/SignUpActivity.java
index f927349..d63254a 100644
--- a/src/Logistics/app/src/main/java/com/example/logistics/ui/SignUpActivity.java
+++ b/src/Logistics/app/src/main/java/com/example/logistics/ui/SignUpActivity.java
@@ -12,7 +12,7 @@ import android.widget.EditText;
 import android.widget.Toast;
 
 import com.example.logistics.R;
-import com.example.logistics.dao.userDao;
+import com.example.logistics.manager.userManager;
 import com.example.logistics.entity.User;
 
 public class SignUpActivity extends Activity {
@@ -79,14 +79,14 @@ public class SignUpActivity extends Activity {
                 @Override
                 public void run(){
                     int msg = 0;
-                    userDao userDao = new userDao();
+                    userManager userManager = new userManager();
 
-                    User uu = userDao.findUser(user.getUserName());
+                    User uu = userManager.findUser(user.getUserName());
 
                     if(uu != null){
                         msg = 1;        //have this account
                     }else{
-                        boolean flag = userDao.register(user);
+                        boolean flag = userManager.register(user);
                         if(flag){
                             msg = 2;
                         }
diff --git a/src/server/.gitignore b/src/server/.gitignore
new file mode 100644
index 0000000..549e00a
--- /dev/null
+++ b/src/server/.gitignore
@@ -0,0 +1,33 @@
+HELP.md
+target/
+!.mvn/wrapper/maven-wrapper.jar
+!**/src/main/**/target/
+!**/src/test/**/target/
+
+### STS ###
+.apt_generated
+.classpath
+.factorypath
+.project
+.settings
+.springBeans
+.sts4-cache
+
+### IntelliJ IDEA ###
+.idea
+*.iws
+*.iml
+*.ipr
+
+### NetBeans ###
+/nbproject/private/
+/nbbuild/
+/dist/
+/nbdist/
+/.nb-gradle/
+build/
+!**/src/main/**/build/
+!**/src/test/**/build/
+
+### VS Code ###
+.vscode/
diff --git a/src/server/.mvn/wrapper/maven-wrapper.jar b/src/server/.mvn/wrapper/maven-wrapper.jar
new file mode 100644
index 0000000000000000000000000000000000000000..c1dd12f17644411d6e840bd5a10c6ecda0175f18
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HcmV?d00001

diff --git a/src/server/.mvn/wrapper/maven-wrapper.properties b/src/server/.mvn/wrapper/maven-wrapper.properties
new file mode 100644
index 0000000..b7cb93e
--- /dev/null
+++ b/src/server/.mvn/wrapper/maven-wrapper.properties
@@ -0,0 +1,2 @@
+distributionUrl=https://repo.maven.apache.org/maven2/org/apache/maven/apache-maven/3.8.4/apache-maven-3.8.4-bin.zip
+wrapperUrl=https://repo.maven.apache.org/maven2/org/apache/maven/wrapper/maven-wrapper/3.1.0/maven-wrapper-3.1.0.jar
diff --git a/src/server/mvnw b/src/server/mvnw
new file mode 100644
index 0000000..8a8fb22
--- /dev/null
+++ b/src/server/mvnw
@@ -0,0 +1,316 @@
+#!/bin/sh
+# ----------------------------------------------------------------------------
+# Licensed to the Apache Software Foundation (ASF) under one
+# or more contributor license agreements.  See the NOTICE file
+# distributed with this work for additional information
+# regarding copyright ownership.  The ASF licenses this file
+# to you under the Apache License, Version 2.0 (the
+# "License"); you may not use this file except in compliance
+# with the License.  You may obtain a copy of the License at
+#
+#    https://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing,
+# software distributed under the License is distributed on an
+# "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY
+# KIND, either express or implied.  See the License for the
+# specific language governing permissions and limitations
+# under the License.
+# ----------------------------------------------------------------------------
+
+# ----------------------------------------------------------------------------
+# Maven Start Up Batch script
+#
+# Required ENV vars:
+# ------------------
+#   JAVA_HOME - location of a JDK home dir
+#
+# Optional ENV vars
+# -----------------
+#   M2_HOME - location of maven2's installed home dir
+#   MAVEN_OPTS - parameters passed to the Java VM when running Maven
+#     e.g. to debug Maven itself, use
+#       set MAVEN_OPTS=-Xdebug -Xrunjdwp:transport=dt_socket,server=y,suspend=y,address=8000
+#   MAVEN_SKIP_RC - flag to disable loading of mavenrc files
+# ----------------------------------------------------------------------------
+
+if [ -z "$MAVEN_SKIP_RC" ] ; then
+
+  if [ -f /usr/local/etc/mavenrc ] ; then
+    . /usr/local/etc/mavenrc
+  fi
+
+  if [ -f /etc/mavenrc ] ; then
+    . /etc/mavenrc
+  fi
+
+  if [ -f "$HOME/.mavenrc" ] ; then
+    . "$HOME/.mavenrc"
+  fi
+
+fi
+
+# OS specific support.  $var _must_ be set to either true or false.
+cygwin=false;
+darwin=false;
+mingw=false
+case "`uname`" in
+  CYGWIN*) cygwin=true ;;
+  MINGW*) mingw=true;;
+  Darwin*) darwin=true
+    # Use /usr/libexec/java_home if available, otherwise fall back to /Library/Java/Home
+    # See https://developer.apple.com/library/mac/qa/qa1170/_index.html
+    if [ -z "$JAVA_HOME" ]; then
+      if [ -x "/usr/libexec/java_home" ]; then
+        export JAVA_HOME="`/usr/libexec/java_home`"
+      else
+        export JAVA_HOME="/Library/Java/Home"
+      fi
+    fi
+    ;;
+esac
+
+if [ -z "$JAVA_HOME" ] ; then
+  if [ -r /etc/gentoo-release ] ; then
+    JAVA_HOME=`java-config --jre-home`
+  fi
+fi
+
+if [ -z "$M2_HOME" ] ; then
+  ## resolve links - $0 may be a link to maven's home
+  PRG="$0"
+
+  # need this for relative symlinks
+  while [ -h "$PRG" ] ; do
+    ls=`ls -ld "$PRG"`
+    link=`expr "$ls" : '.*-> \(.*\)$'`
+    if expr "$link" : '/.*' > /dev/null; then
+      PRG="$link"
+    else
+      PRG="`dirname "$PRG"`/$link"
+    fi
+  done
+
+  saveddir=`pwd`
+
+  M2_HOME=`dirname "$PRG"`/..
+
+  # make it fully qualified
+  M2_HOME=`cd "$M2_HOME" && pwd`
+
+  cd "$saveddir"
+  # echo Using m2 at $M2_HOME
+fi
+
+# For Cygwin, ensure paths are in UNIX format before anything is touched
+if $cygwin ; then
+  [ -n "$M2_HOME" ] &&
+    M2_HOME=`cygpath --unix "$M2_HOME"`
+  [ -n "$JAVA_HOME" ] &&
+    JAVA_HOME=`cygpath --unix "$JAVA_HOME"`
+  [ -n "$CLASSPATH" ] &&
+    CLASSPATH=`cygpath --path --unix "$CLASSPATH"`
+fi
+
+# For Mingw, ensure paths are in UNIX format before anything is touched
+if $mingw ; then
+  [ -n "$M2_HOME" ] &&
+    M2_HOME="`(cd "$M2_HOME"; pwd)`"
+  [ -n "$JAVA_HOME" ] &&
+    JAVA_HOME="`(cd "$JAVA_HOME"; pwd)`"
+fi
+
+if [ -z "$JAVA_HOME" ]; then
+  javaExecutable="`which javac`"
+  if [ -n "$javaExecutable" ] && ! [ "`expr \"$javaExecutable\" : '\([^ ]*\)'`" = "no" ]; then
+    # readlink(1) is not available as standard on Solaris 10.
+    readLink=`which readlink`
+    if [ ! `expr "$readLink" : '\([^ ]*\)'` = "no" ]; then
+      if $darwin ; then
+        javaHome="`dirname \"$javaExecutable\"`"
+        javaExecutable="`cd \"$javaHome\" && pwd -P`/javac"
+      else
+        javaExecutable="`readlink -f \"$javaExecutable\"`"
+      fi
+      javaHome="`dirname \"$javaExecutable\"`"
+      javaHome=`expr "$javaHome" : '\(.*\)/bin'`
+      JAVA_HOME="$javaHome"
+      export JAVA_HOME
+    fi
+  fi
+fi
+
+if [ -z "$JAVACMD" ] ; then
+  if [ -n "$JAVA_HOME"  ] ; then
+    if [ -x "$JAVA_HOME/jre/sh/java" ] ; then
+      # IBM's JDK on AIX uses strange locations for the executables
+      JAVACMD="$JAVA_HOME/jre/sh/java"
+    else
+      JAVACMD="$JAVA_HOME/bin/java"
+    fi
+  else
+    JAVACMD="`\\unset -f command; \\command -v java`"
+  fi
+fi
+
+if [ ! -x "$JAVACMD" ] ; then
+  echo "Error: JAVA_HOME is not defined correctly." >&2
+  echo "  We cannot execute $JAVACMD" >&2
+  exit 1
+fi
+
+if [ -z "$JAVA_HOME" ] ; then
+  echo "Warning: JAVA_HOME environment variable is not set."
+fi
+
+CLASSWORLDS_LAUNCHER=org.codehaus.plexus.classworlds.launcher.Launcher
+
+# traverses directory structure from process work directory to filesystem root
+# first directory with .mvn subdirectory is considered project base directory
+find_maven_basedir() {
+
+  if [ -z "$1" ]
+  then
+    echo "Path not specified to find_maven_basedir"
+    return 1
+  fi
+
+  basedir="$1"
+  wdir="$1"
+  while [ "$wdir" != '/' ] ; do
+    if [ -d "$wdir"/.mvn ] ; then
+      basedir=$wdir
+      break
+    fi
+    # workaround for JBEAP-8937 (on Solaris 10/Sparc)
+    if [ -d "${wdir}" ]; then
+      wdir=`cd "$wdir/.."; pwd`
+    fi
+    # end of workaround
+  done
+  echo "${basedir}"
+}
+
+# concatenates all lines of a file
+concat_lines() {
+  if [ -f "$1" ]; then
+    echo "$(tr -s '\n' ' ' < "$1")"
+  fi
+}
+
+BASE_DIR=`find_maven_basedir "$(pwd)"`
+if [ -z "$BASE_DIR" ]; then
+  exit 1;
+fi
+
+##########################################################################################
+# Extension to allow automatically downloading the maven-wrapper.jar from Maven-central
+# This allows using the maven wrapper in projects that prohibit checking in binary data.
+##########################################################################################
+if [ -r "$BASE_DIR/.mvn/wrapper/maven-wrapper.jar" ]; then
+    if [ "$MVNW_VERBOSE" = true ]; then
+      echo "Found .mvn/wrapper/maven-wrapper.jar"
+    fi
+else
+    if [ "$MVNW_VERBOSE" = true ]; then
+      echo "Couldn't find .mvn/wrapper/maven-wrapper.jar, downloading it ..."
+    fi
+    if [ -n "$MVNW_REPOURL" ]; then
+      jarUrl="$MVNW_REPOURL/org/apache/maven/wrapper/maven-wrapper/3.1.0/maven-wrapper-3.1.0.jar"
+    else
+      jarUrl="https://repo.maven.apache.org/maven2/org/apache/maven/wrapper/maven-wrapper/3.1.0/maven-wrapper-3.1.0.jar"
+    fi
+    while IFS="=" read key value; do
+      case "$key" in (wrapperUrl) jarUrl="$value"; break ;;
+      esac
+    done < "$BASE_DIR/.mvn/wrapper/maven-wrapper.properties"
+    if [ "$MVNW_VERBOSE" = true ]; then
+      echo "Downloading from: $jarUrl"
+    fi
+    wrapperJarPath="$BASE_DIR/.mvn/wrapper/maven-wrapper.jar"
+    if $cygwin; then
+      wrapperJarPath=`cygpath --path --windows "$wrapperJarPath"`
+    fi
+
+    if command -v wget > /dev/null; then
+        if [ "$MVNW_VERBOSE" = true ]; then
+          echo "Found wget ... using wget"
+        fi
+        if [ -z "$MVNW_USERNAME" ] || [ -z "$MVNW_PASSWORD" ]; then
+            wget "$jarUrl" -O "$wrapperJarPath" || rm -f "$wrapperJarPath"
+        else
+            wget --http-user=$MVNW_USERNAME --http-password=$MVNW_PASSWORD "$jarUrl" -O "$wrapperJarPath" || rm -f "$wrapperJarPath"
+        fi
+    elif command -v curl > /dev/null; then
+        if [ "$MVNW_VERBOSE" = true ]; then
+          echo "Found curl ... using curl"
+        fi
+        if [ -z "$MVNW_USERNAME" ] || [ -z "$MVNW_PASSWORD" ]; then
+            curl -o "$wrapperJarPath" "$jarUrl" -f
+        else
+            curl --user $MVNW_USERNAME:$MVNW_PASSWORD -o "$wrapperJarPath" "$jarUrl" -f
+        fi
+
+    else
+        if [ "$MVNW_VERBOSE" = true ]; then
+          echo "Falling back to using Java to download"
+        fi
+        javaClass="$BASE_DIR/.mvn/wrapper/MavenWrapperDownloader.java"
+        # For Cygwin, switch paths to Windows format before running javac
+        if $cygwin; then
+          javaClass=`cygpath --path --windows "$javaClass"`
+        fi
+        if [ -e "$javaClass" ]; then
+            if [ ! -e "$BASE_DIR/.mvn/wrapper/MavenWrapperDownloader.class" ]; then
+                if [ "$MVNW_VERBOSE" = true ]; then
+                  echo " - Compiling MavenWrapperDownloader.java ..."
+                fi
+                # Compiling the Java class
+                ("$JAVA_HOME/bin/javac" "$javaClass")
+            fi
+            if [ -e "$BASE_DIR/.mvn/wrapper/MavenWrapperDownloader.class" ]; then
+                # Running the downloader
+                if [ "$MVNW_VERBOSE" = true ]; then
+                  echo " - Running MavenWrapperDownloader.java ..."
+                fi
+                ("$JAVA_HOME/bin/java" -cp .mvn/wrapper MavenWrapperDownloader "$MAVEN_PROJECTBASEDIR")
+            fi
+        fi
+    fi
+fi
+##########################################################################################
+# End of extension
+##########################################################################################
+
+export MAVEN_PROJECTBASEDIR=${MAVEN_BASEDIR:-"$BASE_DIR"}
+if [ "$MVNW_VERBOSE" = true ]; then
+  echo $MAVEN_PROJECTBASEDIR
+fi
+MAVEN_OPTS="$(concat_lines "$MAVEN_PROJECTBASEDIR/.mvn/jvm.config") $MAVEN_OPTS"
+
+# For Cygwin, switch paths to Windows format before running java
+if $cygwin; then
+  [ -n "$M2_HOME" ] &&
+    M2_HOME=`cygpath --path --windows "$M2_HOME"`
+  [ -n "$JAVA_HOME" ] &&
+    JAVA_HOME=`cygpath --path --windows "$JAVA_HOME"`
+  [ -n "$CLASSPATH" ] &&
+    CLASSPATH=`cygpath --path --windows "$CLASSPATH"`
+  [ -n "$MAVEN_PROJECTBASEDIR" ] &&
+    MAVEN_PROJECTBASEDIR=`cygpath --path --windows "$MAVEN_PROJECTBASEDIR"`
+fi
+
+# Provide a "standardized" way to retrieve the CLI args that will
+# work with both Windows and non-Windows executions.
+MAVEN_CMD_LINE_ARGS="$MAVEN_CONFIG $@"
+export MAVEN_CMD_LINE_ARGS
+
+WRAPPER_LAUNCHER=org.apache.maven.wrapper.MavenWrapperMain
+
+exec "$JAVACMD" \
+  $MAVEN_OPTS \
+  $MAVEN_DEBUG_OPTS \
+  -classpath "$MAVEN_PROJECTBASEDIR/.mvn/wrapper/maven-wrapper.jar" \
+  "-Dmaven.home=${M2_HOME}" \
+  "-Dmaven.multiModuleProjectDirectory=${MAVEN_PROJECTBASEDIR}" \
+  ${WRAPPER_LAUNCHER} $MAVEN_CONFIG "$@"
diff --git a/src/server/mvnw.cmd b/src/server/mvnw.cmd
new file mode 100644
index 0000000..1d8ab01
--- /dev/null
+++ b/src/server/mvnw.cmd
@@ -0,0 +1,188 @@
+@REM ----------------------------------------------------------------------------
+@REM Licensed to the Apache Software Foundation (ASF) under one
+@REM or more contributor license agreements.  See the NOTICE file
+@REM distributed with this work for additional information
+@REM regarding copyright ownership.  The ASF licenses this file
+@REM to you under the Apache License, Version 2.0 (the
+@REM "License"); you may not use this file except in compliance
+@REM with the License.  You may obtain a copy of the License at
+@REM
+@REM    https://www.apache.org/licenses/LICENSE-2.0
+@REM
+@REM Unless required by applicable law or agreed to in writing,
+@REM software distributed under the License is distributed on an
+@REM "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY
+@REM KIND, either express or implied.  See the License for the
+@REM specific language governing permissions and limitations
+@REM under the License.
+@REM ----------------------------------------------------------------------------
+
+@REM ----------------------------------------------------------------------------
+@REM Maven Start Up Batch script
+@REM
+@REM Required ENV vars:
+@REM JAVA_HOME - location of a JDK home dir
+@REM
+@REM Optional ENV vars
+@REM M2_HOME - location of maven2's installed home dir
+@REM MAVEN_BATCH_ECHO - set to 'on' to enable the echoing of the batch commands
+@REM MAVEN_BATCH_PAUSE - set to 'on' to wait for a keystroke before ending
+@REM MAVEN_OPTS - parameters passed to the Java VM when running Maven
+@REM     e.g. to debug Maven itself, use
+@REM set MAVEN_OPTS=-Xdebug -Xrunjdwp:transport=dt_socket,server=y,suspend=y,address=8000
+@REM MAVEN_SKIP_RC - flag to disable loading of mavenrc files
+@REM ----------------------------------------------------------------------------
+
+@REM Begin all REM lines with '@' in case MAVEN_BATCH_ECHO is 'on'
+@echo off
+@REM set title of command window
+title %0
+@REM enable echoing by setting MAVEN_BATCH_ECHO to 'on'
+@if "%MAVEN_BATCH_ECHO%" == "on"  echo %MAVEN_BATCH_ECHO%
+
+@REM set %HOME% to equivalent of $HOME
+if "%HOME%" == "" (set "HOME=%HOMEDRIVE%%HOMEPATH%")
+
+@REM Execute a user defined script before this one
+if not "%MAVEN_SKIP_RC%" == "" goto skipRcPre
+@REM check for pre script, once with legacy .bat ending and once with .cmd ending
+if exist "%USERPROFILE%\mavenrc_pre.bat" call "%USERPROFILE%\mavenrc_pre.bat" %*
+if exist "%USERPROFILE%\mavenrc_pre.cmd" call "%USERPROFILE%\mavenrc_pre.cmd" %*
+:skipRcPre
+
+@setlocal
+
+set ERROR_CODE=0
+
+@REM To isolate internal variables from possible post scripts, we use another setlocal
+@setlocal
+
+@REM ==== START VALIDATION ====
+if not "%JAVA_HOME%" == "" goto OkJHome
+
+echo.
+echo Error: JAVA_HOME not found in your environment. >&2
+echo Please set the JAVA_HOME variable in your environment to match the >&2
+echo location of your Java installation. >&2
+echo.
+goto error
+
+:OkJHome
+if exist "%JAVA_HOME%\bin\java.exe" goto init
+
+echo.
+echo Error: JAVA_HOME is set to an invalid directory. >&2
+echo JAVA_HOME = "%JAVA_HOME%" >&2
+echo Please set the JAVA_HOME variable in your environment to match the >&2
+echo location of your Java installation. >&2
+echo.
+goto error
+
+@REM ==== END VALIDATION ====
+
+:init
+
+@REM Find the project base dir, i.e. the directory that contains the folder ".mvn".
+@REM Fallback to current working directory if not found.
+
+set MAVEN_PROJECTBASEDIR=%MAVEN_BASEDIR%
+IF NOT "%MAVEN_PROJECTBASEDIR%"=="" goto endDetectBaseDir
+
+set EXEC_DIR=%CD%
+set WDIR=%EXEC_DIR%
+:findBaseDir
+IF EXIST "%WDIR%"\.mvn goto baseDirFound
+cd ..
+IF "%WDIR%"=="%CD%" goto baseDirNotFound
+set WDIR=%CD%
+goto findBaseDir
+
+:baseDirFound
+set MAVEN_PROJECTBASEDIR=%WDIR%
+cd "%EXEC_DIR%"
+goto endDetectBaseDir
+
+:baseDirNotFound
+set MAVEN_PROJECTBASEDIR=%EXEC_DIR%
+cd "%EXEC_DIR%"
+
+:endDetectBaseDir
+
+IF NOT EXIST "%MAVEN_PROJECTBASEDIR%\.mvn\jvm.config" goto endReadAdditionalConfig
+
+@setlocal EnableExtensions EnableDelayedExpansion
+for /F "usebackq delims=" %%a in ("%MAVEN_PROJECTBASEDIR%\.mvn\jvm.config") do set JVM_CONFIG_MAVEN_PROPS=!JVM_CONFIG_MAVEN_PROPS! %%a
+@endlocal & set JVM_CONFIG_MAVEN_PROPS=%JVM_CONFIG_MAVEN_PROPS%
+
+:endReadAdditionalConfig
+
+SET MAVEN_JAVA_EXE="%JAVA_HOME%\bin\java.exe"
+set WRAPPER_JAR="%MAVEN_PROJECTBASEDIR%\.mvn\wrapper\maven-wrapper.jar"
+set WRAPPER_LAUNCHER=org.apache.maven.wrapper.MavenWrapperMain
+
+set DOWNLOAD_URL="https://repo.maven.apache.org/maven2/org/apache/maven/wrapper/maven-wrapper/3.1.0/maven-wrapper-3.1.0.jar"
+
+FOR /F "usebackq tokens=1,2 delims==" %%A IN ("%MAVEN_PROJECTBASEDIR%\.mvn\wrapper\maven-wrapper.properties") DO (
+    IF "%%A"=="wrapperUrl" SET DOWNLOAD_URL=%%B
+)
+
+@REM Extension to allow automatically downloading the maven-wrapper.jar from Maven-central
+@REM This allows using the maven wrapper in projects that prohibit checking in binary data.
+if exist %WRAPPER_JAR% (
+    if "%MVNW_VERBOSE%" == "true" (
+        echo Found %WRAPPER_JAR%
+    )
+) else (
+    if not "%MVNW_REPOURL%" == "" (
+        SET DOWNLOAD_URL="%MVNW_REPOURL%/org/apache/maven/wrapper/maven-wrapper/3.1.0/maven-wrapper-3.1.0.jar"
+    )
+    if "%MVNW_VERBOSE%" == "true" (
+        echo Couldn't find %WRAPPER_JAR%, downloading it ...
+        echo Downloading from: %DOWNLOAD_URL%
+    )
+
+    powershell -Command "&{"^
+		"$webclient = new-object System.Net.WebClient;"^
+		"if (-not ([string]::IsNullOrEmpty('%MVNW_USERNAME%') -and [string]::IsNullOrEmpty('%MVNW_PASSWORD%'))) {"^
+		"$webclient.Credentials = new-object System.Net.NetworkCredential('%MVNW_USERNAME%', '%MVNW_PASSWORD%');"^
+		"}"^
+		"[Net.ServicePointManager]::SecurityProtocol = [Net.SecurityProtocolType]::Tls12; $webclient.DownloadFile('%DOWNLOAD_URL%', '%WRAPPER_JAR%')"^
+		"}"
+    if "%MVNW_VERBOSE%" == "true" (
+        echo Finished downloading %WRAPPER_JAR%
+    )
+)
+@REM End of extension
+
+@REM Provide a "standardized" way to retrieve the CLI args that will
+@REM work with both Windows and non-Windows executions.
+set MAVEN_CMD_LINE_ARGS=%*
+
+%MAVEN_JAVA_EXE% ^
+  %JVM_CONFIG_MAVEN_PROPS% ^
+  %MAVEN_OPTS% ^
+  %MAVEN_DEBUG_OPTS% ^
+  -classpath %WRAPPER_JAR% ^
+  "-Dmaven.multiModuleProjectDirectory=%MAVEN_PROJECTBASEDIR%" ^
+  %WRAPPER_LAUNCHER% %MAVEN_CONFIG% %*
+if ERRORLEVEL 1 goto error
+goto end
+
+:error
+set ERROR_CODE=1
+
+:end
+@endlocal & set ERROR_CODE=%ERROR_CODE%
+
+if not "%MAVEN_SKIP_RC%"=="" goto skipRcPost
+@REM check for post script, once with legacy .bat ending and once with .cmd ending
+if exist "%USERPROFILE%\mavenrc_post.bat" call "%USERPROFILE%\mavenrc_post.bat"
+if exist "%USERPROFILE%\mavenrc_post.cmd" call "%USERPROFILE%\mavenrc_post.cmd"
+:skipRcPost
+
+@REM pause the script if MAVEN_BATCH_PAUSE is set to 'on'
+if "%MAVEN_BATCH_PAUSE%"=="on" pause
+
+if "%MAVEN_TERMINATE_CMD%"=="on" exit %ERROR_CODE%
+
+cmd /C exit /B %ERROR_CODE%
diff --git a/src/server/pom.xml b/src/server/pom.xml
new file mode 100644
index 0000000..ab4f8f1
--- /dev/null
+++ b/src/server/pom.xml
@@ -0,0 +1,80 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project xmlns="http://maven.apache.org/POM/4.0.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
+         xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 https://maven.apache.org/xsd/maven-4.0.0.xsd">
+    <modelVersion>4.0.0</modelVersion>
+    <parent>
+        <groupId>org.springframework.boot</groupId>
+        <artifactId>spring-boot-starter-parent</artifactId>
+        <version>2.5.4</version>
+        <relativePath/> <!-- lookup parent from repository -->
+    </parent>
+    <groupId>com.example</groupId>
+    <artifactId>testdemo</artifactId>
+    <version>0.0.1-SNAPSHOT</version>
+    <name>testdemo</name>
+    <description>testdemo</description>
+    <properties>
+        <java.version>1.8</java.version>
+    </properties>
+    <dependencies>
+        <dependency>
+            <groupId>org.springframework.boot</groupId>
+            <artifactId>spring-boot-starter-websocket</artifactId>
+        </dependency>
+
+        <dependency>
+            <groupId>org.springframework.boot</groupId>
+            <artifactId>spring-boot-starter-test</artifactId>
+            <scope>test</scope>
+        </dependency>
+        <dependency>
+            <groupId>org.projectlombok</groupId>
+            <artifactId>lombok</artifactId>
+        </dependency>
+
+        <dependency>
+            <groupId>com.alibaba</groupId>
+            <artifactId>fastjson</artifactId>
+            <version>1.2.73</version>
+        </dependency>
+        <dependency>
+            <groupId>org.seleniumhq.selenium</groupId>
+            <artifactId>selenium-java</artifactId>
+            <version>3.141.59</version>
+        </dependency>
+
+    </dependencies>
+    <profiles>
+        <profile>
+            <id>sonar</id>
+            <activation>
+                <activeByDefault>true</activeByDefault>
+            </activation>
+            <properties>
+                <sonar.host.url>http://127.0.0.1:9000/</sonar.host.url>
+            </properties>
+        </profile>
+    </profiles>
+    <build>
+        <plugins>
+            <plugin>
+                <groupId>org.springframework.boot</groupId>
+                <artifactId>spring-boot-maven-plugin</artifactId>
+            </plugin>
+            <plugin>
+                <groupId>org.sonarsource.scanner.maven</groupId>
+                <artifactId>sonar-maven-plugin</artifactId>
+                <version>3.6.0.1398</version>
+            </plugin>
+            <plugin>
+                <groupId>org.apache.maven.plugins</groupId>
+                <artifactId>maven-compiler-plugin</artifactId>
+                <configuration>
+                    <source>7</source>
+                    <target>7</target>
+                </configuration>
+            </plugin>
+        </plugins>
+    </build>
+
+</project>
diff --git a/src/server/src/main/java/com/example/testdemo/TestdemoApplication.java b/src/server/src/main/java/com/example/testdemo/TestdemoApplication.java
new file mode 100644
index 0000000..5b0706c
--- /dev/null
+++ b/src/server/src/main/java/com/example/testdemo/TestdemoApplication.java
@@ -0,0 +1,42 @@
+package com.example.testdemo;
+
+import com.alibaba.fastjson.JSON;
+import com.alibaba.fastjson.JSONObject;
+import com.sun.javafx.webkit.EventLoopImpl;
+import org.openqa.selenium.*;
+import org.openqa.selenium.chrome.ChromeDriver;
+import org.openqa.selenium.chrome.ChromeOptions;
+import org.springframework.boot.SpringApplication;
+import org.springframework.boot.autoconfigure.SpringBootApplication;
+import org.springframework.scheduling.annotation.EnableScheduling;
+import org.springframework.scheduling.annotation.Scheduled;
+import org.springframework.stereotype.Controller;
+import org.springframework.web.bind.annotation.GetMapping;
+import org.springframework.web.bind.annotation.RestController;
+
+import javax.script.ScriptEngine;
+import javax.script.ScriptEngineManager;
+import javax.script.ScriptException;
+import java.io.BufferedReader;
+import java.io.File;
+import java.io.FileNotFoundException;
+import java.io.FileReader;
+import java.sql.Driver;
+import java.util.Arrays;
+import java.util.List;
+import java.util.Random;
+import java.util.concurrent.ConcurrentLinkedQueue;
+
+
+@SpringBootApplication
+public class TestdemoApplication {
+
+    public static void main(String[] args) {
+
+        SpringApplication.run(TestdemoApplication.class, args);
+    }
+
+
+}
+
+
diff --git a/src/server/src/main/java/com/example/testdemo/config/SendObjectMessage.java b/src/server/src/main/java/com/example/testdemo/config/SendObjectMessage.java
new file mode 100644
index 0000000..1b84ae8
--- /dev/null
+++ b/src/server/src/main/java/com/example/testdemo/config/SendObjectMessage.java
@@ -0,0 +1,176 @@
+package com.example.testdemo.config;
+
+import com.alibaba.fastjson.JSONArray;
+import com.alibaba.fastjson.JSONObject;
+import jdk.nashorn.internal.scripts.JS;
+import lombok.extern.slf4j.Slf4j;
+import org.openqa.selenium.JavascriptExecutor;
+import org.openqa.selenium.WebDriver;
+import org.openqa.selenium.chrome.ChromeDriver;
+import org.openqa.selenium.chrome.ChromeOptions;
+import org.springframework.stereotype.Component;
+import sun.rmi.runtime.Log;
+
+import javax.script.ScriptEngine;
+import javax.script.ScriptEngineManager;
+import javax.script.ScriptException;
+import javax.websocket.*;
+import javax.websocket.server.ServerEndpoint;
+import java.io.BufferedReader;
+import java.io.File;
+import java.io.FileReader;
+import java.io.IOException;
+import java.util.concurrent.ConcurrentLinkedQueue;
+import java.util.concurrent.atomic.AtomicInteger;
+
+/**
+ * @Description : 群发消息  //描述
+ */
+@Slf4j
+@ServerEndpoint("/result")
+@Component
+public class SendObjectMessage {
+
+    /** 记录当前在线连接数 */
+    private static AtomicInteger onlineCount = new AtomicInteger(0);
+    private static ConcurrentLinkedQueue<SendObjectMessage> socket = new ConcurrentLinkedQueue<SendObjectMessage>();
+    /**
+     * 与某个客户端的连接会话，需要通过它来给客户端发送数据
+     */
+    private Session session;
+    private SendObjectMessage mObject = null;
+
+    /**
+     * 连接建立成功调用的方法
+     */
+    @OnOpen
+    public void onOpen(Session session) {
+        this.session = session;
+        socket.add(this);
+        onlineCount.incrementAndGet(); // 在线数加1
+        if(mObject == null){
+            mObject = socket.peek();
+        }
+        /*try {
+            sendMessage("连接成功！");
+        } catch (IOException e) {
+            e.printStackTrace();
+        }*/
+        log.info("有新连接加入，当前在线人数为：{}", onlineCount.get());
+    }
+
+    /**
+     * 连接关闭调用的方法
+     */
+    @OnClose
+    public void onClose(Session session) {
+        socket.remove(this);
+        // 在线数减1
+        onlineCount.decrementAndGet();
+        log.info("用户退出，当前在线人数为：{}", onlineCount.get());
+    }
+
+    /**
+     * 收到客户端消息后调用的方法
+     *
+     * @param message
+     *            客户端发送过来的消息
+     */
+    @OnMessage
+    public void onMessage(String message, Session session) throws IOException {
+        if (message != null && !message.isEmpty()) {
+            //socket.peek().sendMessage(message);
+            JSONObject js = JSONObject.parseObject(message);
+            String op = js.getString("op");
+
+            if(op.equals("connect")){
+                JSONObject content = js.getJSONObject("content");
+                String user = content.getString("user");
+                //JSONArray note = content.getJSONArray("note");
+                Integer code = content.getInteger("code");
+                Integer shelf = content.getInteger("shelf");
+                Integer floor = content.getInteger("floor");
+
+                System.out.println(content);
+                mObject.sendMessage("confirm");
+
+            }else if(op.equals("confirm")){
+                String con = js.getString("content");
+                if(con.equals("yes")){
+                    try {
+                        testSelenium1();
+                    } catch (Exception e) {
+                        e.printStackTrace();
+                    }
+                    System.out.println("robot");
+                }else if(con.equals("no")){
+                    System.out.println("no");
+                }
+            }else if(op.equals("finish")){
+                System.out.println("fin");
+                mObject.onClose(mObject.session);
+                socket.poll();
+
+                if(socket.peek() != null){
+                    mObject = socket.peek();
+                    mObject.sendMessage("confirm");
+                }else{
+                    mObject = null;
+                }
+            }
+        }
+        log.info("服务端收到客户端的消息:{}", message);
+    }
+
+    @OnError
+    public void onError(Throwable error) {
+        log.error("发生错误");
+        error.printStackTrace();
+    }
+
+    /**
+     * 服务端发送消息给客户端
+     */
+    public void sendMessage(String message) throws IOException {
+        //如果开启@Async异步需要加锁，否则就会报错
+        synchronized (session){
+            this.session.getBasicRemote().sendText(message);
+        }
+    }
+
+    /**
+     * 自定义群发
+     */
+
+    public static void testSelenium1() throws Exception {
+        // 使用HtmlUnitDriver 是不需要 安装 浏览器 和 驱动支持\
+        System.setProperty("webdriver.chrome.driver", "D:\\chromedriver.exe");
+        ChromeOptions chromeOptions = new ChromeOptions();
+        chromeOptions.setHeadless(true);
+
+        WebDriver driver = new ChromeDriver(chromeOptions);
+        //ChromeDriver driver = new ChromeDriver();
+
+        JavascriptExecutor executor = (JavascriptExecutor) driver;
+        String strFile = Thread.currentThread().getClass().getResource("/").getPath();
+        //driver.get(strFile + "/test.html");
+        driver.get("file://" + strFile + "/test.html");
+
+
+    }
+    private static String readJsFile(String url) throws Exception {
+        StringBuffer script = new StringBuffer();
+
+        File file = new File(url);
+        FileReader filereader = new FileReader(file);
+        BufferedReader bufferedReader = new BufferedReader(filereader);
+        String tempString = null;
+        while ((tempString = bufferedReader.readLine()) != null) {
+            script.append(tempString).append("\n");
+        }
+        bufferedReader.close();
+        filereader.close();
+        return script.toString();
+    }
+
+}
diff --git a/src/server/src/main/java/com/example/testdemo/config/WebSocketConfig.java b/src/server/src/main/java/com/example/testdemo/config/WebSocketConfig.java
new file mode 100644
index 0000000..dc62fa8
--- /dev/null
+++ b/src/server/src/main/java/com/example/testdemo/config/WebSocketConfig.java
@@ -0,0 +1,17 @@
+package com.example.testdemo.config;
+
+import org.springframework.context.annotation.Bean;
+import org.springframework.context.annotation.Configuration;
+import org.springframework.web.socket.server.standard.ServerEndpointExporter;
+
+/**
+ * @Description : websocket配置  //描述
+ */
+@Configuration
+public class WebSocketConfig {
+
+    @Bean
+    public ServerEndpointExporter serverEndpointExporter(){
+        return new ServerEndpointExporter();
+    }
+}
diff --git a/src/server/src/main/resources/a.js b/src/server/src/main/resources/a.js
new file mode 100644
index 0000000..8b13789
--- /dev/null
+++ b/src/server/src/main/resources/a.js
@@ -0,0 +1 @@
+
diff --git a/src/server/src/main/resources/application.yml b/src/server/src/main/resources/application.yml
new file mode 100644
index 0000000..5b63b17
--- /dev/null
+++ b/src/server/src/main/resources/application.yml
@@ -0,0 +1,18 @@
+server:
+  port: 8080
+  servlet:
+    contest-path: /
+spring:
+  application:
+    name: springboot websocket
+  mvc:
+    static-path-pattern: /**
+  thymeleaf:
+    mode: HTML5
+    suffix: .html
+    encoding: UTF-8
+    prefix:
+      classpath: /template
+    cache: false
+
+
diff --git a/src/server/src/main/resources/em.js b/src/server/src/main/resources/em.js
new file mode 100644
index 0000000..a5af1ed
--- /dev/null
+++ b/src/server/src/main/resources/em.js
@@ -0,0 +1 @@
+!function(e){function t(){this._events={},this._conf&&i.call(this,this._conf)}function i(e){e&&(this._conf=e,e.delimiter&&(this.delimiter=e.delimiter),e.maxListeners&&(this._events.maxListeners=e.maxListeners),e.wildcard&&(this.wildcard=e.wildcard),e.newListener&&(this.newListener=e.newListener),this.wildcard&&(this.listenerTree={}))}function s(e){this._events={},this.newListener=!1,i.call(this,e)}function n(e,t,i,s){if(!i)return[];var r,l,o,h,a,f,c,_=[],p=t.length,u=t[s],v=t[s+1];if(s===p&&i._listeners){if("function"==typeof i._listeners)return e&&e.push(i._listeners),[i];for(r=0,l=i._listeners.length;r<l;r++)e&&e.push(i._listeners[r]);return[i]}if("*"===u||"**"===u||i[u]){if("*"===u){for(o in i)"_listeners"!==o&&i.hasOwnProperty(o)&&(_=_.concat(n(e,t,i[o],s+1)));return _}if("**"===u){(c=s+1===p||s+2===p&&"*"===v)&&i._listeners&&(_=_.concat(n(e,t,i,p)));for(o in i)"_listeners"!==o&&i.hasOwnProperty(o)&&("*"===o||"**"===o?(i[o]._listeners&&!c&&(_=_.concat(n(e,t,i[o],p))),_=_.concat(n(e,t,i[o],s))):_=o===v?_.concat(n(e,t,i[o],s+2)):_.concat(n(e,t,i[o],s)));return _}_=_.concat(n(e,t,i[u],s+1))}if((h=i["*"])&&n(e,t,h,s+1),a=i["**"])if(s<p){a._listeners&&n(e,t,a,p);for(o in a)"_listeners"!==o&&a.hasOwnProperty(o)&&(o===v?n(e,t,a[o],s+2):o===u?n(e,t,a[o],s+1):((f={})[o]=a[o],n(e,t,{"**":f},s+1)))}else a._listeners?n(e,t,a,p):a["*"]&&a["*"]._listeners&&n(e,t,a["*"],p);return _}function r(e,t){for(var i=0,s=(e="string"==typeof e?e.split(this.delimiter):e.slice()).length;i+1<s;i++)if("**"===e[i]&&"**"===e[i+1])return;for(var n=this.listenerTree,r=e.shift();r;){if(n[r]||(n[r]={}),n=n[r],0===e.length){if(n._listeners){if("function"==typeof n._listeners)n._listeners=[n._listeners,t];else if(l(n._listeners)&&(n._listeners.push(t),!n._listeners.warned)){var h=o;void 0!==this._events.maxListeners&&(h=this._events.maxListeners),h>0&&n._listeners.length>h&&(n._listeners.warned=!0,console.error("(node) warning: possible EventEmitter memory leak detected. %d listeners added. Use emitter.setMaxListeners() to increase limit.",n._listeners.length),console.trace())}}else n._listeners=t;return!0}r=e.shift()}return!0}var l=Array.isArray?Array.isArray:function(e){return"[object Array]"===Object.prototype.toString.call(e)},o=10;s.prototype.delimiter=".",s.prototype.setMaxListeners=function(e){this._events||t.call(this),this._events.maxListeners=e,this._conf||(this._conf={}),this._conf.maxListeners=e},s.prototype.event="",s.prototype.once=function(e,t){return this.many(e,1,t),this},s.prototype.many=function(e,t,i){function s(){0==--t&&n.off(e,s),i.apply(this,arguments)}var n=this;if("function"!=typeof i)throw new Error("many only accepts instances of Function");return s._origin=i,this.on(e,s),n},s.prototype.emit=function(){this._events||t.call(this);var e=arguments[0];if("newListener"===e&&!this.newListener&&!this._events.newListener)return!1;if(this._all){for(var i=arguments.length,s=new Array(i-1),r=1;r<i;r++)s[r-1]=arguments[r];for(r=0,i=this._all.length;r<i;r++)this.event=e,this._all[r].apply(this,s)}if("error"===e&&!(this._all||this._events.error||this.wildcard&&this.listenerTree.error))throw arguments[1]instanceof Error?arguments[1]:new Error("Uncaught, unspecified 'error' event.");var l;if(this.wildcard){l=[];var o="string"==typeof e?e.split(this.delimiter):e.slice();n.call(this,l,o,this.listenerTree,0)}else l=this._events[e];if("function"==typeof l){if(this.event=e,1===arguments.length)l.call(this);else if(arguments.length>1)switch(arguments.length){case 2:l.call(this,arguments[1]);break;case 3:l.call(this,arguments[1],arguments[2]);break;default:for(var i=arguments.length,s=new Array(i-1),r=1;r<i;r++)s[r-1]=arguments[r];l.apply(this,s)}return!0}if(l){for(var i=arguments.length,s=new Array(i-1),r=1;r<i;r++)s[r-1]=arguments[r];for(var h=l.slice(),r=0,i=h.length;r<i;r++)this.event=e,h[r].apply(this,s);return h.length>0||!!this._all}return!!this._all},s.prototype.on=function(e,i){if("function"==typeof e)return this.onAny(e),this;if("function"!=typeof i)throw new Error("on only accepts instances of Function");if(this._events||t.call(this),this.emit("newListener",e,i),this.wildcard)return r.call(this,e,i),this;if(this._events[e]){if("function"==typeof this._events[e])this._events[e]=[this._events[e],i];else if(l(this._events[e])&&(this._events[e].push(i),!this._events[e].warned)){var s=o;void 0!==this._events.maxListeners&&(s=this._events.maxListeners),s>0&&this._events[e].length>s&&(this._events[e].warned=!0,console.error("(node) warning: possible EventEmitter memory leak detected. %d listeners added. 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\ No newline at end of file
diff --git a/src/server/src/main/resources/roslib.min.js b/src/server/src/main/resources/roslib.min.js
new file mode 100644
index 0000000..506562b
--- /dev/null
+++ b/src/server/src/main/resources/roslib.min.js
@@ -0,0 +1 @@
+!function n(r,s,o){function a(t,e){if(!s[t]){if(!r[t]){var i="function"==typeof require&&require;if(!e&&i)return i(t,!0);if(c)return c(t,!0);throw(e=new Error("Cannot find module '"+t+"'")).code="MODULE_NOT_FOUND",e}i=s[t]={exports:{}},r[t][0].call(i.exports,function(e){return a(r[t][1][e]||e)},i,i.exports,n,r,s,o)}return s[t].exports}for(var c="function"==typeof require&&require,e=0;e<o.length;e++)a(o[e]);return a}({1:[function(e,i,t){!function(e,A){"use strict";var U=Math.pow(2,-24),r=Math.pow(2,32),v=Math.pow(2,53);var t={encode:function(e){var o,a=new ArrayBuffer(256),c=new DataView(a),l=0;function u(e){for(var t=a.byteLength,i=l+e;t<i;)t*=2;if(t!==a.byteLength)for(var n=c,r=(a=new ArrayBuffer(t),c=new DataView(a),l+3>>2),s=0;s<r;++s)c.setUint32(4*s,n.getUint32(4*s));return o=e,c}function h(){l+=o}function f(e){h(u(1).setUint8(l,e))}function p(e){for(var t=u(e.length),i=0;i<e.length;++i)t.setUint8(l+i,e[i]);h()}function m(e,t){var i,n;t<24?f(e<<5|t):t<256?(f(e<<5|24),f(t)):t<65536?(f(e<<5|25),n=t,h(u(2).setUint16(l,n))):t<4294967296?(f(e<<5|26),n=t,h(u(4).setUint32(l,n))):(f(e<<5|27),e=((e=t)-(t=t%r))/r,(i=u(8)).setUint32(l,e),i.setUint32(l+4,t),h())}if(!function e(t){var i;if(!1===t)return f(244);if(!0===t)return f(245);if(null===t)return f(246);if(t===A)return f(247);switch(typeof t){case"number":if(Math.floor(t)===t){if(0<=t&&t<=v)return m(0,t);if(-v<=t&&t<0)return m(1,-(t+1))}return f(251),i=t,h(u(8).setFloat64(l,i));case"string":for(var n=[],r=0;r<t.length;++r){var s=t.charCodeAt(r);s<128?n.push(s):(s<2048?n.push(192|s>>6):(s<55296?n.push(224|s>>12):(s=65536+((s=(1023&s)<<10)|1023&t.charCodeAt(++r)),n.push(240|s>>18),n.push(128|s>>12&63)),n.push(128|s>>6&63)),n.push(128|63&s))}return m(3,n.length),p(n);default:if(Array.isArray(t))for(m(4,o=t.length),r=0;r<o;++r)e(t[r]);else if(t instanceof Uint8Array)m(2,t.length),p(t);else{var o,a=Object.keys(t);for(m(5,o=a.length),r=0;r<o;++r){var c=a[r];e(c),e(t[c])}}}}(e),"slice"in a)return a.slice(0,l);for(var e=new ArrayBuffer(l),t=new DataView(e),i=0;i<l;++i)t.setUint8(i,c.getUint8(i));return e},decode:function(t,d,y){var g=new DataView(t),b=0;function w(e,t){return b+=t,e}function _(e){return w(new Uint8Array(t,b,e),e)}function x(){return w(g.getUint8(b),1)}function T(){return w(g.getUint16(b),2)}function i(){return w(g.getUint32(b),4)}function k(){return 255===g.getUint8(b)&&(b+=1,1)}function S(e){if(e<24)return e;if(24===e)return x();if(25===e)return T();if(26===e)return i();if(27===e)return i()*r+i();if(31===e)return-1;throw"Invalid length encoding"}function L(e){var t=x();if(255===t)return-1;var i=S(31&t);if(i<0||t>>5!==e)throw"Invalid indefinite length element";return i}function M(e,t){for(var i=0;i<t;++i){var n=x();128&n&&(n<224?(n=(31&n)<<6|63&x(),--t):n<240?(n=(15&n)<<12|(63&x())<<6|63&x(),t-=2):(n=(15&n)<<18|(63&x())<<12|(63&x())<<6|63&x(),t-=3)),n<65536?e.push(n):(n-=65536,e.push(55296|n>>10),e.push(56320|1023&n))}}"function"!=typeof d&&(d=function(e){return e}),"function"!=typeof y&&(y=function(){return A});var e=function e(){var t,i,n=x(),r=n>>5,n=31&n;if(7==r)switch(n){case 25:var s=new ArrayBuffer(4),s=new DataView(s),o=T(),a=31744&o,c=1023&o;if(31744===a)a=261120;else if(0!==a)a+=114688;else if(0!=c)return c*U;return s.setUint32(0,(32768&o)<<16|a<<13|c<<13),s.getFloat32(0);case 26:return w(g.getFloat32(b),4);case 27:return w(g.getFloat64(b),8)}if((t=S(n))<0&&(r<2||6<r))throw"Invalid length";switch(r){case 0:return t;case 1:return-1-t;case 2:if(t<0){for(var l=[],u=0;0<=(t=L(r));)u+=t,l.push(_(t));for(var h=new Uint8Array(u),f=0,p=0;p<l.length;++p)h.set(l[p],f),f+=l[p].length;return h}return _(t);case 3:var m=[];if(t<0)for(;0<=(t=L(r));)M(m,t);else M(m,t);return String.fromCharCode.apply(null,m);case 4:if(t<0)for(i=[];!k();)i.push(e());else for(i=new Array(t),p=0;p<t;++p)i[p]=e();return i;case 5:var v={};for(p=0;p<t||t<0&&!k();++p)v[e()]=e();return v;case 6:return d(e(),t);case 7:switch(t){case 20:return!1;case 21:return!0;case 22:return null;case 23:return A;default:return y(t)}}}();if(b!==t.byteLength)throw"Remaining bytes";return e}};"function"==typeof define&&define.amd?define("cbor/cbor",t):void 0!==i&&i.exports?i.exports=t:e.CBOR||(e.CBOR=t)}(this)},{}],2:[function(e,U,E){!function(M,A){!function(){function h(){this._events={},this._conf&&t.call(this,this._conf)}function t(e){e&&((this._conf=e).delimiter&&(this.delimiter=e.delimiter),e.maxListeners!==g&&(this._maxListeners=e.maxListeners),e.wildcard&&(this.wildcard=e.wildcard),e.newListener&&(this._newListener=e.newListener),e.removeListener&&(this._removeListener=e.removeListener),e.verboseMemoryLeak&&(this.verboseMemoryLeak=e.verboseMemoryLeak),e.ignoreErrors&&(this.ignoreErrors=e.ignoreErrors),this.wildcard&&(this.listenerTree={}))}function f(e,t){var i="(node) warning: possible EventEmitter memory leak detected. 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o({ros:this,name:"/rosapi/services_for_type",serviceType:"rosapi/ServicesForType"}),e=new a({type:e});"function"==typeof i?n.callService(e,function(e){t(e.services)},function(e){i(e)}):n.callService(e,function(e){t(e.services)})},l.prototype.getServiceRequestDetails=function(e,t,i){var n=new o({ros:this,name:"/rosapi/service_request_details",serviceType:"rosapi/ServiceRequestDetails"}),e=new a({type:e});"function"==typeof i?n.callService(e,function(e){t(e)},function(e){i(e)}):n.callService(e,function(e){t(e)})},l.prototype.getServiceResponseDetails=function(e,t,i){var n=new o({ros:this,name:"/rosapi/service_response_details",serviceType:"rosapi/ServiceResponseDetails"}),e=new a({type:e});"function"==typeof i?n.callService(e,function(e){t(e)},function(e){i(e)}):n.callService(e,function(e){t(e)})},l.prototype.getNodes=function(t,i){var e=new o({ros:this,name:"/rosapi/nodes",serviceType:"rosapi/Nodes"}),n=new a;"function"==typeof i?e.callService(n,function(e){t(e.nodes)},function(e){i(e)}):e.callService(n,function(e){t(e.nodes)})},l.prototype.getNodeDetails=function(e,t,i){var n=new o({ros:this,name:"/rosapi/node_details",serviceType:"rosapi/NodeDetails"}),e=new a({node:e});"function"==typeof i?n.callService(e,function(e){t(e.subscribing,e.publishing,e.services)},function(e){i(e)}):n.callService(e,function(e){t(e)})},l.prototype.getParams=function(t,i){var e=new o({ros:this,name:"/rosapi/get_param_names",serviceType:"rosapi/GetParamNames"}),n=new a;"function"==typeof i?e.callService(n,function(e){t(e.names)},function(e){i(e)}):e.callService(n,function(e){t(e.names)})},l.prototype.getTopicType=function(e,t,i){var n=new o({ros:this,name:"/rosapi/topic_type",serviceType:"rosapi/TopicType"}),e=new a({topic:e});"function"==typeof i?n.callService(e,function(e){t(e.type)},function(e){i(e)}):n.callService(e,function(e){t(e.type)})},l.prototype.getServiceType=function(e,t,i){var n=new o({ros:this,name:"/rosapi/service_type",serviceType:"rosapi/ServiceType"}),e=new a({service:e});"function"==typeof i?n.callService(e,function(e){t(e.type)},function(e){i(e)}):n.callService(e,function(e){t(e.type)})},l.prototype.getMessageDetails=function(e,t,i){var n=new o({ros:this,name:"/rosapi/message_details",serviceType:"rosapi/MessageDetails"}),e=new a({type:e});"function"==typeof i?n.callService(e,function(e){t(e.typedefs)},function(e){i(e)}):n.callService(e,function(e){t(e.typedefs)})},l.prototype.decodeTypeDefs=function(e){function u(e,t){for(var i={},n=0;n<e.fieldnames.length;n++){var r=e.fieldarraylen[n],s=e.fieldnames[n],o=e.fieldtypes[n];if(-1===o.indexOf("/"))i[s]=-1===r?o:[o];else{for(var a,c=!1,l=0;l<t.length;l++)if(t[l].type.toString()===o.toString()){c=t[l];break}c?(a=u(c,t),-1!==r&&(i[s]=[a])):h.emit("error","Cannot find "+o+" in decodeTypeDefs")}}return i}var h=this;return u(e[0],e)},l.prototype.getTopicsAndRawTypes=function(t,i){var e=new o({ros:this,name:"/rosapi/topics_and_raw_types",serviceType:"rosapi/TopicsAndRawTypes"}),n=new a;"function"==typeof i?e.callService(n,function(e){t(e)},function(e){i(e)}):e.callService(n,function(e){t(e)})},t.exports=l},{"../util/workerSocket":49,"./Service":18,"./ServiceRequest":19,"./SocketAdapter.js":21,eventemitter2:2,"object-assign":3,ws:46}],18:[function(e,t,i){var r=e("./ServiceResponse"),e=(e("./ServiceRequest"),e("eventemitter2").EventEmitter2);function n(e){this.ros=(e=e||{}).ros,this.name=e.name,this.serviceType=e.serviceType,this.isAdvertised=!1,this._serviceCallback=null}n.prototype.__proto__=e.prototype,n.prototype.callService=function(e,t,i){var n;this.isAdvertised||(n="call_service:"+this.name+":"+ ++this.ros.idCounter,(t||i)&&this.ros.once(n,function(e){void 0!==e.result&&!1===e.result?"function"==typeof i&&i(e.values):"function"==typeof t&&t(new r(e.values))}),n={op:"call_service",id:n,service:this.name,type:this.serviceType,args:e},this.ros.callOnConnection(n))},n.prototype.advertise=function(e){this.isAdvertised||"function"!=typeof e||(this._serviceCallback=e,this.ros.on(this.name,this._serviceResponse.bind(this)),this.ros.callOnConnection({op:"advertise_service",type:this.serviceType,service:this.name}),this.isAdvertised=!0)},n.prototype.unadvertise=function(){this.isAdvertised&&(this.ros.callOnConnection({op:"unadvertise_service",service:this.name}),this.isAdvertised=!1)},n.prototype._serviceResponse=function(e){var t={},i=this._serviceCallback(e.args,t),t={op:"service_response",service:this.name,values:new r(t),result:i};e.id&&(t.id=e.id),this.ros.callOnConnection(t)},t.exports=n},{"./ServiceRequest":19,"./ServiceResponse":20,eventemitter2:2}],19:[function(e,t,i){var n=e("object-assign");t.exports=function(e){n(this,e)}},{"object-assign":3}],20:[function(e,t,i){var n=e("object-assign");t.exports=function(e){n(this,e)}},{"object-assign":3}],21:[function(e,t,i){"use strict";var n=e("../util/decompressPng"),a=e("cbor-js"),c=e("../util/cborTypedArrayTags"),l=null;"undefined"!=typeof bson&&(l=bson().BSON),t.exports=function(t){var r=null;function s(e){"publish"===e.op?t.emit(e.topic,e.msg):"service_response"===e.op?t.emit(e.id,e):"call_service"===e.op?t.emit(e.service,e):"status"===e.op&&(e.id?t.emit("status:"+e.id,e):t.emit("status",e))}function o(e,t){"png"===e.op?n(e.data,t):t(e)}return t.transportOptions.decoder&&(r=t.transportOptions.decoder),{onopen:function(e){t.isConnected=!0,t.emit("connection",e)},onclose:function(e){t.isConnected=!1,t.emit("close",e)},onerror:function(e){t.emit("error",e)},onmessage:function(e){if(r)r(e.data,function(e){s(e)});else if("undefined"!=typeof Blob&&e.data instanceof Blob){var t=e.data,i=function(e){o(e,s)};if(!l)throw"Cannot process BSON encoded message without BSON header.";var n=new FileReader;n.onload=function(){var e=new Uint8Array(this.result),e=l.deserialize(e);i(e)},n.readAsArrayBuffer(t)}else e.data instanceof ArrayBuffer?s(a.decode(e.data,c)):o(JSON.parse("string"==typeof e?e:e.data),s)}}}},{"../util/cborTypedArrayTags":44,"../util/decompressPng":48,"cbor-js":1}],22:[function(e,t,i){var n=e("eventemitter2").EventEmitter2,r=e("./Message");function s(e){this.ros=(e=e||{}).ros,this.name=e.name,this.messageType=e.messageType,this.isAdvertised=!1,this.compression=e.compression||"none",this.throttle_rate=e.throttle_rate||0,this.latch=e.latch||!1,this.queue_size=e.queue_size||100,this.queue_length=e.queue_length||0,this.reconnect_on_close=void 0===e.reconnect_on_close||e.reconnect_on_close,this.compression&&"png"!==this.compression&&"cbor"!==this.compression&&"cbor-raw"!==this.compression&&"none"!==this.compression&&(this.emit("warning",this.compression+" compression is not supported. No compression will be used."),this.compression="none"),this.throttle_rate<0&&(this.emit("warning",this.throttle_rate+" is not allowed. Set to 0"),this.throttle_rate=0);var t=this;this.reconnect_on_close?this.callForSubscribeAndAdvertise=function(e){t.ros.callOnConnection(e),t.waitForReconnect=!1,t.reconnectFunc=function(){t.waitForReconnect||(t.waitForReconnect=!0,t.ros.callOnConnection(e),t.ros.once("connection",function(){t.waitForReconnect=!1}))},t.ros.on("close",t.reconnectFunc)}:this.callForSubscribeAndAdvertise=this.ros.callOnConnection,this._messageCallback=function(e){t.emit("message",new r(e))}}s.prototype.__proto__=n.prototype,s.prototype.subscribe=function(e){"function"==typeof e&&this.on("message",e),this.subscribeId||(this.ros.on(this.name,this._messageCallback),this.subscribeId="subscribe:"+this.name+":"+ ++this.ros.idCounter,this.callForSubscribeAndAdvertise({op:"subscribe",id:this.subscribeId,type:this.messageType,topic:this.name,compression:this.compression,throttle_rate:this.throttle_rate,queue_length:this.queue_length}))},s.prototype.unsubscribe=function(e){e&&(this.off("message",e),this.listeners("message").length)||this.subscribeId&&(this.ros.off(this.name,this._messageCallback),this.reconnect_on_close&&this.ros.off("close",this.reconnectFunc),this.emit("unsubscribe"),this.ros.callOnConnection({op:"unsubscribe",id:this.subscribeId,topic:this.name}),this.subscribeId=null)},s.prototype.advertise=function(){var e;this.isAdvertised||(this.advertiseId="advertise:"+this.name+":"+ ++this.ros.idCounter,this.callForSubscribeAndAdvertise({op:"advertise",id:this.advertiseId,type:this.messageType,topic:this.name,latch:this.latch,queue_size:this.queue_size}),this.isAdvertised=!0,this.reconnect_on_close||(e=this).ros.on("close",function(){e.isAdvertised=!1}))},s.prototype.unadvertise=function(){this.isAdvertised&&(this.reconnect_on_close&&this.ros.off("close",this.reconnectFunc),this.emit("unadvertise"),this.ros.callOnConnection({op:"unadvertise",id:this.advertiseId,topic:this.name}),this.isAdvertised=!1)},s.prototype.publish=function(e){this.isAdvertised||this.advertise(),this.ros.idCounter++;e={op:"publish",id:"publish:"+this.name+":"+this.ros.idCounter,topic:this.name,msg:e,latch:this.latch};this.ros.callOnConnection(e)},t.exports=s},{"./Message":15,eventemitter2:2}],23:[function(e,t,i){var n=e("../mixin"),t=t.exports={Ros:e("./Ros"),Topic:e("./Topic"),Message:e("./Message"),Param:e("./Param"),Service:e("./Service"),ServiceRequest:e("./ServiceRequest"),ServiceResponse:e("./ServiceResponse")};n(t.Ros,["Param","Service","Topic"],t)},{"../mixin":29,"./Message":15,"./Param":16,"./Ros":17,"./Service":18,"./ServiceRequest":19,"./ServiceResponse":20,"./Topic":22}],24:[function(e,t,i){var n=e("./Vector3"),r=e("./Quaternion");function s(e){this.position=new n((e=e||{}).position),this.orientation=new r(e.orientation)}s.prototype.applyTransform=function(e){this.position.multiplyQuaternion(e.rotation),this.position.add(e.translation);e=e.rotation.clone();e.multiply(this.orientation),this.orientation=e},s.prototype.clone=function(){return new s(this)},s.prototype.multiply=function(e){e=e.clone();return e.applyTransform({rotation:this.orientation,translation:this.position}),e},s.prototype.getInverse=function(){var e=this.clone();return e.orientation.invert(),e.position.multiplyQuaternion(e.orientation),e.position.x*=-1,e.position.y*=-1,e.position.z*=-1,e},t.exports=s},{"./Quaternion":25,"./Vector3":27}],25:[function(e,t,i){function n(e){this.x=(e=e||{}).x||0,this.y=e.y||0,this.z=e.z||0,this.w="number"==typeof e.w?e.w:1}n.prototype.conjugate=function(){this.x*=-1,this.y*=-1,this.z*=-1},n.prototype.norm=function(){return Math.sqrt(this.x*this.x+this.y*this.y+this.z*this.z+this.w*this.w)},n.prototype.normalize=function(){var e=Math.sqrt(this.x*this.x+this.y*this.y+this.z*this.z+this.w*this.w);0===e?(this.x=0,this.y=0,this.z=0,this.w=1):(this.x=this.x*(e=1/e),this.y=this.y*e,this.z=this.z*e,this.w=this.w*e)},n.prototype.invert=function(){this.conjugate(),this.normalize()},n.prototype.multiply=function(e){var t=this.x*e.w+this.y*e.z-this.z*e.y+this.w*e.x,i=-this.x*e.z+this.y*e.w+this.z*e.x+this.w*e.y,n=this.x*e.y-this.y*e.x+this.z*e.w+this.w*e.z,e=-this.x*e.x-this.y*e.y-this.z*e.z+this.w*e.w;this.x=t,this.y=i,this.z=n,this.w=e},n.prototype.clone=function(){return new n(this)},t.exports=n},{}],26:[function(e,t,i){var n=e("./Vector3"),r=e("./Quaternion");function s(e){this.translation=new n((e=e||{}).translation),this.rotation=new r(e.rotation)}s.prototype.clone=function(){return new s(this)},t.exports=s},{"./Quaternion":25,"./Vector3":27}],27:[function(e,t,i){function n(e){this.x=(e=e||{}).x||0,this.y=e.y||0,this.z=e.z||0}n.prototype.add=function(e){this.x+=e.x,this.y+=e.y,this.z+=e.z},n.prototype.subtract=function(e){this.x-=e.x,this.y-=e.y,this.z-=e.z},n.prototype.multiplyQuaternion=function(e){var t=e.w*this.x+e.y*this.z-e.z*this.y,i=e.w*this.y+e.z*this.x-e.x*this.z,n=e.w*this.z+e.x*this.y-e.y*this.x,r=-e.x*this.x-e.y*this.y-e.z*this.z;this.x=t*e.w+r*-e.x+i*-e.z-n*-e.y,this.y=i*e.w+r*-e.y+n*-e.x-t*-e.z,this.z=n*e.w+r*-e.z+t*-e.y-i*-e.x},n.prototype.clone=function(){return new n(this)},t.exports=n},{}],28:[function(e,t,i){t.exports={Pose:e("./Pose"),Quaternion:e("./Quaternion"),Transform:e("./Transform"),Vector3:e("./Vector3")}},{"./Pose":24,"./Quaternion":25,"./Transform":26,"./Vector3":27}],29:[function(e,t,i){t.exports=function(i,e,n){e.forEach(function(e){var t=n[e];i.prototype[e]=function(e){return e.ros=this,new t(e)}})}},{}],30:[function(e,t,i){var n=e("../actionlib/ActionClient"),r=e("../actionlib/Goal"),s=e("../core/Service.js"),o=e("../core/ServiceRequest.js"),a=e("../core/Topic.js"),c=e("../math/Transform");function l(e){this.ros=(e=e||{}).ros,this.fixedFrame=e.fixedFrame||"/base_link",this.angularThres=e.angularThres||2,this.transThres=e.transThres||.01,this.rate=e.rate||10,this.updateDelay=e.updateDelay||50;var t=e.topicTimeout||2,i=Math.floor(t),t=Math.floor(1e9*(t-i));this.topicTimeout={secs:i,nsecs:t},this.serverName=e.serverName||"/tf2_web_republisher",this.repubServiceName=e.repubServiceName||"/republish_tfs",this.currentGoal=!1,this.currentTopic=!1,this.frameInfos={},this.republisherUpdateRequested=!1,this._subscribeCB=null,this._isDisposed=!1,this.actionClient=new n({ros:e.ros,serverName:this.serverName,actionName:"tf2_web_republisher/TFSubscriptionAction",omitStatus:!0,omitResult:!0}),this.serviceClient=new s({ros:e.ros,name:this.repubServiceName,serviceType:"tf2_web_republisher/RepublishTFs"})}l.prototype.processTFArray=function(e){e.transforms.forEach(function(e){var t=e.child_frame_id,i=("/"===t[0]&&(t=t.substring(1)),this.frameInfos[t]);i&&(i.transform=new c({translation:e.transform.translation,rotation:e.transform.rotation}),i.cbs.forEach(function(e){e(i.transform)}))},this)},l.prototype.updateGoal=function(){var e={source_frames:Object.keys(this.frameInfos),target_frame:this.fixedFrame,angular_thres:this.angularThres,trans_thres:this.transThres,rate:this.rate};this.ros.groovyCompatibility?(this.currentGoal&&this.currentGoal.cancel(),this.currentGoal=new r({actionClient:this.actionClient,goalMessage:e}),this.currentGoal.on("feedback",this.processTFArray.bind(this)),this.currentGoal.send()):(e.timeout=this.topicTimeout,e=new o(e),this.serviceClient.callService(e,this.processResponse.bind(this))),this.republisherUpdateRequested=!1},l.prototype.processResponse=function(e){this._isDisposed||(this.currentTopic&&this.currentTopic.unsubscribe(this._subscribeCB),this.currentTopic=new a({ros:this.ros,name:e.topic_name,messageType:"tf2_web_republisher/TFArray"}),this._subscribeCB=this.processTFArray.bind(this),this.currentTopic.subscribe(this._subscribeCB))},l.prototype.subscribe=function(e,t){"/"===e[0]&&(e=e.substring(1)),this.frameInfos[e]?this.frameInfos[e].transform&&t(this.frameInfos[e].transform):(this.frameInfos[e]={cbs:[]},this.republisherUpdateRequested||(setTimeout(this.updateGoal.bind(this),this.updateDelay),this.republisherUpdateRequested=!0)),this.frameInfos[e].cbs.push(t)},l.prototype.unsubscribe=function(e,t){"/"===e[0]&&(e=e.substring(1));for(var i=this.frameInfos[e],n=i&&i.cbs||[],r=n.length;r--;)n[r]===t&&n.splice(r,1);t&&0!==n.length||delete this.frameInfos[e]},l.prototype.dispose=function(){this._isDisposed=!0,this.actionClient.dispose(),this.currentTopic&&this.currentTopic.unsubscribe(this._subscribeCB)},t.exports=l},{"../actionlib/ActionClient":10,"../actionlib/Goal":12,"../core/Service.js":18,"../core/ServiceRequest.js":19,"../core/Topic.js":22,"../math/Transform":26}],31:[function(e,t,i){var n=e("../core/Ros");e("../mixin")(n,["TFClient"],t.exports={TFClient:e("./TFClient")})},{"../core/Ros":17,"../mixin":29,"./TFClient":30}],32:[function(e,t,i){var n=e("../math/Vector3"),r=e("./UrdfTypes");t.exports=function(e){this.dimension=null,this.type=r.URDF_BOX,e=e.xml.getAttribute("size").split(" "),this.dimension=new n({x:parseFloat(e[0]),y:parseFloat(e[1]),z:parseFloat(e[2])})}},{"../math/Vector3":27,"./UrdfTypes":41}],33:[function(e,t,i){t.exports=function(e){e=e.xml.getAttribute("rgba").split(" "),this.r=parseFloat(e[0]),this.g=parseFloat(e[1]),this.b=parseFloat(e[2]),this.a=parseFloat(e[3])}},{}],34:[function(e,t,i){var n=e("./UrdfTypes");t.exports=function(e){this.type=n.URDF_CYLINDER,this.length=parseFloat(e.xml.getAttribute("length")),this.radius=parseFloat(e.xml.getAttribute("radius"))}},{"./UrdfTypes":41}],35:[function(e,t,i){var c=e("../math/Pose"),l=e("../math/Vector3"),u=e("../math/Quaternion");t.exports=function(e){this.name=e.xml.getAttribute("name"),this.type=e.xml.getAttribute("type");var t,i,n,r,s,o,a=e.xml.getElementsByTagName("parent");0<a.length&&(this.parent=a[0].getAttribute("link")),0<(a=e.xml.getElementsByTagName("child")).length&&(this.child=a[0].getAttribute("link")),0<(a=e.xml.getElementsByTagName("limit")).length&&(this.minval=parseFloat(a[0].getAttribute("lower")),this.maxval=parseFloat(a[0].getAttribute("upper"))),0===(a=e.xml.getElementsByTagName("origin")).length?this.origin=new c:(e=a[0].getAttribute("xyz"),t=new l,e&&(e=e.split(" "),t=new l({x:parseFloat(e[0]),y:parseFloat(e[1]),z:parseFloat(e[2])})),e=a[0].getAttribute("rpy"),a=new u,e&&(e=e.split(" "),o=parseFloat(e[0])/2,i=parseFloat(e[1])/2,e=parseFloat(e[2])/2,n=Math.sin(o)*Math.cos(i)*Math.cos(e)-Math.cos(o)*Math.sin(i)*Math.sin(e),r=Math.cos(o)*Math.sin(i)*Math.cos(e)+Math.sin(o)*Math.cos(i)*Math.sin(e),s=Math.cos(o)*Math.cos(i)*Math.sin(e)-Math.sin(o)*Math.sin(i)*Math.cos(e),o=Math.cos(o)*Math.cos(i)*Math.cos(e)+Math.sin(o)*Math.sin(i)*Math.sin(e),(a=new u({x:n,y:r,z:s,w:o})).normalize()),this.origin=new c({position:t,orientation:a}))}},{"../math/Pose":24,"../math/Quaternion":25,"../math/Vector3":27}],36:[function(e,t,i){var n=e("./UrdfVisual");t.exports=function(e){this.name=e.xml.getAttribute("name"),this.visuals=[];for(var t=e.xml.getElementsByTagName("visual"),i=0;i<t.length;i++)this.visuals.push(new n({xml:t[i]}))}},{"./UrdfVisual":42}],37:[function(e,t,i){var n=e("./UrdfColor");function r(e){this.textureFilename=null,this.color=null,this.name=e.xml.getAttribute("name");var t=e.xml.getElementsByTagName("texture"),t=(0<t.length&&(this.textureFilename=t[0].getAttribute("filename")),e.xml.getElementsByTagName("color"));0<t.length&&(this.color=new n({xml:t[0]}))}r.prototype.isLink=function(){return null===this.color&&null===this.textureFilename};var s=e("object-assign");r.prototype.assign=function(e){return s(this,e)},t.exports=r},{"./UrdfColor":33,"object-assign":3}],38:[function(e,t,i){var n=e("../math/Vector3"),r=e("./UrdfTypes");t.exports=function(e){this.scale=null,this.type=r.URDF_MESH,this.filename=e.xml.getAttribute("filename"),(e=e.xml.getAttribute("scale"))&&(e=e.split(" "),this.scale=new n({x:parseFloat(e[0]),y:parseFloat(e[1]),z:parseFloat(e[2])}))}},{"../math/Vector3":27,"./UrdfTypes":41}],39:[function(e,t,i){var l=e("./UrdfMaterial"),u=e("./UrdfLink"),h=e("./UrdfJoint"),f=e("@xmldom/xmldom").DOMParser;t.exports=function(e){var t=(e=e||{}).xml,e=e.string,e=(this.materials={},this.links={},this.joints={},(t=e?(new f).parseFromString(e,"text/xml"):t).documentElement);this.name=e.getAttribute("name");for(var i=e.childNodes,n=0;n<i.length;n++){var r=i[n];if("material"===r.tagName){var s=new l({xml:r});void 0!==this.materials[s.name]?this.materials[s.name].isLink()?this.materials[s.name].assign(s):console.warn("Material "+s.name+"is not unique."):this.materials[s.name]=s}else if("link"===r.tagName){var o=new u({xml:r});if(void 0!==this.links[o.name])console.warn("Link "+o.name+" is not unique.");else{for(var a=0;a<o.visuals.length;a++){var c=o.visuals[a].material;null!==c&&c.name&&(void 0!==this.materials[c.name]?o.visuals[a].material=this.materials[c.name]:this.materials[c.name]=c)}this.links[o.name]=o}}else"joint"===r.tagName&&(s=new h({xml:r}),this.joints[s.name]=s)}}},{"./UrdfJoint":35,"./UrdfLink":36,"./UrdfMaterial":37,"@xmldom/xmldom":45}],40:[function(e,t,i){var n=e("./UrdfTypes");t.exports=function(e){this.type=n.URDF_SPHERE,this.radius=parseFloat(e.xml.getAttribute("radius"))}},{"./UrdfTypes":41}],41:[function(e,t,i){t.exports={URDF_SPHERE:0,URDF_BOX:1,URDF_CYLINDER:2,URDF_MESH:3}},{}],42:[function(e,t,i){var p=e("../math/Pose"),m=e("../math/Vector3"),v=e("../math/Quaternion"),d=e("./UrdfCylinder"),y=e("./UrdfBox"),g=e("./UrdfMaterial"),b=e("./UrdfMesh"),w=e("./UrdfSphere");t.exports=function(e){var t,i,n,r,s=e.xml;this.origin=null,this.geometry=null,this.material=null,this.name=e.xml.getAttribute("name");0===(e=s.getElementsByTagName("origin")).length?this.origin=new p:(h=e[0].getAttribute("xyz"),t=new m,h&&(h=h.split(" "),t=new m({x:parseFloat(h[0]),y:parseFloat(h[1]),z:parseFloat(h[2])})),h=e[0].getAttribute("rpy"),e=new v,h&&(h=h.split(" "),r=parseFloat(h[0])/2,o=parseFloat(h[1])/2,h=parseFloat(h[2])/2,f=Math.sin(r)*Math.cos(o)*Math.cos(h)-Math.cos(r)*Math.sin(o)*Math.sin(h),i=Math.cos(r)*Math.sin(o)*Math.cos(h)+Math.sin(r)*Math.cos(o)*Math.sin(h),n=Math.cos(r)*Math.cos(o)*Math.sin(h)-Math.sin(r)*Math.sin(o)*Math.cos(h),r=Math.cos(r)*Math.cos(o)*Math.cos(h)+Math.sin(r)*Math.sin(o)*Math.sin(h),(e=new v({x:f,y:i,z:n,w:r})).normalize()),this.origin=new p({position:t,orientation:e}));var o=s.getElementsByTagName("geometry");if(0<o.length){for(var a=o[0],c=null,l=0;l<a.childNodes.length;l++){var u=a.childNodes[l];if(1===u.nodeType){c=u;break}}var h=c.nodeName;"sphere"===h?this.geometry=new w({xml:c}):"box"===h?this.geometry=new y({xml:c}):"cylinder"===h?this.geometry=new d({xml:c}):"mesh"===h?this.geometry=new b({xml:c}):console.warn("Unknown geometry type "+h)}var f=s.getElementsByTagName("material");0<f.length&&(this.material=new g({xml:f[0]}))}},{"../math/Pose":24,"../math/Quaternion":25,"../math/Vector3":27,"./UrdfBox":32,"./UrdfCylinder":34,"./UrdfMaterial":37,"./UrdfMesh":38,"./UrdfSphere":40}],43:[function(e,t,i){t.exports=e("object-assign")({UrdfBox:e("./UrdfBox"),UrdfColor:e("./UrdfColor"),UrdfCylinder:e("./UrdfCylinder"),UrdfLink:e("./UrdfLink"),UrdfMaterial:e("./UrdfMaterial"),UrdfMesh:e("./UrdfMesh"),UrdfModel:e("./UrdfModel"),UrdfSphere:e("./UrdfSphere"),UrdfVisual:e("./UrdfVisual")},e("./UrdfTypes"))},{"./UrdfBox":32,"./UrdfColor":33,"./UrdfCylinder":34,"./UrdfLink":36,"./UrdfMaterial":37,"./UrdfMesh":38,"./UrdfModel":39,"./UrdfSphere":40,"./UrdfTypes":41,"./UrdfVisual":42,"object-assign":3}],44:[function(e,t,i){"use strict";var u=Math.pow(2,32),n=!1;function h(){n||(n=!0,console.warn("CBOR 64-bit integer array values may lose precision. No further warnings."))}var r={64:Uint8Array,69:Uint16Array,70:Uint32Array,72:Int8Array,77:Int16Array,78:Int32Array,85:Float32Array,86:Float64Array},s={71:function(e){h();for(var t=e.byteLength,i=e.byteOffset,n=t/8,e=e.buffer.slice(i,i+t),r=new Uint32Array(e),s=new Array(n),o=0;o<n;o++){var a=2*o,c=r[a],a=r[1+a];s[o]=c+u*a}return s},79:function(e){h();for(var t=e.byteLength,i=e.byteOffset,n=t/8,e=e.buffer.slice(i,i+t),r=new Uint32Array(e),s=new Int32Array(e),o=new Array(n),a=0;a<n;a++){var c=2*a,l=r[c],c=s[1+c];o[a]=l+u*c}return o}};void 0!==t&&t.exports&&(t.exports=function(e,t){var i,n;return t in r?(i=e.byteLength,n=e.byteOffset,new r[t](e.buffer.slice(n,n+i))):t in s?s[t](e):e})},{}],45:[function(e,t,i){i.DOMImplementation=window.DOMImplementation,i.XMLSerializer=window.XMLSerializer,i.DOMParser=window.DOMParser},{}],46:[function(e,t,i){t.exports="undefined"!=typeof window?window.WebSocket:WebSocket},{}],47:[function(e,t,i){t.exports=function(){return document.createElement("canvas")}},{}],48:[function(e,t,i){"use strict";var a=e("canvas"),n=a.Image||window.Image;t.exports=function(e,s){var o=new n;o.onload=function(){for(var e=new a,t=e.getContext("2d"),i=(e.width=o.width,e.height=o.height,t.imageSmoothingEnabled=!1,t.webkitImageSmoothingEnabled=!1,t.mozImageSmoothingEnabled=!1,t.drawImage(o,0,0),t.getImageData(0,0,o.width,o.height).data),n="",r=0;r<i.length;r+=4)n+=String.fromCharCode(i[r],i[r+1],i[r+2]);s(JSON.parse(n))},o.src="data:image/png;base64,"+e}},{canvas:47}],49:[function(t,e,i){try{var n=t("webworkify")}catch(e){n=t("webworkify-webpack")}var r=t("./workerSocketImpl");function s(e){this.socket_=n(r),this.socket_.addEventListener("message",this.handleWorkerMessage_.bind(this)),this.socket_.postMessage({uri:e})}s.prototype.handleWorkerMessage_=function(e){var t=e.data;if(t instanceof ArrayBuffer||"string"==typeof t)this.onmessage(e);else{e=t.type;if("close"===e)this.onclose(null);else if("open"===e)this.onopen(null);else{if("error"!==e)throw"Unknown message from workersocket";this.onerror(null)}}},s.prototype.send=function(e){this.socket_.postMessage(e)},s.prototype.close=function(){this.socket_.postMessage({close:!0})},e.exports=s},{"./workerSocketImpl":50,webworkify:7,"webworkify-webpack":6}],50:[function(e,t,i){var s=e("ws");t.exports=function(t){var i=null;function n(e){e=e.data;e instanceof ArrayBuffer?t.postMessage(e,[e]):t.postMessage(e)}function r(e){t.postMessage({type:e.type})}t.addEventListener("message",function(e){e=e.data;if("string"==typeof e)i.send(e);else if(e.hasOwnProperty("close"))i.close(),i=null;else{if(!e.hasOwnProperty("uri"))throw"Unknown message to WorkerSocket";e=e.uri;(i=new s(e)).binaryType="arraybuffer",i.onmessage=n,i.onclose=r,i.onopen=r,i.onerror=r}})}},{ws:46}]},{},[9]);
\ No newline at end of file
diff --git a/src/server/src/main/resources/test.html b/src/server/src/main/resources/test.html
new file mode 100644
index 0000000..e6c4170
--- /dev/null
+++ b/src/server/src/main/resources/test.html
@@ -0,0 +1,59 @@
+<!DOCTYPE html>
+<html>
+<head>
+<meta charset="utf-8" />
+
+<script type="text/javascript" src="./em.js"></script>
+<script type="text/javascript" src="./roslib.min.js"></script>
+
+<script type="text/javascript" type="text/javascript">
+  // Connecting to ROS
+  // -----------------
+
+  var ros = new ROSLIB.Ros({
+    url : 'ws://192.168.43.20:9090'
+  });
+
+  ros.on('connection', function() {
+    console.log('Connected to websocket server.');
+  });
+
+  ros.on('error', function(error) {
+    console.log('Error connecting to websocket server: ', error);
+  });
+
+  ros.on('close', function() {
+    console.log('Connection to websocket server closed.');
+  });
+
+  // Publishing a Topic
+  // ------------------
+
+  var cmdVel = new ROSLIB.Topic({
+    ros : ros,
+    name : '/cmd_vel',
+    messageType : 'geometry_msgs/Twist'
+  });
+
+  var twist = new ROSLIB.Message({
+    linear : {
+      x : 0.1,
+      y : 0.2,
+      z : 0.3
+    },
+    angular : {
+      x : -0.1,
+      y : -0.2,
+      z : -0.3
+    }
+  });
+  cmdVel.publish(twist);
+
+</script>
+</head>
+
+<body>
+  <h1>Simple roslib Example</h1>
+  <p>Check your Web Console for output.</p>
+</body>
+</html>
diff --git a/src/server/src/main/resources/test.js b/src/server/src/main/resources/test.js
new file mode 100644
index 0000000..0bf1978
--- /dev/null
+++ b/src/server/src/main/resources/test.js
@@ -0,0 +1,97 @@
+
+   // document.write('<script type="text/javascript" src="http://cdn.robotwebtools.org/EventEmitter2/current/eventemitter2.min.js"></script>\n');
+   // document.write('<script type="text/javascript" src="http://cdn.robotwebtools.org/roslibjs/current/roslib.min.js"></script>\n');
+
+    var ros = new ROSLIB.Ros({
+    url : 'ws://192.168.43.20:9090'
+});
+
+    ros.on('connection', function() {
+    console.log('Connected to websocket server.');
+});
+
+    ros.on('error', function(error) {
+    console.log('Error connecting to websocket server: ', error);
+});
+
+    ros.on('close', function() {
+    console.log('Connection to websocket server closed.');
+});
+   var move_base= new ROSLIB.ActionClient({
+       ros : ros,
+       serverName : '/move_base',
+       actionName : 'move_base_msgs/MoveBaseAction'
+   });
+
+   var currentTime = new Date();
+   var secs = Math.floor(currentTime.getTime()/1000)
+   var nsecs = Math.round(1000000000*(currentTime.getTime()/1000-secs))
+
+   var goal = new ROSLIB.Goal({
+       actionClient: move_base,
+       goalMessage:{
+           target_pose:{
+               header:{
+                   frame_id:'map',
+                   stamp:{
+                       secs: secs,
+                       nsecs:nsecs
+                   }
+               },
+               pose:{
+                   position:{
+                       x:-3.97,   //-0.743    -0.0273   取件点
+                       y:1.68,  //3.00        -0.09
+                       z:0.000
+                   },
+                   orientation:{
+                       x:0.000,
+                       y:0.000,
+                       z:0.000,
+                       w:1.000
+                   }
+               }
+           }
+       }
+   });
+   goal.on('feedback', function(feedback) {
+       console.log('Feedback: ' + feedback.sequence);
+   });
+
+   goal.on('result', function(result) {
+       console.log('Final Result: ' + result.sequence);
+   });
+
+   ros.on('connection', function() {
+       console.log('Connected to websocket server.');
+   });
+
+   ros.on('error', function(error) {
+       console.log('Error connecting to websocket server: ', error);
+   });
+
+   ros.on('close', function() {
+       console.log('Connection to websocket server closed.');
+   });
+
+   //goal.send();
+    var cmdVel = new ROSLIB.Topic({
+        ros : ros,
+        name : '/cmd_vel',
+        messageType : 'geometry_msgs/Twist'
+    });
+
+    var twist = new ROSLIB.Message({
+        linear : {
+            x : 0.1,
+            y : 0.2,
+            z : 0.3
+        },
+        angular : {
+            x : -0.1,
+            y : -0.2,
+            z : -0.3
+        }
+    });
+    cmdVel.publish(twist);
+
diff --git a/src/server/src/test/java/com/example/testdemo/TestdemoApplicationTests.java b/src/server/src/test/java/com/example/testdemo/TestdemoApplicationTests.java
new file mode 100644
index 0000000..7558b00
--- /dev/null
+++ b/src/server/src/test/java/com/example/testdemo/TestdemoApplicationTests.java
@@ -0,0 +1,13 @@
+package com.example.testdemo;
+
+import org.junit.jupiter.api.Test;
+import org.springframework.boot.test.context.SpringBootTest;
+
+@SpringBootTest
+class TestdemoApplicationTests {
+
+    @Test
+    void contextLoads() {
+    }
+
+}

From d1f1936b09db56d3673bf66c09f5a345c93b7686 Mon Sep 17 00:00:00 2001
From: Xie Changrong <1225674957@qq.com>
Date: Sun, 12 Jun 2022 20:56:17 +0800
Subject: [PATCH 2/3] update

---
 ...�流管理系统需求构思及描述.docx | Bin 0 -> 162 bytes
 src/Logistics/.idea/misc.xml                  |   3 +-
 .../app/src/main/AndroidManifest.xml          |   2 +-
 .../logistics/manager/userManager.java        |  97 +++++++++
 .../example/logistics/ui/LoginActivity.java   | 200 ++++++++++++++++++
 .../example/logistics/ui/MainActivity.java    |  91 --------
 .../java/com/example/logistics/ui/MeUI.java   |   5 +-
 .../com/example/logistics/ui/PickUpUI.java    |   1 -
 .../example/logistics/ui/SignUpActivity.java  |   4 +-
 .../app/src/main/res/layout/activity_main.xml |  25 ++-
 .../app/src/main/res/layout/forget.xml        |  37 ++++
 11 files changed, 364 insertions(+), 101 deletions(-)
 create mode 100644 doc/~$无人物流管理系统需求构思及描述.docx
 create mode 100644 src/Logistics/app/src/main/java/com/example/logistics/ui/LoginActivity.java
 delete mode 100644 src/Logistics/app/src/main/java/com/example/logistics/ui/MainActivity.java
 create mode 100644 src/Logistics/app/src/main/res/layout/forget.xml

diff --git a/doc/~$无人物流管理系统需求构思及描述.docx b/doc/~$无人物流管理系统需求构思及描述.docx
new file mode 100644
index 0000000000000000000000000000000000000000..17560ba09dd561c2cd7ca0d90f235b72783af9bf
GIT binary patch
literal 162
zcmZRsNG@U^889<cFeEb|G(K2u;q!@+fq}mnNFV_wC>thzST*OhT*?i`PY=}h-w$D6
cSnndi>sNOJt|?4@mE-Sv1_n`>8H^1K0Gt{WeE<Le

literal 0
HcmV?d00001

diff --git a/src/Logistics/.idea/misc.xml b/src/Logistics/.idea/misc.xml
index 1c17b84..7bf2527 100644
--- a/src/Logistics/.idea/misc.xml
+++ b/src/Logistics/.idea/misc.xml
@@ -17,13 +17,14 @@
         <entry key="..\:/shijianer/xcr_se/src/Logistics/app/src/main/res/drawable/translucent_button.xml" value="0.194" />
         <entry key="..\:/shijianer/xcr_se/src/Logistics/app/src/main/res/drawable/translucent_edit.xml" value="0.1135" />
         <entry key="..\:/shijianer/xcr_se/src/Logistics/app/src/main/res/layout/activity_history.xml" value="0.22" />
-        <entry key="..\:/shijianer/xcr_se/src/Logistics/app/src/main/res/layout/activity_main.xml" value="0.10235507246376811" />
+        <entry key="..\:/shijianer/xcr_se/src/Logistics/app/src/main/res/layout/activity_main.xml" value="0.1" />
         <entry key="..\:/shijianer/xcr_se/src/Logistics/app/src/main/res/layout/activity_main2.xml" value="0.10235507246376811" />
         <entry key="..\:/shijianer/xcr_se/src/Logistics/app/src/main/res/layout/activity_menu.xml" value="0.33" />
         <entry key="..\:/shijianer/xcr_se/src/Logistics/app/src/main/res/layout/activity_no_pick.xml" value="0.2" />
         <entry key="..\:/shijianer/xcr_se/src/Logistics/app/src/main/res/layout/activity_sign_up.xml" value="0.10235507246376811" />
         <entry key="..\:/shijianer/xcr_se/src/Logistics/app/src/main/res/layout/activity_wait.xml" value="0.18" />
         <entry key="..\:/shijianer/xcr_se/src/Logistics/app/src/main/res/layout/buttom.xml" value="0.10235507246376811" />
+        <entry key="..\:/shijianer/xcr_se/src/Logistics/app/src/main/res/layout/forget.xml" value="0.2630208333333333" />
         <entry key="..\:/shijianer/xcr_se/src/Logistics/app/src/main/res/layout/fragment_my.xml" value="0.10235507246376811" />
         <entry key="..\:/shijianer/xcr_se/src/Logistics/app/src/main/res/layout/item.xml" value="0.22" />
         <entry key="..\:/shijianer/xcr_se/src/Logistics/app/src/main/res/layout/my_fragment1.xml" value="0.1" />
diff --git a/src/Logistics/app/src/main/AndroidManifest.xml b/src/Logistics/app/src/main/AndroidManifest.xml
index fc78965..bb8590b 100644
--- a/src/Logistics/app/src/main/AndroidManifest.xml
+++ b/src/Logistics/app/src/main/AndroidManifest.xml
@@ -25,7 +25,7 @@
             android:name=".ui.MenuActivity"
             android:exported="false" />
         <activity
-            android:name=".ui.MainActivity"
+            android:name=".ui.LoginActivity"
             android:exported="true">
             <intent-filter>
                 <action android:name="android.intent.action.MAIN" />
diff --git a/src/Logistics/app/src/main/java/com/example/logistics/manager/userManager.java b/src/Logistics/app/src/main/java/com/example/logistics/manager/userManager.java
index 0f50cf0..9a88384 100644
--- a/src/Logistics/app/src/main/java/com/example/logistics/manager/userManager.java
+++ b/src/Logistics/app/src/main/java/com/example/logistics/manager/userManager.java
@@ -75,6 +75,65 @@ public class userManager {
         return msg;
     }
 
+    public int loginByPhone(String phonenum, String password){
+        HashMap<String, Object> map = new HashMap<>();
+
+        Connection connection = DBOpenHelper.getConn();
+
+        int msg = 0;
+        try{
+            String sql = "select * from users where phonenum = ?";
+
+            if(connection != null){
+                PreparedStatement ps = connection.prepareStatement(sql);
+                if(ps != null){
+                    Log.e(TAG, "phonenum: " + phonenum);
+                    ps.setString(1,phonenum);
+                    ResultSet rs = ps.executeQuery();
+
+                    int count = rs.getMetaData().getColumnCount();
+                    while(rs.next()){
+                        for(int i = 1; i <= count; i++){
+                            String field = rs.getMetaData().getColumnName(i);
+                            map.put(field, rs.getString(field));
+                        }
+                    }
+                    connection.close();
+                    ps.close();
+                    password = MD5Utils.md5(password);
+                    if(map.size() != 0){
+                        StringBuilder s = new StringBuilder();
+                        for(String key:map.keySet()){
+                            if(key.equals("password")){
+
+                                if(password.equals(map.get(key))){
+                                    msg = 1;        //password correct
+                                }else{
+                                    msg = 2;        //password incorrect
+                                }
+                                break;
+                            }
+                        }
+                    }else{
+                        Log.e(TAG, "result is null");
+                        msg = 3;                    //result is null
+                    }
+                }else{
+                    Log.e(TAG, "ps is null");
+                    msg = 0;
+                }
+            }else{
+                Log.e(TAG, "connection is null");
+                msg = 0;
+            }
+        }catch (Exception e){
+            e.printStackTrace();
+            Log.d(TAG, "login bug: " + e.getMessage());
+            msg = 0;
+        }
+        return msg;
+    }
+
     public User findUser(String username){
 
         Connection connection = DBOpenHelper.getConn();
@@ -137,4 +196,42 @@ public class userManager {
         }
     }
 
+    public int change(String phonenum, String password){
+        HashMap<String, Object> map = new HashMap<>();
+
+        Connection connection = DBOpenHelper.getConn();
+
+        int msg = 0;
+        try{
+            String sql = "update users set password = ? where phonenum = ?";
+
+            if(connection != null){
+                PreparedStatement ps = connection.prepareStatement(sql);
+                if(ps != null){
+                    Log.e(TAG, "phonenum: " + phonenum);
+                    password = MD5Utils.md5(password);
+                    ps.setString(1,password);
+
+                    ps.setString(2,phonenum);
+                    ps.executeUpdate();
+                    connection.close();
+                    ps.close();
+                    msg = 1;
+
+                }else{
+                    Log.e(TAG, "ps is null");
+                    msg = 0;
+                }
+            }else{
+                Log.e(TAG, "connection is null");
+                msg = 0;
+            }
+        }catch (Exception e){
+            e.printStackTrace();
+            Log.d(TAG, "login bug: " + e.getMessage());
+            msg = 0;
+        }
+        return msg;
+    }
+
 }
diff --git a/src/Logistics/app/src/main/java/com/example/logistics/ui/LoginActivity.java b/src/Logistics/app/src/main/java/com/example/logistics/ui/LoginActivity.java
new file mode 100644
index 0000000..7b4ba8d
--- /dev/null
+++ b/src/Logistics/app/src/main/java/com/example/logistics/ui/LoginActivity.java
@@ -0,0 +1,200 @@
+package com.example.logistics.ui;
+
+import com.example.logistics.R;
+import com.example.logistics.manager.goodManager;
+import com.example.logistics.manager.operationManager;
+import com.example.logistics.manager.userManager;
+import com.example.logistics.entity.User;
+
+import android.annotation.SuppressLint;
+import android.app.Activity;
+import android.app.AlertDialog;
+import android.content.DialogInterface;
+import android.content.Intent;
+import android.os.Bundle;
+import android.os.Handler;
+import android.os.Message;
+import android.util.Log;
+import android.view.View;
+import android.widget.Button;
+import android.widget.EditText;
+import android.widget.Toast;
+
+import org.json.JSONException;
+import org.json.JSONObject;
+
+
+public class LoginActivity extends Activity {
+
+    private int islogin = 0;
+    private Button loginButton;
+    private Button signUpButton;
+    private Button forgetButton;
+    private Button phonenumButton;
+    private AlertDialog alert;
+    private Button changeButton;
+    private EditText fphonenum;
+    private EditText fpassword;
+    int flag = 0; //flag = 0 是用户名登录；=1是手机号
+
+    // 调用Actvity
+    private String TAG = "LoginActivity";
+    @Override
+    protected void onCreate(Bundle savedInstanceState) {
+        super.onCreate(savedInstanceState);
+        setContentView(R.layout.activity_main);
+
+        loginButton = (Button) this.findViewById(R.id.LoginButton);
+        signUpButton = (Button) this.findViewById(R.id.SignUpButton);
+        forgetButton = (Button) this.findViewById(R.id.forget);
+        phonenumButton = (Button) this.findViewById(R.id.phonenum);
+
+
+        AlertDialog.Builder builder = new AlertDialog.Builder(LoginActivity.this);
+
+        View view2 = View.inflate(LoginActivity.this, R.layout.forget, null);
+
+        builder.setTitle("取件").setView(view2);
+
+        alert = builder.create();
+
+        changeButton = (Button) view2.findViewById(R.id.change);
+        fphonenum = (EditText) view2.findViewById(R.id.fphonenum);
+        fpassword = (EditText) view2.findViewById(R.id.fpassword);
+
+        loginButton.setOnClickListener(
+                new View.OnClickListener() {
+                    @Override
+                    public void onClick(View v) {
+                        login(v);
+                        Log.d(TAG, "login");
+                    }
+                }
+        );
+
+        signUpButton.setOnClickListener(
+                new View.OnClickListener() {
+                    @Override
+                    public void onClick(View v) {
+                        Intent intent = new Intent(LoginActivity.this, SignUpActivity.class);
+                        Log.d(TAG, "signup");
+                        startActivity(intent);
+                    }
+                }
+        );
+
+        forgetButton.setOnClickListener(
+                new View.OnClickListener() {
+                    @Override
+                    public void onClick(View view) {
+                        alert.show();
+                        changeButton.setOnClickListener(
+                                new View.OnClickListener() {
+                                    @Override
+                                    public void onClick(View view) {
+                                        Log.d(TAG, "change password");
+                                        change(view);
+                                    }
+                                }
+                        );
+                    }
+                }
+        );
+
+        EditText userName = (EditText) this.findViewById(R.id.UserNameEdit);
+        phonenumButton.setOnClickListener(
+                new View.OnClickListener() {
+                    @Override
+                    public void onClick(View view) {
+                        userName.setHint("请输入手机号");
+                        flag = 1;
+                    }
+                }
+        );
+
+    }
+
+    public void change(View view){
+        String phoneunm = fphonenum.getText().toString().trim();
+        String password = fpassword.getText().toString().trim();
+        new Thread() {
+            @Override
+            public void run() {
+                userManager userManager = new userManager();
+
+                int msg = userManager.change(phoneunm, password);
+
+                Log.d(TAG, "change");
+                if(msg != 1){
+                    Log.d(TAG, "pickup,failed");
+                    hand2.sendEmptyMessage(msg);
+                    return;
+                }
+                Log.d(TAG, "change,success");
+
+                hand2.sendEmptyMessage(msg);
+            }
+        }.start();
+    }
+
+    public void login(View view){
+        EditText userName = (EditText) this.findViewById(R.id.UserNameEdit);
+        EditText passWord = (EditText) this.findViewById(R.id.PassWordEdit);
+
+        new Thread(){
+            @Override
+            public void run(){
+                userManager userManager = new userManager();
+                int msg = 0;
+                if(flag == 0){
+                    msg = userManager.login(userName.getText().toString().trim(), passWord.getText().toString().trim());
+                }else if(flag == 1){
+                    msg = userManager.loginByPhone(userName.getText().toString().trim(), passWord.getText().toString().trim());
+
+                }
+                Log.e("MAin", "msg");
+                hand1.sendEmptyMessage(msg);
+                if(msg == 1){
+                    User owner = userManager.findUser(userName.getText().toString().trim());
+                    Intent intent = new Intent(LoginActivity.this, MenuActivity.class);
+                    if(flag == 1){
+                        intent.putExtra("user", userName.getText().toString().trim());
+                    }else{
+                        intent.putExtra("user", owner.getPhoneNum());
+                    }
+                    startActivity(intent);
+                    finish();
+                }
+            }
+        }.start();
+    }
+
+    @SuppressLint("HandlerLeak")
+    final Handler hand1 = new Handler(){
+        @Override
+        public void handleMessage(Message msg){
+            if(msg.what == 0){
+                Toast.makeText(getApplicationContext(), "登录失败", Toast.LENGTH_SHORT).show();
+            }else if(msg.what == 1){
+                Toast.makeText(getApplicationContext(), "登录成功", Toast.LENGTH_SHORT).show();
+                islogin = 1;
+            }else if(msg.what == 2){
+                Toast.makeText(getApplicationContext(), "密码错误", Toast.LENGTH_SHORT).show();
+            }else if(msg.what == 3){
+                Toast.makeText(getApplicationContext(), "账号不存在", Toast.LENGTH_SHORT).show();
+            }
+        }
+    };
+    @SuppressLint("HandlerLeak")
+    final Handler hand2 = new Handler() {
+        @Override
+        public void handleMessage(Message msg) {
+            if(msg.what == 0){
+                Toast.makeText(LoginActivity.this, "修改失败", Toast.LENGTH_SHORT).show();
+            }else if(msg.what == 1) {
+                Toast.makeText(LoginActivity.this, "修改成功", Toast.LENGTH_SHORT).show();
+            }
+        }
+    };
+
+}
\ No newline at end of file
diff --git a/src/Logistics/app/src/main/java/com/example/logistics/ui/MainActivity.java b/src/Logistics/app/src/main/java/com/example/logistics/ui/MainActivity.java
deleted file mode 100644
index b2e3517..0000000
--- a/src/Logistics/app/src/main/java/com/example/logistics/ui/MainActivity.java
+++ /dev/null
@@ -1,91 +0,0 @@
-package com.example.logistics.ui;
-
-import com.example.logistics.R;
-import com.example.logistics.manager.userManager;
-import com.example.logistics.entity.User;
-
-import android.annotation.SuppressLint;
-import android.app.Activity;
-import android.content.Intent;
-import android.os.Bundle;
-import android.os.Handler;
-import android.os.Message;
-import android.util.Log;
-import android.view.View;
-import android.widget.Button;
-import android.widget.EditText;
-import android.widget.Toast;
-
-
-public class MainActivity extends Activity {
-
-    private int islogin = 0;
-    // 调用Actvity
-    @Override
-    protected void onCreate(Bundle savedInstanceState) {
-        super.onCreate(savedInstanceState);
-        setContentView(R.layout.activity_main);
-
-        Button loginButton = (Button) this.findViewById(R.id.LoginButton);
-        Button signUpButton = (Button) this.findViewById(R.id.SignUpButton);
-
-        loginButton.setOnClickListener(
-                new View.OnClickListener() {
-                    @Override
-                    public void onClick(View v) {
-                        login(v);
-                    }
-                }
-        );
-        signUpButton.setOnClickListener(
-                new View.OnClickListener() {
-                    @Override
-                    public void onClick(View v) {
-                        Intent intent = new Intent(MainActivity.this, SignUpActivity.class);
-                        startActivity(intent);
-                    }
-                }
-        );
-
-    }
-
-    public void login(View view){
-        EditText userName = (EditText) this.findViewById(R.id.UserNameEdit);
-        EditText passWord = (EditText) this.findViewById(R.id.PassWordEdit);
-
-        new Thread(){
-            @Override
-            public void run(){
-                userManager userManager = new userManager();
-                int msg = userManager.login(userName.getText().toString().trim(), passWord.getText().toString().trim());
-                Log.e("MAin", "msg");
-                hand1.sendEmptyMessage(msg);
-                if(msg == 1){
-                    User owner = userManager.findUser(userName.getText().toString().trim());
-                    Intent intent = new Intent(MainActivity.this, MenuActivity.class);
-                    intent.putExtra("user", owner.getPhoneNum());
-                    startActivity(intent);
-                    finish();
-                }
-            }
-        }.start();
-    }
-
-    @SuppressLint("HandlerLeak")
-    final Handler hand1 = new Handler(){
-        @Override
-        public void handleMessage(Message msg){
-            if(msg.what == 0){
-                Toast.makeText(getApplicationContext(), "登录失败", Toast.LENGTH_SHORT).show();
-            }else if(msg.what == 1){
-                Toast.makeText(getApplicationContext(), "登录成功", Toast.LENGTH_SHORT).show();
-                islogin = 1;
-            }else if(msg.what == 2){
-                Toast.makeText(getApplicationContext(), "密码错误", Toast.LENGTH_SHORT).show();
-            }else if(msg.what == 3){
-                Toast.makeText(getApplicationContext(), "账号不存在", Toast.LENGTH_SHORT).show();
-            }
-        }
-    };
-
-}
\ No newline at end of file
diff --git a/src/Logistics/app/src/main/java/com/example/logistics/ui/MeUI.java b/src/Logistics/app/src/main/java/com/example/logistics/ui/MeUI.java
index 84e6ba6..f49574c 100644
--- a/src/Logistics/app/src/main/java/com/example/logistics/ui/MeUI.java
+++ b/src/Logistics/app/src/main/java/com/example/logistics/ui/MeUI.java
@@ -9,15 +9,12 @@ import android.view.LayoutInflater;
 import android.view.View;
 import android.view.ViewGroup;
 import android.widget.LinearLayout;
-import android.widget.TextView;
 import android.widget.Toast;
 
 import androidx.annotation.Nullable;
 
 import com.example.logistics.R;
 
-import org.w3c.dom.Text;
-
 public class MeUI extends Fragment implements View.OnClickListener{
     private LinearLayout ll_waiting;
     private LinearLayout ll_history;
@@ -67,7 +64,7 @@ public class MeUI extends Fragment implements View.OnClickListener{
                 break;
             case R.id.exit:
                 Toast.makeText(mContext, "exit", Toast.LENGTH_SHORT).show();
-                intent = new Intent(mContext, MainActivity.class);
+                intent = new Intent(mContext, LoginActivity.class);
                 startActivity(intent);
                 getActivity().finish();
                 break;
diff --git a/src/Logistics/app/src/main/java/com/example/logistics/ui/PickUpUI.java b/src/Logistics/app/src/main/java/com/example/logistics/ui/PickUpUI.java
index d0d0912..0ffd4f1 100644
--- a/src/Logistics/app/src/main/java/com/example/logistics/ui/PickUpUI.java
+++ b/src/Logistics/app/src/main/java/com/example/logistics/ui/PickUpUI.java
@@ -211,7 +211,6 @@ public class PickUpUI extends Fragment implements View.OnClickListener{
 
         builder.setTitle("取件").setView(view2);
 
-
         alert2 = builder.create();
         alert2.show();
         button.setOnClickListener(new View.OnClickListener() {
diff --git a/src/Logistics/app/src/main/java/com/example/logistics/ui/SignUpActivity.java b/src/Logistics/app/src/main/java/com/example/logistics/ui/SignUpActivity.java
index d63254a..55ef479 100644
--- a/src/Logistics/app/src/main/java/com/example/logistics/ui/SignUpActivity.java
+++ b/src/Logistics/app/src/main/java/com/example/logistics/ui/SignUpActivity.java
@@ -38,7 +38,7 @@ public class SignUpActivity extends Activity {
                     @Override
                     public void onClick(View v) {
                         // 跳转到登录界面
-                        Intent intent = new Intent(SignUpActivity.this, MainActivity.class);
+                        Intent intent = new Intent(SignUpActivity.this, LoginActivity.class);
                         startActivity(intent);
                     }
                 }
@@ -106,7 +106,7 @@ public class SignUpActivity extends Activity {
                 Toast.makeText(getApplicationContext(), "该账号已存在，请换一个注册", Toast.LENGTH_SHORT).show();
             }else if(msg.what == 2){
                 Toast.makeText(getApplicationContext(), "注册成功", Toast.LENGTH_SHORT).show();
-                Intent intent = new Intent(SignUpActivity.this, MainActivity.class);
+                Intent intent = new Intent(SignUpActivity.this, LoginActivity.class);
                 startActivity(intent);
             }
         }
diff --git a/src/Logistics/app/src/main/res/layout/activity_main.xml b/src/Logistics/app/src/main/res/layout/activity_main.xml
index 939e667..9e033a5 100644
--- a/src/Logistics/app/src/main/res/layout/activity_main.xml
+++ b/src/Logistics/app/src/main/res/layout/activity_main.xml
@@ -3,7 +3,7 @@
     xmlns:tools="http://schemas.android.com/tools"
     android:layout_width="match_parent"
     android:layout_height="match_parent"
-    tools:context="com.example.logistics.ui.MainActivity">
+    tools:context="com.example.logistics.ui.LoginActivity">
     <!--使用线性布局-->
     <LinearLayout
         android:id="@+id/linearLayout2"
@@ -110,6 +110,29 @@
 
             </LinearLayout>
 
+            <LinearLayout
+                android:layout_width="match_parent"
+                android:layout_height="wrap_content">
+
+                <Button
+                    android:id="@+id/forget"
+                    android:layout_width="wrap_content"
+                    android:layout_height="20dp"
+                    android:layout_marginLeft="15dp"
+                    android:background="#F5F5F5"
+                    android:text="忘记密码" />
+
+
+                <Button
+                    android:id="@+id/phonenum"
+                    android:layout_width="249dp"
+                    android:layout_height="20dp"
+                    android:background="#F5F5F5"
+                    android:gravity="right"
+                    android:text="手机号登录" />
+
+            </LinearLayout>
+
         </LinearLayout>
     </LinearLayout>
 
diff --git a/src/Logistics/app/src/main/res/layout/forget.xml b/src/Logistics/app/src/main/res/layout/forget.xml
new file mode 100644
index 0000000..acc385b
--- /dev/null
+++ b/src/Logistics/app/src/main/res/layout/forget.xml
@@ -0,0 +1,37 @@
+<?xml version="1.0" encoding="utf-8"?>
+<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    android:orientation="vertical"
+    android:layout_width="match_parent"
+    android:layout_height="match_parent"
+    android:gravity="center">
+
+    <LinearLayout
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:orientation="horizontal">
+        <EditText
+            android:layout_width="200dp"
+            android:layout_height="wrap_content"
+            android:id="@+id/fphonenum"
+            android:hint="请输入注册时手机号"
+            />
+    </LinearLayout>
+
+    <LinearLayout
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:orientation="horizontal">
+        <EditText
+            android:layout_width="200dp"
+            android:layout_height="wrap_content"
+            android:id="@+id/fpassword"
+            android:hint="请输入新密码"
+            />
+    </LinearLayout>
+    <Button
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:text="修改"
+        android:id="@+id/change"/>
+
+</LinearLayout>
\ No newline at end of file

From 69e9e55aacec9b680bcd16999f62343a394c120b Mon Sep 17 00:00:00 2001
From: Xie Changrong <1225674957@qq.com>
Date: Sun, 12 Jun 2022 21:11:19 +0800
Subject: [PATCH 3/3] update

---
 .../example/testdemo/ros/MessageHandler.java  |  26 +
 .../testdemo/ros/message/AudioMsg.java        |   9 +
 .../example/testdemo/ros/message/Clock.java   |  25 +
 .../testdemo/ros/message/Duration.java        |  24 +
 .../ros/message/DurationPrimitive.java        |  25 +
 .../example/testdemo/ros/message/Empty.java   |  24 +
 .../example/testdemo/ros/message/Header.java  |  27 +
 .../com/example/testdemo/ros/message/Log.java |  32 +
 .../example/testdemo/ros/message/Message.java | 202 ++++++
 .../ros/message/MessageException.java         |  32 +
 .../testdemo/ros/message/MessageType.java     |  32 +
 .../testdemo/ros/message/SemanticRequest.java |  13 +
 .../ros/message/SemanticResponse.java         |   9 +
 .../example/testdemo/ros/message/StdMsg.java  |   9 +
 .../example/testdemo/ros/message/Time.java    |  24 +
 .../testdemo/ros/message/TimePrimitive.java   |  26 +
 .../testdemo/ros/rosapi/message/Empty.java    |  27 +
 .../testdemo/ros/rosapi/message/GetTime.java  |  30 +
 .../ros/rosapi/message/MessageDetails.java    |  28 +
 .../testdemo/ros/rosapi/message/Nodes.java    |  28 +
 .../testdemo/ros/rosapi/message/Service.java  |  34 ++
 .../testdemo/ros/rosapi/message/Services.java |  28 +
 .../testdemo/ros/rosapi/message/Topic.java    |  34 ++
 .../testdemo/ros/rosapi/message/Topics.java   |  28 +
 .../testdemo/ros/rosapi/message/Type.java     |  34 ++
 .../testdemo/ros/rosapi/message/TypeDef.java  |  55 ++
 .../ros/rosbridge/FullMessageHandler.java     |  26 +
 .../ros/rosbridge/implementation/Base64.java  | 575 ++++++++++++++++++
 .../ros/rosbridge/implementation/JSON.java    | 335 ++++++++++
 .../implementation/PublishEvent.java          |  24 +
 .../rosbridge/implementation/Registry.java    |  49 ++
 .../ros/rosbridge/indication/AsArray.java     |  30 +
 .../rosbridge/indication/Base64Encoded.java   |  30 +
 .../ros/rosbridge/indication/Indicate.java    |  31 +
 .../ros/rosbridge/indication/Indicated.java   |  31 +
 .../ros/rosbridge/indication/Indication.java  |  83 +++
 .../ros/rosbridge/indication/Indicator.java   |  31 +
 .../ros/rosbridge/operation/Advertise.java    |  35 ++
 .../ros/rosbridge/operation/Authenticate.java |  56 ++
 .../ros/rosbridge/operation/CallService.java  |  41 ++
 .../ros/rosbridge/operation/Fragment.java     |  37 ++
 .../ros/rosbridge/operation/Operation.java    |  77 +++
 .../testdemo/ros/rosbridge/operation/PNG.java |  41 ++
 .../ros/rosbridge/operation/Publish.java      |  40 ++
 .../rosbridge/operation/ServiceResponse.java  |  38 ++
 .../rosbridge/operation/SetStatusLevel.java   |  38 ++
 .../ros/rosbridge/operation/Status.java       |  35 ++
 .../ros/rosbridge/operation/Subscribe.java    |  39 ++
 .../ros/rosbridge/operation/Unadvertise.java  |  33 +
 .../ros/rosbridge/operation/Unsubscribe.java  |  33 +
 .../ros/rosbridge/operation/Wrapper.java      |  33 +
 51 files changed, 2686 insertions(+)
 create mode 100644 src/server/src/main/java/com/example/testdemo/ros/MessageHandler.java
 create mode 100644 src/server/src/main/java/com/example/testdemo/ros/message/AudioMsg.java
 create mode 100644 src/server/src/main/java/com/example/testdemo/ros/message/Clock.java
 create mode 100644 src/server/src/main/java/com/example/testdemo/ros/message/Duration.java
 create mode 100644 src/server/src/main/java/com/example/testdemo/ros/message/DurationPrimitive.java
 create mode 100644 src/server/src/main/java/com/example/testdemo/ros/message/Empty.java
 create mode 100644 src/server/src/main/java/com/example/testdemo/ros/message/Header.java
 create mode 100644 src/server/src/main/java/com/example/testdemo/ros/message/Log.java
 create mode 100644 src/server/src/main/java/com/example/testdemo/ros/message/Message.java
 create mode 100644 src/server/src/main/java/com/example/testdemo/ros/message/MessageException.java
 create mode 100644 src/server/src/main/java/com/example/testdemo/ros/message/MessageType.java
 create mode 100644 src/server/src/main/java/com/example/testdemo/ros/message/SemanticRequest.java
 create mode 100644 src/server/src/main/java/com/example/testdemo/ros/message/SemanticResponse.java
 create mode 100644 src/server/src/main/java/com/example/testdemo/ros/message/StdMsg.java
 create mode 100644 src/server/src/main/java/com/example/testdemo/ros/message/Time.java
 create mode 100644 src/server/src/main/java/com/example/testdemo/ros/message/TimePrimitive.java
 create mode 100644 src/server/src/main/java/com/example/testdemo/ros/rosapi/message/Empty.java
 create mode 100644 src/server/src/main/java/com/example/testdemo/ros/rosapi/message/GetTime.java
 create mode 100644 src/server/src/main/java/com/example/testdemo/ros/rosapi/message/MessageDetails.java
 create mode 100644 src/server/src/main/java/com/example/testdemo/ros/rosapi/message/Nodes.java
 create mode 100644 src/server/src/main/java/com/example/testdemo/ros/rosapi/message/Service.java
 create mode 100644 src/server/src/main/java/com/example/testdemo/ros/rosapi/message/Services.java
 create mode 100644 src/server/src/main/java/com/example/testdemo/ros/rosapi/message/Topic.java
 create mode 100644 src/server/src/main/java/com/example/testdemo/ros/rosapi/message/Topics.java
 create mode 100644 src/server/src/main/java/com/example/testdemo/ros/rosapi/message/Type.java
 create mode 100644 src/server/src/main/java/com/example/testdemo/ros/rosapi/message/TypeDef.java
 create mode 100644 src/server/src/main/java/com/example/testdemo/ros/rosbridge/FullMessageHandler.java
 create mode 100644 src/server/src/main/java/com/example/testdemo/ros/rosbridge/implementation/Base64.java
 create mode 100644 src/server/src/main/java/com/example/testdemo/ros/rosbridge/implementation/JSON.java
 create mode 100644 src/server/src/main/java/com/example/testdemo/ros/rosbridge/implementation/PublishEvent.java
 create mode 100644 src/server/src/main/java/com/example/testdemo/ros/rosbridge/implementation/Registry.java
 create mode 100644 src/server/src/main/java/com/example/testdemo/ros/rosbridge/indication/AsArray.java
 create mode 100644 src/server/src/main/java/com/example/testdemo/ros/rosbridge/indication/Base64Encoded.java
 create mode 100644 src/server/src/main/java/com/example/testdemo/ros/rosbridge/indication/Indicate.java
 create mode 100644 src/server/src/main/java/com/example/testdemo/ros/rosbridge/indication/Indicated.java
 create mode 100644 src/server/src/main/java/com/example/testdemo/ros/rosbridge/indication/Indication.java
 create mode 100644 src/server/src/main/java/com/example/testdemo/ros/rosbridge/indication/Indicator.java
 create mode 100644 src/server/src/main/java/com/example/testdemo/ros/rosbridge/operation/Advertise.java
 create mode 100644 src/server/src/main/java/com/example/testdemo/ros/rosbridge/operation/Authenticate.java
 create mode 100644 src/server/src/main/java/com/example/testdemo/ros/rosbridge/operation/CallService.java
 create mode 100644 src/server/src/main/java/com/example/testdemo/ros/rosbridge/operation/Fragment.java
 create mode 100644 src/server/src/main/java/com/example/testdemo/ros/rosbridge/operation/Operation.java
 create mode 100644 src/server/src/main/java/com/example/testdemo/ros/rosbridge/operation/PNG.java
 create mode 100644 src/server/src/main/java/com/example/testdemo/ros/rosbridge/operation/Publish.java
 create mode 100644 src/server/src/main/java/com/example/testdemo/ros/rosbridge/operation/ServiceResponse.java
 create mode 100644 src/server/src/main/java/com/example/testdemo/ros/rosbridge/operation/SetStatusLevel.java
 create mode 100644 src/server/src/main/java/com/example/testdemo/ros/rosbridge/operation/Status.java
 create mode 100644 src/server/src/main/java/com/example/testdemo/ros/rosbridge/operation/Subscribe.java
 create mode 100644 src/server/src/main/java/com/example/testdemo/ros/rosbridge/operation/Unadvertise.java
 create mode 100644 src/server/src/main/java/com/example/testdemo/ros/rosbridge/operation/Unsubscribe.java
 create mode 100644 src/server/src/main/java/com/example/testdemo/ros/rosbridge/operation/Wrapper.java

diff --git a/src/server/src/main/java/com/example/testdemo/ros/MessageHandler.java b/src/server/src/main/java/com/example/testdemo/ros/MessageHandler.java
new file mode 100644
index 0000000..332d8f8
--- /dev/null
+++ b/src/server/src/main/java/com/example/testdemo/ros/MessageHandler.java
@@ -0,0 +1,26 @@
+/**
+ * Copyright (c) 2014 example.testdemo Systems, Inc.
+ *
+ * This file is part of the Java ROSBridge Client.
+ *
+ * The Java ROSBridge Client is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The Java ROSBridge Client is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Java ROSBridge Client.  If not, see http://www.gnu.org/licenses/.
+ *
+ */
+package com.example.testdemo.ros;
+
+import com.example.testdemo.ros.message.Message;
+
+public interface MessageHandler<T extends Message> {
+    public void onMessage(T message);
+}
diff --git a/src/server/src/main/java/com/example/testdemo/ros/message/AudioMsg.java b/src/server/src/main/java/com/example/testdemo/ros/message/AudioMsg.java
new file mode 100644
index 0000000..21125e1
--- /dev/null
+++ b/src/server/src/main/java/com/example/testdemo/ros/message/AudioMsg.java
@@ -0,0 +1,9 @@
+package com.example.testdemo.ros.message;
+
+/**
+ * Created by xxhong on 16-11-17.
+ */
+@MessageType(string = "std_msgs/Int16MultiArray")
+public class AudioMsg extends Message {
+    public short[] data;
+}
diff --git a/src/server/src/main/java/com/example/testdemo/ros/message/Clock.java b/src/server/src/main/java/com/example/testdemo/ros/message/Clock.java
new file mode 100644
index 0000000..3f3cff6
--- /dev/null
+++ b/src/server/src/main/java/com/example/testdemo/ros/message/Clock.java
@@ -0,0 +1,25 @@
+/**
+ * Copyright (c) 2014 example.testdemo Systems, Inc.
+ *
+ * This file is part of the Java ROSBridge Client.
+ *
+ * The Java ROSBridge Client is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The Java ROSBridge Client is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Java ROSBridge Client.  If not, see http://www.gnu.org/licenses/.
+ *
+ */
+package com.example.testdemo.ros.message;
+
+@MessageType(string = "rosgraph_msgs/Clock")
+public class Clock extends Message {
+    public TimePrimitive clock;
+}
diff --git a/src/server/src/main/java/com/example/testdemo/ros/message/Duration.java b/src/server/src/main/java/com/example/testdemo/ros/message/Duration.java
new file mode 100644
index 0000000..0acb11e
--- /dev/null
+++ b/src/server/src/main/java/com/example/testdemo/ros/message/Duration.java
@@ -0,0 +1,24 @@
+/**
+ * Copyright (c) 2014 example.testdemo Systems, Inc.
+ *
+ * This file is part of the Java ROSBridge Client.
+ *
+ * The Java ROSBridge Client is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The Java ROSBridge Client is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Java ROSBridge Client.  If not, see http://www.gnu.org/licenses/.
+ *
+ */
+package com.example.testdemo.ros.message;
+
+@MessageType(string = "std_msgs/Duration")
+public class Duration extends DurationPrimitive {
+}
diff --git a/src/server/src/main/java/com/example/testdemo/ros/message/DurationPrimitive.java b/src/server/src/main/java/com/example/testdemo/ros/message/DurationPrimitive.java
new file mode 100644
index 0000000..a789d7a
--- /dev/null
+++ b/src/server/src/main/java/com/example/testdemo/ros/message/DurationPrimitive.java
@@ -0,0 +1,25 @@
+/**
+ * Copyright (c) 2014 example.testdemo Systems, Inc.
+ *
+ * This file is part of the Java ROSBridge Client.
+ *
+ * The Java ROSBridge Client is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The Java ROSBridge Client is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Java ROSBridge Client.  If not, see http://www.gnu.org/licenses/.
+ *
+ */
+package com.example.testdemo.ros.message;
+
+@MessageType(string = "duration")
+public class DurationPrimitive extends TimePrimitive {
+
+}
diff --git a/src/server/src/main/java/com/example/testdemo/ros/message/Empty.java b/src/server/src/main/java/com/example/testdemo/ros/message/Empty.java
new file mode 100644
index 0000000..fa9efbc
--- /dev/null
+++ b/src/server/src/main/java/com/example/testdemo/ros/message/Empty.java
@@ -0,0 +1,24 @@
+/**
+ * Copyright (c) 2014 example.testdemo Systems, Inc.
+ *
+ * This file is part of the Java ROSBridge Client.
+ *
+ * The Java ROSBridge Client is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The Java ROSBridge Client is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Java ROSBridge Client.  If not, see http://www.gnu.org/licenses/.
+ *
+ */
+package com.example.testdemo.ros.message;
+
+@MessageType(string = "std_srvs/Empty")
+public class Empty extends Message {
+}
diff --git a/src/server/src/main/java/com/example/testdemo/ros/message/Header.java b/src/server/src/main/java/com/example/testdemo/ros/message/Header.java
new file mode 100644
index 0000000..01fe4f0
--- /dev/null
+++ b/src/server/src/main/java/com/example/testdemo/ros/message/Header.java
@@ -0,0 +1,27 @@
+/**
+ * Copyright (c) 2014 example.testdemo Systems, Inc.
+ *
+ * This file is part of the Java ROSBridge Client.
+ *
+ * The Java ROSBridge Client is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The Java ROSBridge Client is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Java ROSBridge Client.  If not, see http://www.gnu.org/licenses/.
+ *
+ */
+package com.example.testdemo.ros.message;
+
+@MessageType(string = "std_msgs/Header")
+public class Header extends Message {
+    public long seq;
+    public TimePrimitive stamp;
+    public String frame_id;
+}
diff --git a/src/server/src/main/java/com/example/testdemo/ros/message/Log.java b/src/server/src/main/java/com/example/testdemo/ros/message/Log.java
new file mode 100644
index 0000000..7333e93
--- /dev/null
+++ b/src/server/src/main/java/com/example/testdemo/ros/message/Log.java
@@ -0,0 +1,32 @@
+/**
+ * Copyright (c) 2014 example.testdemo Systems, Inc.
+ *
+ * This file is part of the Java ROSBridge Client.
+ *
+ * The Java ROSBridge Client is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The Java ROSBridge Client is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Java ROSBridge Client.  If not, see http://www.gnu.org/licenses/.
+ *
+ */
+package com.example.testdemo.ros.message;
+
+@MessageType(string = "rosgraph_msgs/Log")
+public class Log extends Message {
+    public Header header;
+    public byte level;
+    public String name;
+    public String msg;
+    public String file;
+    public String function;
+    public long line;
+    public String[] topics;
+}
diff --git a/src/server/src/main/java/com/example/testdemo/ros/message/Message.java b/src/server/src/main/java/com/example/testdemo/ros/message/Message.java
new file mode 100644
index 0000000..0572d3e
--- /dev/null
+++ b/src/server/src/main/java/com/example/testdemo/ros/message/Message.java
@@ -0,0 +1,202 @@
+/**
+ * Copyright (c) 2014 example.testdemo Systems, Inc.
+ *
+ * This file is part of the Java ROSBridge Client.
+ *
+ * The Java ROSBridge Client is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The Java ROSBridge Client is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Java ROSBridge Client.  If not, see http://www.gnu.org/licenses/.
+ *
+ */
+package com.example.testdemo.ros.message;
+
+import java.lang.reflect.Array;
+import java.lang.reflect.Field;
+import java.util.Map;
+
+
+@MessageType(string = "message")
+public abstract class Message {
+
+    // Some requirements about message types:
+    //   - It must have a MessageType declaration to be recognized on inbound messages
+    //   - Every field must be explicitly designated as public
+    //   - Every field that is not a primitive or near-primitive must be another Message class
+    //   - If there is a non-empty constructor, you must also have an empty constructor
+    //   - If it is set up as an inner class, it needs an explicit nullary constructor
+    //     (note: I have seen an inner class otherwise fail, I have not tested it with the explicit constructor)
+
+    public static void register(Class c, Map<String, Class> messageClasses) {
+        try {
+            typecheck(c);
+
+            // Must register the class and not have duplicate
+            // This is not recursive because only the top level message class
+            //   needs to be determined from the string - others are top-down.
+            String messageString = getMessageType(c);
+            Class existingClass = messageClasses.get(messageString);
+            if (existingClass != null && !existingClass.equals(c))
+                throw new MessageException("Message String \'" + messageString +
+                    "\' is assigned to two different classes (" +
+                        c.getName() + " and " + existingClass.getName() + ")");
+            messageClasses.put(messageString, c);
+        }
+        catch (MessageException ex) {
+            // should be changed to be a hooked method to give library user control
+            System.out.println(ex.getMessage());
+        }
+    }
+
+    public static String getMessageType(Class c) {
+        return ((MessageType) c.getAnnotation(MessageType.class)).string();
+    }
+
+    // this has never been used or tested but kind of belongs here
+    // commented out because it uses ReflectiveOperationException which is not available on Android
+    /*
+    public static Message newInstance(String className) {
+        try {
+            Class messageClass = Class.forName(className);
+            if (Message.class.isAssignableFrom(messageClass))
+                return (Message) messageClass.newInstance();
+            else throw new ClassCastException();
+        }
+        catch (ReflectiveOperationException ex) {
+            throw new RuntimeException("Unable to create message of class \'" + className + "\'.", ex);
+        }
+    }
+    */
+
+    // Could probably do more checking here, but not sure what right now
+    private static void typecheck(Class c) throws MessageException {
+
+        // Must inherit from Message
+        if (!Message.class.isAssignableFrom(c))
+            throw new MessageException("Class \'" + c.getName() +
+                    "\' does not extend Message");
+
+        // Must have the MessageType annotation
+        if (getMessageType(c) == null)
+            throw new MessageException("Class \'" + c.getName() +
+                    "\' is missing the MessageType annotation");
+
+        // All fields must also be valid Message classes
+        // Note that this also serves to force-load all the message classes
+        //      so that they get registered
+        for (Field f : c.getFields()) {
+            Class fc = f.getType();
+            if (fc.isArray()) {
+                Class ac = fc.getComponentType();
+                if (!isPrimitive(ac))
+                    typecheck(ac);
+            }
+            else if (!isPrimitive(fc))
+                typecheck(fc);
+        }
+    }
+
+    public void print() {
+        printMessage(this, "");
+    }
+
+    private static void printMessage(Object o, String indent) {
+        for (Field f : o.getClass().getFields()) {
+            Class c = f.getType();
+            Object fieldObject = getFieldObject(f, o);
+            if (fieldObject != null) {
+                if (isPrimitive(c))
+                    System.out.println(indent + f.getName() + ": " + fieldObject);
+                else if (c.isArray()) {
+                    System.out.println(indent + f.getName() + ": [");
+                    printArray(fieldObject, indent + "  ");
+                    System.out.println(indent + "]");
+                }
+                else {
+                    System.out.println(indent + f.getName() + ":");
+                    printMessage(fieldObject, indent + "  ");
+                }
+            }
+        }
+    }
+
+    private static void printArray(Object array, String indent) {
+        Class arrayClass = array.getClass().getComponentType();
+        for (int i = 0; i < Array.getLength(array); i++) {
+            Object elementObject = Array.get(array, i);
+            if (elementObject != null) {
+                if (isPrimitive(arrayClass))
+                    System.out.println(indent + i + ": " + elementObject);
+                else if (arrayClass.isArray()) { // this is not actually allowed in ROS
+                    System.out.println(indent + i + ": [");
+                    printArray(elementObject, indent + "  ");
+                    System.out.println(indent + "]");
+                }
+                else {
+                    System.out.println(indent + i + ":");
+                    printMessage(elementObject, indent + "  ");
+                }
+            }
+        }
+        // remember to print array indices
+    }
+
+    public static boolean isPrimitive(Class c) {
+        return (c.isPrimitive() ||
+                c.equals(String.class) ||
+                Number.class.isAssignableFrom(c) ||
+                c.equals(Boolean.class));
+    }
+
+
+    // Copied from com.example.testdemo.ros.rosbridge.JSON
+    private static Object getFieldObject(Field f, Object o) {
+        Object fo = null;
+        try {
+            fo = f.get(o);
+        }
+        catch (IllegalAccessException ex) {
+            ex.printStackTrace();
+        }
+        return fo;
+    }
+
+    public void copyFrom(Message source) {
+        try {
+            if (source.getClass() != getClass())
+                throw new RuntimeException("Attempt to copy non-matching classes");
+            for (Field f : getClass().getFields()) {
+                Class fc = f.getType();
+                if (fc.isArray())
+                    throw new RuntimeException("copyFrom - array types not implemented");
+                else if (!isPrimitive(fc))
+                    ((Message) f.get(this)).copyFrom((Message) f.get(source));
+                else {
+                    Object value = f.get(source);
+                    f.set(this, value);
+                }
+            }
+        }
+        catch (IllegalAccessException ex) {
+            throw new RuntimeException("copyFrom error", ex);
+        }
+        catch (ClassCastException ex) {
+            throw new RuntimeException("copyFrom error", ex);
+        }
+        // ReflectiveOperationException is not available on Android (Java 1.6)
+        /*
+        catch (ReflectiveOperationException ex) {
+            throw new RuntimeException ("copyFrom error", ex);
+        }
+        */
+    }
+
+}
diff --git a/src/server/src/main/java/com/example/testdemo/ros/message/MessageException.java b/src/server/src/main/java/com/example/testdemo/ros/message/MessageException.java
new file mode 100644
index 0000000..e40bb88
--- /dev/null
+++ b/src/server/src/main/java/com/example/testdemo/ros/message/MessageException.java
@@ -0,0 +1,32 @@
+/**
+ * Copyright (c) 2014 example.testdemo Systems, Inc.
+ *
+ * This file is part of the Java ROSBridge Client.
+ *
+ * The Java ROSBridge Client is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The Java ROSBridge Client is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Java ROSBridge Client.  If not, see http://www.gnu.org/licenses/.
+ *
+ */
+package com.example.testdemo.ros.message;
+
+public class MessageException extends Exception {
+
+    public MessageException(String message) {
+        super(message);
+    }
+
+    public MessageException(String message, Throwable cause) {
+        super(message, cause);
+    }
+}
+
diff --git a/src/server/src/main/java/com/example/testdemo/ros/message/MessageType.java b/src/server/src/main/java/com/example/testdemo/ros/message/MessageType.java
new file mode 100644
index 0000000..a61c758
--- /dev/null
+++ b/src/server/src/main/java/com/example/testdemo/ros/message/MessageType.java
@@ -0,0 +1,32 @@
+/**
+ * Copyright (c) 2014 example.testdemo Systems, Inc.
+ *
+ * This file is part of the Java ROSBridge Client.
+ *
+ * The Java ROSBridge Client is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The Java ROSBridge Client is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Java ROSBridge Client.  If not, see http://www.gnu.org/licenses/.
+ *
+ */
+package com.example.testdemo.ros.message;
+
+import java.lang.annotation.ElementType;
+import java.lang.annotation.Retention;
+import java.lang.annotation.RetentionPolicy;
+import java.lang.annotation.Target;
+
+@Retention(RetentionPolicy.RUNTIME)
+@Target(ElementType.TYPE)
+public @interface MessageType {
+    String string() default "";
+}
+
diff --git a/src/server/src/main/java/com/example/testdemo/ros/message/SemanticRequest.java b/src/server/src/main/java/com/example/testdemo/ros/message/SemanticRequest.java
new file mode 100644
index 0000000..f2ffb48
--- /dev/null
+++ b/src/server/src/main/java/com/example/testdemo/ros/message/SemanticRequest.java
@@ -0,0 +1,13 @@
+package com.example.testdemo.ros.message;
+
+/**
+ * Created by xxhong on 16-11-17.
+ */
+@MessageType(string = "std_msgs/String")
+public class SemanticRequest extends Message {
+    public  SemanticRequest(String args) {
+        jsonStr = args;
+    }
+
+    public String jsonStr;
+}
diff --git a/src/server/src/main/java/com/example/testdemo/ros/message/SemanticResponse.java b/src/server/src/main/java/com/example/testdemo/ros/message/SemanticResponse.java
new file mode 100644
index 0000000..f0df3f7
--- /dev/null
+++ b/src/server/src/main/java/com/example/testdemo/ros/message/SemanticResponse.java
@@ -0,0 +1,9 @@
+package com.example.testdemo.ros.message;
+
+/**
+ * Created by xxhong on 16-11-17.
+ */
+@MessageType(string = "std_msgs/String")
+public class SemanticResponse extends Message {
+    public String result;
+}
diff --git a/src/server/src/main/java/com/example/testdemo/ros/message/StdMsg.java b/src/server/src/main/java/com/example/testdemo/ros/message/StdMsg.java
new file mode 100644
index 0000000..036f0e2
--- /dev/null
+++ b/src/server/src/main/java/com/example/testdemo/ros/message/StdMsg.java
@@ -0,0 +1,9 @@
+package com.example.testdemo.ros.message;
+
+/**
+ * Created by xxhong on 16-11-17.
+ */
+@MessageType(string = "std_msgs/String")
+public class StdMsg extends Message {
+    public String data;
+}
diff --git a/src/server/src/main/java/com/example/testdemo/ros/message/Time.java b/src/server/src/main/java/com/example/testdemo/ros/message/Time.java
new file mode 100644
index 0000000..308667b
--- /dev/null
+++ b/src/server/src/main/java/com/example/testdemo/ros/message/Time.java
@@ -0,0 +1,24 @@
+/**
+ * Copyright (c) 2014 example.testdemo Systems, Inc.
+ *
+ * This file is part of the Java ROSBridge Client.
+ *
+ * The Java ROSBridge Client is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The Java ROSBridge Client is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Java ROSBridge Client.  If not, see http://www.gnu.org/licenses/.
+ *
+ */
+package com.example.testdemo.ros.message;
+
+@MessageType(string = "std_msgs/Time")
+public class Time extends TimePrimitive {
+}
diff --git a/src/server/src/main/java/com/example/testdemo/ros/message/TimePrimitive.java b/src/server/src/main/java/com/example/testdemo/ros/message/TimePrimitive.java
new file mode 100644
index 0000000..05f3d44
--- /dev/null
+++ b/src/server/src/main/java/com/example/testdemo/ros/message/TimePrimitive.java
@@ -0,0 +1,26 @@
+/**
+ * Copyright (c) 2014 example.testdemo Systems, Inc.
+ *
+ * This file is part of the Java ROSBridge Client.
+ *
+ * The Java ROSBridge Client is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The Java ROSBridge Client is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Java ROSBridge Client.  If not, see http://www.gnu.org/licenses/.
+ *
+ */
+package com.example.testdemo.ros.message;
+
+@MessageType(string = "time")
+public class TimePrimitive extends Message {
+    public int secs;  // when requesting this format from ROSbridge, it uses 'sec' (no 's')
+    public int nsecs; // when requesting this format from ROSbridge, it uses 'nsec'
+}
diff --git a/src/server/src/main/java/com/example/testdemo/ros/rosapi/message/Empty.java b/src/server/src/main/java/com/example/testdemo/ros/rosapi/message/Empty.java
new file mode 100644
index 0000000..5dd3b37
--- /dev/null
+++ b/src/server/src/main/java/com/example/testdemo/ros/rosapi/message/Empty.java
@@ -0,0 +1,27 @@
+/**
+ * Copyright (c) 2014 example.testdemo Systems, Inc.
+ *
+ * This file is part of the Java ROSBridge Client.
+ *
+ * The Java ROSBridge Client is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The Java ROSBridge Client is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Java ROSBridge Client.  If not, see http://www.gnu.org/licenses/.
+ *
+ */
+package com.example.testdemo.ros.rosapi.message;
+
+import com.example.testdemo.ros.message.Message;
+import com.example.testdemo.ros.message.MessageType;
+
+@MessageType(string = "std_msgs/Empty")
+public class Empty extends Message {
+}
diff --git a/src/server/src/main/java/com/example/testdemo/ros/rosapi/message/GetTime.java b/src/server/src/main/java/com/example/testdemo/ros/rosapi/message/GetTime.java
new file mode 100644
index 0000000..51036a1
--- /dev/null
+++ b/src/server/src/main/java/com/example/testdemo/ros/rosapi/message/GetTime.java
@@ -0,0 +1,30 @@
+/**
+ * Copyright (c) 2014 example.testdemo Systems, Inc.
+ *
+ * This file is part of the Java ROSBridge Client.
+ *
+ * The Java ROSBridge Client is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The Java ROSBridge Client is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Java ROSBridge Client.  If not, see http://www.gnu.org/licenses/.
+ *
+ */
+package com.example.testdemo.ros.rosapi.message;
+
+import com.example.testdemo.ros.message.Message;
+import com.example.testdemo.ros.message.MessageType;
+import com.example.testdemo.ros.message.TimePrimitive;
+
+
+@MessageType(string = "rosapi/GetTimeResponse")
+public class GetTime extends Message {
+    public TimePrimitive time;
+}
diff --git a/src/server/src/main/java/com/example/testdemo/ros/rosapi/message/MessageDetails.java b/src/server/src/main/java/com/example/testdemo/ros/rosapi/message/MessageDetails.java
new file mode 100644
index 0000000..fa9ea18
--- /dev/null
+++ b/src/server/src/main/java/com/example/testdemo/ros/rosapi/message/MessageDetails.java
@@ -0,0 +1,28 @@
+/**
+ * Copyright (c) 2014 example.testdemo Systems, Inc.
+ *
+ * This file is part of the Java ROSBridge Client.
+ *
+ * The Java ROSBridge Client is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The Java ROSBridge Client is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Java ROSBridge Client.  If not, see http://www.gnu.org/licenses/.
+ *
+ */
+package com.example.testdemo.ros.rosapi.message;
+
+import com.example.testdemo.ros.message.Message;
+import com.example.testdemo.ros.message.MessageType;
+
+@MessageType(string = "rosapi/MessageDetails")
+public class MessageDetails extends Message {
+    public TypeDef[] typedefs;
+}
diff --git a/src/server/src/main/java/com/example/testdemo/ros/rosapi/message/Nodes.java b/src/server/src/main/java/com/example/testdemo/ros/rosapi/message/Nodes.java
new file mode 100644
index 0000000..317add3
--- /dev/null
+++ b/src/server/src/main/java/com/example/testdemo/ros/rosapi/message/Nodes.java
@@ -0,0 +1,28 @@
+/**
+ * Copyright (c) 2014 example.testdemo Systems, Inc.
+ *
+ * This file is part of the Java ROSBridge Client.
+ *
+ * The Java ROSBridge Client is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The Java ROSBridge Client is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Java ROSBridge Client.  If not, see http://www.gnu.org/licenses/.
+ *
+ */
+package com.example.testdemo.ros.rosapi.message;
+
+import com.example.testdemo.ros.message.Message;
+import com.example.testdemo.ros.message.MessageType;
+
+@MessageType(string = "rosapi/Nodes")
+public class Nodes extends Message {
+    public String[] nodes;
+}
diff --git a/src/server/src/main/java/com/example/testdemo/ros/rosapi/message/Service.java b/src/server/src/main/java/com/example/testdemo/ros/rosapi/message/Service.java
new file mode 100644
index 0000000..8ef46ad
--- /dev/null
+++ b/src/server/src/main/java/com/example/testdemo/ros/rosapi/message/Service.java
@@ -0,0 +1,34 @@
+/**
+ * Copyright (c) 2014 example.testdemo Systems, Inc.
+ *
+ * This file is part of the Java ROSBridge Client.
+ *
+ * The Java ROSBridge Client is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The Java ROSBridge Client is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Java ROSBridge Client.  If not, see http://www.gnu.org/licenses/.
+ *
+ */
+package com.example.testdemo.ros.rosapi.message;
+
+import com.example.testdemo.ros.message.Message;
+import com.example.testdemo.ros.message.MessageType;
+
+@MessageType(string = "rosapi/Service")
+public class Service extends Message {
+    public String service;
+
+    public Service() {}
+
+    public Service(String service) {
+        this.service = service;
+    }
+}
diff --git a/src/server/src/main/java/com/example/testdemo/ros/rosapi/message/Services.java b/src/server/src/main/java/com/example/testdemo/ros/rosapi/message/Services.java
new file mode 100644
index 0000000..c5f8f71
--- /dev/null
+++ b/src/server/src/main/java/com/example/testdemo/ros/rosapi/message/Services.java
@@ -0,0 +1,28 @@
+/**
+ * Copyright (c) 2014 example.testdemo Systems, Inc.
+ *
+ * This file is part of the Java ROSBridge Client.
+ *
+ * The Java ROSBridge Client is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The Java ROSBridge Client is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Java ROSBridge Client.  If not, see http://www.gnu.org/licenses/.
+ *
+ */
+package com.example.testdemo.ros.rosapi.message;
+
+import com.example.testdemo.ros.message.Message;
+import com.example.testdemo.ros.message.MessageType;
+
+@MessageType(string = "rosapi/Services")
+public class Services extends Message {
+    public String[] services;
+}
diff --git a/src/server/src/main/java/com/example/testdemo/ros/rosapi/message/Topic.java b/src/server/src/main/java/com/example/testdemo/ros/rosapi/message/Topic.java
new file mode 100644
index 0000000..ce943a4
--- /dev/null
+++ b/src/server/src/main/java/com/example/testdemo/ros/rosapi/message/Topic.java
@@ -0,0 +1,34 @@
+/**
+ * Copyright (c) 2014 example.testdemo Systems, Inc.
+ *
+ * This file is part of the Java ROSBridge Client.
+ *
+ * The Java ROSBridge Client is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The Java ROSBridge Client is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Java ROSBridge Client.  If not, see http://www.gnu.org/licenses/.
+ *
+ */
+package com.example.testdemo.ros.rosapi.message;
+
+import com.example.testdemo.ros.message.Message;
+import com.example.testdemo.ros.message.MessageType;
+
+@MessageType(string = "rosapi/Topic")
+public class Topic extends Message {
+    public String topic;
+
+    public Topic() {}
+
+    public Topic(String topic) {
+        this.topic = topic;
+    }
+}
diff --git a/src/server/src/main/java/com/example/testdemo/ros/rosapi/message/Topics.java b/src/server/src/main/java/com/example/testdemo/ros/rosapi/message/Topics.java
new file mode 100644
index 0000000..503e924
--- /dev/null
+++ b/src/server/src/main/java/com/example/testdemo/ros/rosapi/message/Topics.java
@@ -0,0 +1,28 @@
+/**
+ * Copyright (c) 2014 example.testdemo Systems, Inc.
+ *
+ * This file is part of the Java ROSBridge Client.
+ *
+ * The Java ROSBridge Client is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The Java ROSBridge Client is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Java ROSBridge Client.  If not, see http://www.gnu.org/licenses/.
+ *
+ */
+package com.example.testdemo.ros.rosapi.message;
+
+import com.example.testdemo.ros.message.Message;
+import com.example.testdemo.ros.message.MessageType;
+
+@MessageType(string = "rosapi/Topics")
+public class Topics extends Message {
+    public String[] topics;
+}
diff --git a/src/server/src/main/java/com/example/testdemo/ros/rosapi/message/Type.java b/src/server/src/main/java/com/example/testdemo/ros/rosapi/message/Type.java
new file mode 100644
index 0000000..7ecc693
--- /dev/null
+++ b/src/server/src/main/java/com/example/testdemo/ros/rosapi/message/Type.java
@@ -0,0 +1,34 @@
+/**
+ * Copyright (c) 2014 example.testdemo Systems, Inc.
+ *
+ * This file is part of the Java ROSBridge Client.
+ *
+ * The Java ROSBridge Client is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The Java ROSBridge Client is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Java ROSBridge Client.  If not, see http://www.gnu.org/licenses/.
+ *
+ */
+package com.example.testdemo.ros.rosapi.message;
+
+import com.example.testdemo.ros.message.Message;
+import com.example.testdemo.ros.message.MessageType;
+
+@MessageType(string = "rosapi/Type")
+public class Type extends Message {
+    public String type;
+
+    public Type() {}
+
+    public Type(String type) {
+        this.type = type;
+    }
+}
diff --git a/src/server/src/main/java/com/example/testdemo/ros/rosapi/message/TypeDef.java b/src/server/src/main/java/com/example/testdemo/ros/rosapi/message/TypeDef.java
new file mode 100644
index 0000000..c949182
--- /dev/null
+++ b/src/server/src/main/java/com/example/testdemo/ros/rosapi/message/TypeDef.java
@@ -0,0 +1,55 @@
+/**
+ * Copyright (c) 2014 example.testdemo Systems, Inc.
+ *
+ * This file is part of the Java ROSBridge Client.
+ *
+ * The Java ROSBridge Client is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The Java ROSBridge Client is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Java ROSBridge Client.  If not, see http://www.gnu.org/licenses/.
+ *
+ */
+package com.example.testdemo.ros.rosapi.message;
+
+import com.example.testdemo.ros.message.Message;
+import com.example.testdemo.ros.message.MessageType;
+
+@MessageType(string = "rosapi/TypeDef")
+public class TypeDef extends Message {
+    public String type;
+    public String[] fieldnames;
+    public String[] fieldtypes;
+    public int[] fieldarraylen;
+    public String[] examples;
+
+    public static boolean match(String type, Class c) {
+        boolean result = false;
+        if (
+            (type.equals("bool")    && ((boolean.class.equals(c)) || (Boolean.class.equals(c)))) ||
+            (type.equals("int8")    && ((byte.class.equals(c))    || (Byte.class.equals(c)))) ||
+            (type.equals("byte")    && ((byte.class.equals(c))    || (Byte.class.equals(c)))) ||            // deprecated
+            (type.equals("uint8")   && ((short.class.equals(c))   || (Short.class.equals(c)))) ||
+            (type.equals("char")    && ((short.class.equals(c))   || (Short.class.equals(c)))) ||           // deprecated
+            (type.equals("int16")   && ((short.class.equals(c))   || (Short.class.equals(c)))) ||
+            (type.equals("uint16")  && ((int.class.equals(c))     || (Integer.class.equals(c)))) ||
+            (type.equals("int32")   && ((int.class.equals(c))     || (Integer.class.equals(c)))) ||
+            (type.equals("uint32")  && ((long.class.equals(c))    || (Long.class.equals(c)))) ||
+            (type.equals("int64")   && ((long.class.equals(c))    || (Long.class.equals(c)))) ||
+            (type.equals("float32") && ((float.class.equals(c))   || (Float.class.equals(c)))) ||
+            (type.equals("float64") && ((double.class.equals(c))  || (Double.class.equals(c)))) ||
+            (type.equals("uint64")  &&                               (java.math.BigInteger.class.equals(c))) ||
+            (type.equals("string")  &&                               (String.class.equals(c)))
+        )
+                result = true;
+
+        return result;
+    }
+}
diff --git a/src/server/src/main/java/com/example/testdemo/ros/rosbridge/FullMessageHandler.java b/src/server/src/main/java/com/example/testdemo/ros/rosbridge/FullMessageHandler.java
new file mode 100644
index 0000000..b1d3aab
--- /dev/null
+++ b/src/server/src/main/java/com/example/testdemo/ros/rosbridge/FullMessageHandler.java
@@ -0,0 +1,26 @@
+/**
+ * Copyright (c) 2014 example.testdemo Systems, Inc.
+ *
+ * This file is part of the Java ROSBridge Client.
+ *
+ * The Java ROSBridge Client is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The Java ROSBridge Client is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Java ROSBridge Client.  If not, see http://www.gnu.org/licenses/.
+ *
+ */
+package com.example.testdemo.ros.rosbridge;
+
+import com.example.testdemo.ros.message.Message;
+
+public interface FullMessageHandler<T extends Message> {
+    public void onMessage(String id, T message);
+}
diff --git a/src/server/src/main/java/com/example/testdemo/ros/rosbridge/implementation/Base64.java b/src/server/src/main/java/com/example/testdemo/ros/rosbridge/implementation/Base64.java
new file mode 100644
index 0000000..919a7a3
--- /dev/null
+++ b/src/server/src/main/java/com/example/testdemo/ros/rosbridge/implementation/Base64.java
@@ -0,0 +1,575 @@
+package com.example.testdemo.ros.rosbridge.implementation;
+
+import java.util.Arrays;
+
+/** A very fast and memory efficient class to encode and decode to and from BASE64 in full accordance
+ * with RFC 2045.<br><br>
+ * On Windows XP sp1 with 1.4.2_04 and later ;), this encoder and decoder is about 10 times faster
+ * on small arrays (10 - 1000 bytes) and 2-3 times as fast on larger arrays (10000 - 1000000 bytes)
+ * compared to <code>sun.misc.Encoder()/Decoder()</code>.<br><br>
+ *
+ * On byte arrays the encoder is about 20% faster than Jakarta Commons Base64 Codec for encode and
+ * about 50% faster for decoding large arrays. This implementation is about twice as fast on very small
+ * arrays (&lt 30 bytes). If source/destination is a <code>String</code> this
+ * version is about three times as fast due to the fact that the Commons Codec result has to be recoded
+ * to a <code>String</code> from <code>byte[]</code>, which is very expensive.<br><br>
+ *
+ * This encode/decode algorithm doesn't create any temporary arrays as many other codecs do, it only
+ * allocates the resulting array. This produces less garbage and it is possible to handle arrays twice
+ * as large as algorithms that create a temporary array. (E.g. Jakarta Commons Codec). It is unknown
+ * whether Sun's <code>sun.misc.Encoder()/Decoder()</code> produce temporary arrays but since performance
+ * is quite low it probably does.<br><br>
+ *
+ * The encoder produces the same output as the Sun one except that the Sun's encoder appends
+ * a trailing line separator if the last character isn't a pad. Unclear why but it only adds to the
+ * length and is probably a side effect. Both are in conformance with RFC 2045 though.<br>
+ * Commons codec seem to always att a trailing line separator.<br><br>
+ *
+ * <b>Note!</b>
+ * The encode/decode method pairs (types) come in three versions with the <b>exact</b> same algorithm and
+ * thus a lot of code redundancy. This is to not create any temporary arrays for transcoding to/from different
+ * format types. The methods not used can simply be commented out.<br><br>
+ *
+ * There is also a "fast" version of all decode methods that works the same way as the normal ones, but
+ * har a few demands on the decoded input. Normally though, these fast verions should be used if the source if
+ * the input is known and it hasn't bee tampered with.<br><br>
+ *
+ * If you find the code useful or you find a bug, please send me a note at base64 @ miginfocom . com.
+ *
+ * Licence (BSD):
+ * ==============
+ *
+ * Copyright (c) 2004, Mikael Grev, MiG InfoCom AB. (base64 @ miginfocom . com)
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ * Redistributions of source code must retain the above copyright notice, this list
+ * of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above copyright notice, this
+ * list of conditions and the following disclaimer in the documentation and/or other
+ * materials provided with the distribution.
+ * Neither the name of the MiG InfoCom AB nor the names of its contributors may be
+ * used to endorse or promote products derived from this software without specific
+ * prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
+ * IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT,
+ * INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
+ * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
+ * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
+ * OF SUCH DAMAGE.
+ *
+ * @version 2.2
+ * @author Mikael Grev
+ *         Date: 2004-aug-02
+ *         Time: 11:31:11
+ */
+
+public class Base64
+{
+	private static final char[] CA = "ABCDEFGHIJKLMNOPQRSTUVWXYZabcdefghijklmnopqrstuvwxyz0123456789+/".toCharArray();
+	private static final int[] IA = new int[256];
+	static {
+		Arrays.fill(IA, -1);
+		for (int i = 0, iS = CA.length; i < iS; i++)
+			IA[CA[i]] = i;
+		IA['='] = 0;
+	}
+
+	// ****************************************************************************************
+	// *  char[] version
+	// ****************************************************************************************
+
+	/** Encodes a raw byte array into a BASE64 <code>char[]</code> representation i accordance with RFC 2045.
+	 * @param sArr The bytes to convert. If <code>null</code> or length 0 an empty array will be returned.
+	 * @param lineSep Optional "\r\n" after 76 characters, unless end of file.<br>
+	 * No line separator will be in breach of RFC 2045 which specifies max 76 per line but will be a
+	 * little faster.
+	 * @return A BASE64 encoded array. Never <code>null</code>.
+	 */
+	public final static char[] encodeToChar(byte[] sArr, boolean lineSep)
+	{
+		// Check special case
+		int sLen = sArr != null ? sArr.length : 0;
+		if (sLen == 0)
+			return new char[0];
+
+		int eLen = (sLen / 3) * 3;              // Length of even 24-bits.
+		int cCnt = ((sLen - 1) / 3 + 1) << 2;   // Returned character count
+		int dLen = cCnt + (lineSep ? (cCnt - 1) / 76 << 1 : 0); // Length of returned array
+		char[] dArr = new char[dLen];
+
+		// Encode even 24-bits
+		for (int s = 0, d = 0, cc = 0; s < eLen;) {
+			// Copy next three bytes into lower 24 bits of int, paying attension to sign.
+			int i = (sArr[s++] & 0xff) << 16 | (sArr[s++] & 0xff) << 8 | (sArr[s++] & 0xff);
+
+			// Encode the int into four chars
+			dArr[d++] = CA[(i >>> 18) & 0x3f];
+			dArr[d++] = CA[(i >>> 12) & 0x3f];
+			dArr[d++] = CA[(i >>> 6) & 0x3f];
+			dArr[d++] = CA[i & 0x3f];
+
+			// Add optional line separator
+			if (lineSep && ++cc == 19 && d < dLen - 2) {
+				dArr[d++] = '\r';
+				dArr[d++] = '\n';
+				cc = 0;
+			}
+		}
+
+		// Pad and encode last bits if source isn't even 24 bits.
+		int left = sLen - eLen; // 0 - 2.
+		if (left > 0) {
+			// Prepare the int
+			int i = ((sArr[eLen] & 0xff) << 10) | (left == 2 ? ((sArr[sLen - 1] & 0xff) << 2) : 0);
+
+			// Set last four chars
+			dArr[dLen - 4] = CA[i >> 12];
+			dArr[dLen - 3] = CA[(i >>> 6) & 0x3f];
+			dArr[dLen - 2] = left == 2 ? CA[i & 0x3f] : '=';
+			dArr[dLen - 1] = '=';
+		}
+		return dArr;
+	}
+
+	/** Decodes a BASE64 encoded char array. All illegal characters will be ignored and can handle both arrays with
+	 * and without line separators.
+	 * @param sArr The source array. <code>null</code> or length 0 will return an empty array.
+	 * @return The decoded array of bytes. May be of length 0. Will be <code>null</code> if the legal characters
+	 * (including '=') isn't divideable by 4.  (I.e. definitely corrupted).
+	 */
+	public final static byte[] decode(char[] sArr)
+	{
+		// Check special case
+		int sLen = sArr != null ? sArr.length : 0;
+		if (sLen == 0)
+			return new byte[0];
+
+		// Count illegal characters (including '\r', '\n') to know what size the returned array will be,
+		// so we don't have to reallocate & copy it later.
+		int sepCnt = 0; // Number of separator characters. (Actually illegal characters, but that's a bonus...)
+		for (int i = 0; i < sLen; i++)  // If input is "pure" (I.e. no line separators or illegal chars) base64 this loop can be commented out.
+			if (IA[sArr[i]] < 0)
+				sepCnt++;
+
+		// Check so that legal chars (including '=') are evenly divideable by 4 as specified in RFC 2045.
+		if ((sLen - sepCnt) % 4 != 0)
+			return null;
+
+		int pad = 0;
+		for (int i = sLen; i > 1 && IA[sArr[--i]] <= 0;)
+			if (sArr[i] == '=')
+				pad++;
+
+		int len = ((sLen - sepCnt) * 6 >> 3) - pad;
+
+		byte[] dArr = new byte[len];       // Preallocate byte[] of exact length
+
+		for (int s = 0, d = 0; d < len;) {
+			// Assemble three bytes into an int from four "valid" characters.
+			int i = 0;
+			for (int j = 0; j < 4; j++) {   // j only increased if a valid char was found.
+				int c = IA[sArr[s++]];
+				if (c >= 0)
+				    i |= c << (18 - j * 6);
+				else
+					j--;
+			}
+			// Add the bytes
+			dArr[d++] = (byte) (i >> 16);
+			if (d < len) {
+				dArr[d++]= (byte) (i >> 8);
+				if (d < len)
+					dArr[d++] = (byte) i;
+			}
+		}
+		return dArr;
+	}
+
+	/** Decodes a BASE64 encoded char array that is known to be resonably well formatted. The method is about twice as
+	 * fast as {@link #decode(char[])}. The preconditions are:<br>
+	 * + The array must have a line length of 76 chars OR no line separators at all (one line).<br>
+	 * + Line separator must be "\r\n", as specified in RFC 2045
+	 * + The array must not contain illegal characters within the encoded string<br>
+	 * + The array CAN have illegal characters at the beginning and end, those will be dealt with appropriately.<br>
+	 * @param sArr The source array. Length 0 will return an empty array. <code>null</code> will throw an exception.
+	 * @return The decoded array of bytes. May be of length 0.
+	 */
+	public final static byte[] decodeFast(char[] sArr)
+	{
+		// Check special case
+		int sLen = sArr.length;
+		if (sLen == 0)
+			return new byte[0];
+
+		int sIx = 0, eIx = sLen - 1;    // Start and end index after trimming.
+
+		// Trim illegal chars from start
+		while (sIx < eIx && IA[sArr[sIx]] < 0)
+			sIx++;
+
+		// Trim illegal chars from end
+		while (eIx > 0 && IA[sArr[eIx]] < 0)
+			eIx--;
+
+		// get the padding count (=) (0, 1 or 2)
+		int pad = sArr[eIx] == '=' ? (sArr[eIx - 1] == '=' ? 2 : 1) : 0;  // Count '=' at end.
+		int cCnt = eIx - sIx + 1;   // Content count including possible separators
+		int sepCnt = sLen > 76 ? (sArr[76] == '\r' ? cCnt / 78 : 0) << 1 : 0;
+
+		int len = ((cCnt - sepCnt) * 6 >> 3) - pad; // The number of decoded bytes
+		byte[] dArr = new byte[len];       // Preallocate byte[] of exact length
+
+		// Decode all but the last 0 - 2 bytes.
+		int d = 0;
+		for (int cc = 0, eLen = (len / 3) * 3; d < eLen;) {
+			// Assemble three bytes into an int from four "valid" characters.
+			int i = IA[sArr[sIx++]] << 18 | IA[sArr[sIx++]] << 12 | IA[sArr[sIx++]] << 6 | IA[sArr[sIx++]];
+
+			// Add the bytes
+			dArr[d++] = (byte) (i >> 16);
+			dArr[d++] = (byte) (i >> 8);
+			dArr[d++] = (byte) i;
+
+			// If line separator, jump over it.
+			if (sepCnt > 0 && ++cc == 19) {
+				sIx += 2;
+				cc = 0;
+			}
+		}
+
+		if (d < len) {
+			// Decode last 1-3 bytes (incl '=') into 1-3 bytes
+			int i = 0;
+			for (int j = 0; sIx <= eIx - pad; j++)
+				i |= IA[sArr[sIx++]] << (18 - j * 6);
+
+			for (int r = 16; d < len; r -= 8)
+				dArr[d++] = (byte) (i >> r);
+		}
+
+		return dArr;
+	}
+
+	// ****************************************************************************************
+	// *  byte[] version
+	// ****************************************************************************************
+
+	/** Encodes a raw byte array into a BASE64 <code>byte[]</code> representation i accordance with RFC 2045.
+	 * @param sArr The bytes to convert. If <code>null</code> or length 0 an empty array will be returned.
+	 * @param lineSep Optional "\r\n" after 76 characters, unless end of file.<br>
+	 * No line separator will be in breach of RFC 2045 which specifies max 76 per line but will be a
+	 * little faster.
+	 * @return A BASE64 encoded array. Never <code>null</code>.
+	 */
+	public final static byte[] encodeToByte(byte[] sArr, boolean lineSep)
+	{
+		// Check special case
+		int sLen = sArr != null ? sArr.length : 0;
+		if (sLen == 0)
+			return new byte[0];
+
+		int eLen = (sLen / 3) * 3;                              // Length of even 24-bits.
+		int cCnt = ((sLen - 1) / 3 + 1) << 2;                   // Returned character count
+		int dLen = cCnt + (lineSep ? (cCnt - 1) / 76 << 1 : 0); // Length of returned array
+		byte[] dArr = new byte[dLen];
+
+		// Encode even 24-bits
+		for (int s = 0, d = 0, cc = 0; s < eLen;) {
+			// Copy next three bytes into lower 24 bits of int, paying attension to sign.
+			int i = (sArr[s++] & 0xff) << 16 | (sArr[s++] & 0xff) << 8 | (sArr[s++] & 0xff);
+
+			// Encode the int into four chars
+			dArr[d++] = (byte) CA[(i >>> 18) & 0x3f];
+			dArr[d++] = (byte) CA[(i >>> 12) & 0x3f];
+			dArr[d++] = (byte) CA[(i >>> 6) & 0x3f];
+			dArr[d++] = (byte) CA[i & 0x3f];
+
+			// Add optional line separator
+			if (lineSep && ++cc == 19 && d < dLen - 2) {
+				dArr[d++] = '\r';
+				dArr[d++] = '\n';
+				cc = 0;
+			}
+		}
+
+		// Pad and encode last bits if source isn't an even 24 bits.
+		int left = sLen - eLen; // 0 - 2.
+		if (left > 0) {
+			// Prepare the int
+			int i = ((sArr[eLen] & 0xff) << 10) | (left == 2 ? ((sArr[sLen - 1] & 0xff) << 2) : 0);
+
+			// Set last four chars
+			dArr[dLen - 4] = (byte) CA[i >> 12];
+			dArr[dLen - 3] = (byte) CA[(i >>> 6) & 0x3f];
+			dArr[dLen - 2] = left == 2 ? (byte) CA[i & 0x3f] : (byte) '=';
+			dArr[dLen - 1] = '=';
+		}
+		return dArr;
+	}
+
+	/** Decodes a BASE64 encoded byte array. All illegal characters will be ignored and can handle both arrays with
+	 * and without line separators.
+	 * @param sArr The source array. Length 0 will return an empty array. <code>null</code> will throw an exception.
+	 * @return The decoded array of bytes. May be of length 0. Will be <code>null</code> if the legal characters
+	 * (including '=') isn't divideable by 4. (I.e. definitely corrupted).
+	 */
+	public final static byte[] decode(byte[] sArr)
+	{
+		// Check special case
+		int sLen = sArr.length;
+
+		// Count illegal characters (including '\r', '\n') to know what size the returned array will be,
+		// so we don't have to reallocate & copy it later.
+		int sepCnt = 0; // Number of separator characters. (Actually illegal characters, but that's a bonus...)
+		for (int i = 0; i < sLen; i++)      // If input is "pure" (I.e. no line separators or illegal chars) base64 this loop can be commented out.
+			if (IA[sArr[i] & 0xff] < 0)
+				sepCnt++;
+
+		// Check so that legal chars (including '=') are evenly divideable by 4 as specified in RFC 2045.
+		if ((sLen - sepCnt) % 4 != 0)
+			return null;
+
+		int pad = 0;
+		for (int i = sLen; i > 1 && IA[sArr[--i] & 0xff] <= 0;)
+			if (sArr[i] == '=')
+				pad++;
+
+		int len = ((sLen - sepCnt) * 6 >> 3) - pad;
+
+		byte[] dArr = new byte[len];       // Preallocate byte[] of exact length
+
+		for (int s = 0, d = 0; d < len;) {
+			// Assemble three bytes into an int from four "valid" characters.
+			int i = 0;
+			for (int j = 0; j < 4; j++) {   // j only increased if a valid char was found.
+				int c = IA[sArr[s++] & 0xff];
+				if (c >= 0)
+				    i |= c << (18 - j * 6);
+				else
+					j--;
+			}
+
+			// Add the bytes
+			dArr[d++] = (byte) (i >> 16);
+			if (d < len) {
+				dArr[d++]= (byte) (i >> 8);
+				if (d < len)
+					dArr[d++] = (byte) i;
+			}
+		}
+
+		return dArr;
+	}
+
+
+	/** Decodes a BASE64 encoded byte array that is known to be resonably well formatted. The method is about twice as
+	 * fast as {@link #decode(byte[])}. The preconditions are:<br>
+	 * + The array must have a line length of 76 chars OR no line separators at all (one line).<br>
+	 * + Line separator must be "\r\n", as specified in RFC 2045
+	 * + The array must not contain illegal characters within the encoded string<br>
+	 * + The array CAN have illegal characters at the beginning and end, those will be dealt with appropriately.<br>
+	 * @param sArr The source array. Length 0 will return an empty array. <code>null</code> will throw an exception.
+	 * @return The decoded array of bytes. May be of length 0.
+	 */
+	public final static byte[] decodeFast(byte[] sArr)
+	{
+		// Check special case
+		int sLen = sArr.length;
+		if (sLen == 0)
+			return new byte[0];
+
+		int sIx = 0, eIx = sLen - 1;    // Start and end index after trimming.
+
+		// Trim illegal chars from start
+		while (sIx < eIx && IA[sArr[sIx] & 0xff] < 0)
+			sIx++;
+
+		// Trim illegal chars from end
+		while (eIx > 0 && IA[sArr[eIx] & 0xff] < 0)
+			eIx--;
+
+		// get the padding count (=) (0, 1 or 2)
+		int pad = sArr[eIx] == '=' ? (sArr[eIx - 1] == '=' ? 2 : 1) : 0;  // Count '=' at end.
+		int cCnt = eIx - sIx + 1;   // Content count including possible separators
+		int sepCnt = sLen > 76 ? (sArr[76] == '\r' ? cCnt / 78 : 0) << 1 : 0;
+
+		int len = ((cCnt - sepCnt) * 6 >> 3) - pad; // The number of decoded bytes
+		byte[] dArr = new byte[len];       // Preallocate byte[] of exact length
+
+		// Decode all but the last 0 - 2 bytes.
+		int d = 0;
+		for (int cc = 0, eLen = (len / 3) * 3; d < eLen;) {
+			// Assemble three bytes into an int from four "valid" characters.
+			int i = IA[sArr[sIx++]] << 18 | IA[sArr[sIx++]] << 12 | IA[sArr[sIx++]] << 6 | IA[sArr[sIx++]];
+
+			// Add the bytes
+			dArr[d++] = (byte) (i >> 16);
+			dArr[d++] = (byte) (i >> 8);
+			dArr[d++] = (byte) i;
+
+			// If line separator, jump over it.
+			if (sepCnt > 0 && ++cc == 19) {
+				sIx += 2;
+				cc = 0;
+			}
+		}
+
+		if (d < len) {
+			// Decode last 1-3 bytes (incl '=') into 1-3 bytes
+			int i = 0;
+			for (int j = 0; sIx <= eIx - pad; j++)
+				i |= IA[sArr[sIx++]] << (18 - j * 6);
+
+			for (int r = 16; d < len; r -= 8)
+				dArr[d++] = (byte) (i >> r);
+		}
+
+		return dArr;
+	}
+
+	// ****************************************************************************************
+	// * String version
+	// ****************************************************************************************
+
+	/** Encodes a raw byte array into a BASE64 <code>String</code> representation i accordance with RFC 2045.
+	 * @param sArr The bytes to convert. If <code>null</code> or length 0 an empty array will be returned.
+	 * @param lineSep Optional "\r\n" after 76 characters, unless end of file.<br>
+	 * No line separator will be in breach of RFC 2045 which specifies max 76 per line but will be a
+	 * little faster.
+	 * @return A BASE64 encoded array. Never <code>null</code>.
+	 */
+	public final static String encodeToString(byte[] sArr, boolean lineSep)
+	{
+		// Reuse char[] since we can't create a String incrementally anyway and StringBuffer/Builder would be slower.
+		return new String(encodeToChar(sArr, lineSep));
+	}
+
+	/** Decodes a BASE64 encoded <code>String</code>. All illegal characters will be ignored and can handle both strings with
+	 * and without line separators.<br>
+	 * <b>Note!</b> It can be up to about 2x the speed to call <code>decode(str.toCharArray())</code> instead. That
+	 * will create a temporary array though. This version will use <code>str.charAt(i)</code> to iterate the string.
+	 * @param str The source string. <code>null</code> or length 0 will return an empty array.
+	 * @return The decoded array of bytes. May be of length 0. Will be <code>null</code> if the legal characters
+	 * (including '=') isn't divideable by 4.  (I.e. definitely corrupted).
+	 */
+	public final static byte[] decode(String str)
+	{
+		// Check special case
+		int sLen = str != null ? str.length() : 0;
+		if (sLen == 0)
+			return new byte[0];
+
+		// Count illegal characters (including '\r', '\n') to know what size the returned array will be,
+		// so we don't have to reallocate & copy it later.
+		int sepCnt = 0; // Number of separator characters. (Actually illegal characters, but that's a bonus...)
+		for (int i = 0; i < sLen; i++)  // If input is "pure" (I.e. no line separators or illegal chars) base64 this loop can be commented out.
+			if (IA[str.charAt(i)] < 0)
+				sepCnt++;
+
+		// Check so that legal chars (including '=') are evenly divideable by 4 as specified in RFC 2045.
+		if ((sLen - sepCnt) % 4 != 0)
+			return null;
+
+		// Count '=' at end
+		int pad = 0;
+		for (int i = sLen; i > 1 && IA[str.charAt(--i)] <= 0;)
+			if (str.charAt(i) == '=')
+				pad++;
+
+		int len = ((sLen - sepCnt) * 6 >> 3) - pad;
+
+		byte[] dArr = new byte[len];       // Preallocate byte[] of exact length
+
+		for (int s = 0, d = 0; d < len;) {
+			// Assemble three bytes into an int from four "valid" characters.
+			int i = 0;
+			for (int j = 0; j < 4; j++) {   // j only increased if a valid char was found.
+				int c = IA[str.charAt(s++)];
+				if (c >= 0)
+				    i |= c << (18 - j * 6);
+				else
+					j--;
+			}
+			// Add the bytes
+			dArr[d++] = (byte) (i >> 16);
+			if (d < len) {
+				dArr[d++]= (byte) (i >> 8);
+				if (d < len)
+					dArr[d++] = (byte) i;
+			}
+		}
+		return dArr;
+	}
+
+	/** Decodes a BASE64 encoded string that is known to be resonably well formatted. The method is about twice as
+	 * fast as {@link #decode(String)}. The preconditions are:<br>
+	 * + The array must have a line length of 76 chars OR no line separators at all (one line).<br>
+	 * + Line separator must be "\r\n", as specified in RFC 2045
+	 * + The array must not contain illegal characters within the encoded string<br>
+	 * + The array CAN have illegal characters at the beginning and end, those will be dealt with appropriately.<br>
+	 * @param s The source string. Length 0 will return an empty array. <code>null</code> will throw an exception.
+	 * @return The decoded array of bytes. May be of length 0.
+	 */
+	public final static byte[] decodeFast(String s)
+	{
+		// Check special case
+		int sLen = s.length();
+		if (sLen == 0)
+			return new byte[0];
+
+		int sIx = 0, eIx = sLen - 1;    // Start and end index after trimming.
+
+		// Trim illegal chars from start
+		while (sIx < eIx && IA[s.charAt(sIx) & 0xff] < 0)
+			sIx++;
+
+		// Trim illegal chars from end
+		while (eIx > 0 && IA[s.charAt(eIx) & 0xff] < 0)
+			eIx--;
+
+		// get the padding count (=) (0, 1 or 2)
+		int pad = s.charAt(eIx) == '=' ? (s.charAt(eIx - 1) == '=' ? 2 : 1) : 0;  // Count '=' at end.
+		int cCnt = eIx - sIx + 1;   // Content count including possible separators
+		int sepCnt = sLen > 76 ? (s.charAt(76) == '\r' ? cCnt / 78 : 0) << 1 : 0;
+
+		int len = ((cCnt - sepCnt) * 6 >> 3) - pad; // The number of decoded bytes
+		byte[] dArr = new byte[len];       // Preallocate byte[] of exact length
+
+		// Decode all but the last 0 - 2 bytes.
+		int d = 0;
+		for (int cc = 0, eLen = (len / 3) * 3; d < eLen;) {
+			// Assemble three bytes into an int from four "valid" characters.
+			int i = IA[s.charAt(sIx++)] << 18 | IA[s.charAt(sIx++)] << 12 | IA[s.charAt(sIx++)] << 6 | IA[s.charAt(sIx++)];
+
+			// Add the bytes
+			dArr[d++] = (byte) (i >> 16);
+			dArr[d++] = (byte) (i >> 8);
+			dArr[d++] = (byte) i;
+
+			// If line separator, jump over it.
+			if (sepCnt > 0 && ++cc == 19) {
+				sIx += 2;
+				cc = 0;
+			}
+		}
+
+		if (d < len) {
+			// Decode last 1-3 bytes (incl '=') into 1-3 bytes
+			int i = 0;
+			for (int j = 0; sIx <= eIx - pad; j++)
+				i |= IA[s.charAt(sIx++)] << (18 - j * 6);
+
+			for (int r = 16; d < len; r -= 8)
+				dArr[d++] = (byte) (i >> r);
+		}
+
+		return dArr;
+	}
+}
diff --git a/src/server/src/main/java/com/example/testdemo/ros/rosbridge/implementation/JSON.java b/src/server/src/main/java/com/example/testdemo/ros/rosbridge/implementation/JSON.java
new file mode 100644
index 0000000..67a3d0b
--- /dev/null
+++ b/src/server/src/main/java/com/example/testdemo/ros/rosbridge/implementation/JSON.java
@@ -0,0 +1,335 @@
+/**
+ * Copyright (c) 2014 example.testdemo Systems, Inc.
+ *
+ * This file is part of the Java ROSBridge Client.
+ *
+ * The Java ROSBridge Client is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The Java ROSBridge Client is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Java ROSBridge Client.  If not, see http://www.gnu.org/licenses/.
+ *
+ */
+package com.example.testdemo.ros.rosbridge.implementation;
+
+import com.alibaba.fastjson.JSONArray;
+import com.alibaba.fastjson.JSONObject;
+import com.example.testdemo.ros.message.Message;
+import com.example.testdemo.ros.rosbridge.indication.Indication;
+import com.example.testdemo.ros.rosbridge.operation.Wrapper;
+import jdk.nashorn.internal.parser.JSONParser;
+
+
+import java.io.StringReader;
+import java.lang.reflect.Array;
+import java.lang.reflect.Field;
+
+
+// The slightly crazy abstractions here are designed to isolate knowledge of
+//    the JSON library and data types from the Operation details of rosbridge.
+//    Why is this important?  A few reasons I can see.  First, we might want
+//    to change JSON libraries and this encapsulates all use of JSON-simple.
+//    Second, as much as possible I would like the semantics of the rosbridge
+//    protocol to be encapsulated in the Operation and its subclasses rather
+//    than in a module that is essentially about serialization.
+//
+//    Unfortunately the hierarchical Message abstraction is a bit broken
+//    at the top level. Beginning at the actual operation (e.g., Publish), the
+//    types of the fields are determined either by the fields themselves or by
+//    an indicator.  However, the type of the operation itself is not determined
+//    this way, because the indicator is in the object itself, which means it
+//    would have to be created before its type is known. Rather than build in
+//    exceptions, I elected to create a "Wrapper" operation type that simply
+//    wraps the concrete operation and copies its "op" field.
+//
+
+public class JSON {
+
+    /**
+     * Translates a Message recursively into JSON. Normally the Message is also an
+     * Operation, but it does not have to be. The caller constructs a complete
+     * message using @Operation and @Message types. This includes situations
+     * where one or more fields are marked to be turned into arrays, using @AsArray.
+     * @param m  the @Message object to be recursively translated.
+     * @return   the complete JSON string.
+     */
+    public static String toJSON(Message m) {
+        JSONObject jo = convertObjectToJSONObject(m); // Object to JSON-Simple
+        return jo.toJSONString();                     // JSON-Simple to string
+    }
+
+    /**
+     * Translates JSON into a hierarchical Operation/Message structure.
+     * This includes handling fields that are @Indicated and @AsArray. If the
+     * @Class parameter is a @Wrapper, this is a special case whereby the
+     * object is wrapped to create a consistent hierarchy.
+     * @param json  the source JSON string
+     * @param c     the top level class of the JSON. Normally @Wrapper
+     * @param r     the @Registry containing topic registrations
+     * @return      the fully instantiated message hierarchy represented
+     *              by the JSON string.
+     */
+    public static Message toMessage(String json, Class c, Registry<Class> r) {
+        JSONObject joUnwrapped = convertStringToJSONObject(json); // String to JSON-Simple
+        JSONObject jo = joUnwrapped;
+        if (Wrapper.class.isAssignableFrom(c))
+            jo = wrap(joUnwrapped, c);                            // wrap: a hack to make the hierarchy homogeneous
+        return convertJSONObjectToMessage(jo, c, r);              // JSON-Simple to Message
+    }
+
+    // *** Create JSON from Messages *** //
+
+    // Translate the object into a JSON-Simple object, field-by-field,
+    //   recursively via convertElementToJSON.
+    //   except for the case where AsArray is indicated
+    private static JSONObject convertObjectToJSONObject(Object o) {
+        JSONObject result = new JSONObject();
+        for (Field f : o.getClass().getFields()) {
+            Object fieldObject = getFieldObject(f, o);
+            if (fieldObject != null) {
+                Object resultObject;
+                if (Indication.isBase64Encoded(f))
+                    resultObject = convertByteArrayToBase64JSONString(fieldObject);
+                else if (Indication.asArray(f))
+                    resultObject = convertObjectToJSONArray(fieldObject);
+                else resultObject = convertElementToJSON(fieldObject);
+                result.put(f.getName(), resultObject);
+            }
+        }
+        return result;
+    }
+
+    // Convert an array type to a JSON-Simple array, element-by-element,
+    //    recursively via convertElementToJSON.
+    private static JSONArray convertArrayToJSONArray(Object array) {
+        JSONArray result = new JSONArray();
+        for (int i = 0; i < Array.getLength(array); i++) {
+            Object elementObject = Array.get(array, i);
+            if (elementObject != null) {
+                Object resultObject = convertElementToJSON(elementObject);
+                result.add(resultObject);
+            }
+        }
+        return result;
+    }
+
+    // For AsArray objects, convert the object to a JSON-Simple array
+    //     NOTE: This relies on later versions of the JDK providing
+    //           the fields in order.
+    private static JSONArray convertObjectToJSONArray(Object o) {
+        JSONArray result = new JSONArray();
+        for (Field f : o.getClass().getFields()) {
+            Object fieldObject = getFieldObject(f, o);
+            if (fieldObject != null) {
+                Object resultObject = convertElementToJSON(fieldObject);
+                result.add(resultObject);
+            }
+        }
+        return result;
+    }
+
+    // Convert the individual field or array element items recursively
+    private static Object convertElementToJSON(Object elementObject) {
+        Class elementClass = elementObject.getClass();
+        Object resultObject;
+        if (Message.isPrimitive(elementClass))
+            resultObject = elementObject;
+        else if (elementClass.isArray())
+            resultObject = convertArrayToJSONArray(elementObject);
+        else
+            resultObject = convertObjectToJSONObject(elementObject);
+        return resultObject;
+    }
+
+    // Special case for Base 64-encoded fields
+    private static Object convertByteArrayToBase64JSONString(Object fieldObject) {
+        return Base64.encodeToString((byte[]) fieldObject, false);
+    }
+
+    // This is just to buffer the code from the exception. Better error
+    //    handling needed here.
+    private static Object getFieldObject(Field f, Object o) {
+        Object fo = null;
+        try {
+            fo = f.get(o);
+        }
+        catch (IllegalAccessException ex) {
+            ex.printStackTrace();
+        }
+        return fo;
+    }
+
+    // *** Create Messages from JSON *** //
+
+    // Use the JSON-simple parser to create the JSON-Simple object
+    private static JSONObject convertStringToJSONObject(String json) {
+        JSONObject result = null;
+        StringReader r = new StringReader(json);
+        //JSONParser jp = new JSONParser();
+        try {
+            //result = (JSONObject) jp.parse(r);
+        }
+        catch (Throwable t) {
+            System.out.println(t.getMessage());
+        }
+        r.close();
+        return result;
+    }
+
+    // A bit of a hack to create a consistent hierarchy with jsonbridge operations
+    // At least it does not depend on any specific field names, it just copies the
+    // Indicator and Indicated fields.
+    private static JSONObject wrap(JSONObject jo, Class c) {
+        JSONObject result = new JSONObject();
+        String indicatorName = Indication.getIndicatorName(c);
+        String indicatedName = Indication.getIndicatedName(c);
+        result.put(indicatorName, jo.get(indicatorName));
+        result.put(indicatedName, jo);
+        return result;
+    }
+
+    // Convert the JSON-Simple object to the indicated message, field-by-field
+    //    recursively via convertElementToField.
+    private static Message convertJSONObjectToMessage(JSONObject jo, Class c, Registry<Class> r) {
+        //System.out.println("JSON.convertJSONObjectToMessage: " + jo.toJSONString());
+        try {
+            Message result = (Message) c.newInstance();
+            for (Field f : c.getFields()) {
+                Class fc = getFieldClass(result, jo, f, r);
+                Object lookup = jo.get(f.getName());
+                if (lookup != null) {
+                    Object value = convertElementToField(lookup, fc, f, r);
+                    f.set(result, value);
+                }
+            }
+            return result;
+        }
+        catch (Exception ex) {
+            //ex.printStackTrace();
+            return null;
+        }
+    }
+
+    // Convert the JSON-Simple array to the indicated message, element-by-element
+    //    recursively via convertElementToField.
+    private static Object convertJSONArrayToArray(JSONArray ja, Class c, Registry<Class> r) {
+        Object result = Array.newInstance(c, ja.size());
+        for (int i = 0; i < ja.size(); i++) {
+            Object lookup = ja.get(i);
+            Object value = null;
+            if (lookup != null) {
+                if (lookup.getClass().equals(JSONObject.class))
+                    value = convertJSONObjectToMessage((JSONObject) lookup, c, r);
+                else if (lookup.getClass().equals(JSONArray.class))  // this is not actually allowed in ROS
+                    value = convertJSONArrayToArray((JSONArray) lookup, c.getComponentType(), r);
+                else
+                    value = convertJSONPrimitiveToPrimitive(lookup, c);
+                Array.set(result, i, value);
+            }
+        }
+
+        return result;
+    }
+
+    // Convert a JSON-Simple array to a Message, field-by-field of the Message,
+    //     element-by-element of the array, recursively via convertElementToField.
+    //     NOTE: This relies on later versions of the JDK providing
+    //           the fields in order.
+    private static Message convertJSONArrayToMessage(JSONArray ja, Class c, Registry<Class> r) {
+        try {
+            Message result = (Message) c.newInstance();
+            int arrayIndex = 0;
+            for (Field f : c.getFields()) {
+                Class fc = getFieldClass(result, null, f, r);
+                Object lookup = ja.get(arrayIndex++);         // yes we are assuming that the fields are delivered in order
+                if (lookup != null) {
+                    Object value = convertElementToField(lookup, fc, f, r);
+                    f.set(result, value);
+                }
+            }
+
+            return result;
+        }
+        catch (Exception ex) {
+            ex.printStackTrace();
+            return null;
+        }
+    }
+
+    // Convert an individual array or object element to a field in the Message,
+    //    recursively, and applying AsArray if needed.
+    private static Object convertElementToField(Object element, Class fc, Field f, Registry<Class> r) {
+        //System.out.println("JSON.convertElementToField: " + f.getName() + " " + fc.getName());
+        Object value;
+        if (element.getClass().equals(JSONObject.class)) {
+            //System.out.println("JSON.convertElementToField: JSON Object " + ((JSONObject) element).toJSONString());
+            value = convertJSONObjectToMessage((JSONObject) element, fc, r);
+        }
+        else if (element.getClass().equals(JSONArray.class)) {
+            //System.out.println("JSON.convertElementToField: JSON Array " + ((JSONArray) element).toJSONString());
+            if (Indication.asArray(f))
+                value = convertJSONArrayToMessage((JSONArray) element, fc, r);
+            else value = convertJSONArrayToArray((JSONArray) element, fc, r);
+        }
+        else {
+            //System.out.println("JSON.convertElementToField: Primitive " + element);
+            if (Indication.isBase64Encoded(f))
+                value = convertBase64JSONStringToByteArray(element);
+            else value = convertJSONPrimitiveToPrimitive(element, fc);
+        }
+
+        return value;
+    }
+
+    // Note that this is not checking ranges
+    public static Object convertJSONPrimitiveToPrimitive(Object o, Class c) {
+        Object result = o;
+        if (c.isPrimitive() || Number.class.isAssignableFrom(c)) {
+            if (c.equals(double.class) || c.equals(Double.class))
+                result = new Double(((Number) o).doubleValue());
+            else if (c.equals(float.class) || c.equals(Float.class))
+                result = new Float(((Number) o).floatValue());
+            else if (c.equals(long.class) || c.equals(Long.class))
+                result = new Long(((Number) o).longValue());
+            else if (int.class.equals(c) || c.equals(Integer.class))
+                result = new Integer(((Number) o).intValue());
+            else if (c.equals(short.class) || c.equals(Short.class))
+                result = new Short(((Number) o).shortValue());
+            else if (c.equals(byte.class) || c.equals(Byte.class))
+                result = new Byte(((Number) o).byteValue());
+        }
+        return result;
+    }
+
+    public static byte[] convertBase64JSONStringToByteArray(Object element) {
+        return Base64.decode((String) element);
+    }
+
+    // Determine the target class of a field in the object or array, based
+    //    directly on the field's type, or using the Indicator if applicable,
+    //    The Indicator field only provides the topic/service, so we have to look
+    //    up the Class in the registry.
+    public static Class getFieldClass(Message parent, JSONObject jo, Field f, Registry<Class> r) {
+        Class fc;
+        fc = f.getType();
+        if (fc.isArray())
+            fc = f.getType().getComponentType();
+        if (Indication.isIndicated(f) && (jo != null)) {
+            //fc = Indication.getIndication(parent,
+            //        (String) jo.get(Indication.getIndicatorName(parent.getClass())));
+            fc = r.lookup(parent.getClass(),
+                    (String) jo.get(Indication.getIndicatorName(parent.getClass())));
+            //System.out.println("JSON.getFieldClass: parent class " + parent.getClass().getName() +
+            //        " Indicator: " + Indication.getIndicatorName(parent.getClass()) +
+            //        " result: " + fc.getName());
+        }
+        return fc;
+    }
+}
diff --git a/src/server/src/main/java/com/example/testdemo/ros/rosbridge/implementation/PublishEvent.java b/src/server/src/main/java/com/example/testdemo/ros/rosbridge/implementation/PublishEvent.java
new file mode 100644
index 0000000..2a55cd4
--- /dev/null
+++ b/src/server/src/main/java/com/example/testdemo/ros/rosbridge/implementation/PublishEvent.java
@@ -0,0 +1,24 @@
+package com.example.testdemo.ros.rosbridge.implementation;
+
+import com.example.testdemo.ros.rosbridge.operation.Operation;
+
+/**EventBus event entity,describe ros server response info
+ * Created by xxhong on 16-11-22.
+ */
+
+public class PublishEvent {
+    public String msg;
+    public String id;
+    public String name;
+    public String op;
+
+
+    public PublishEvent(Operation operation, String name, String content) {
+        if(operation != null) {
+            id = operation.id;
+            op = operation.op;
+        }
+        this.name = name;
+        msg = content;
+    }
+}
diff --git a/src/server/src/main/java/com/example/testdemo/ros/rosbridge/implementation/Registry.java b/src/server/src/main/java/com/example/testdemo/ros/rosbridge/implementation/Registry.java
new file mode 100644
index 0000000..cad2ea4
--- /dev/null
+++ b/src/server/src/main/java/com/example/testdemo/ros/rosbridge/implementation/Registry.java
@@ -0,0 +1,49 @@
+/**
+ * Copyright (c) 2014 example.testdemo Systems, Inc.
+ *
+ * This file is part of the Java ROSBridge Client.
+ *
+ * The Java ROSBridge Client is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The Java ROSBridge Client is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Java ROSBridge Client.  If not, see http://www.gnu.org/licenses/.
+ *
+ */
+package com.example.testdemo.ros.rosbridge.implementation;
+
+import java.util.HashMap;
+import java.util.Map;
+
+public class Registry<T> extends HashMap<Class, Map<String, T>> {
+
+    public void register(Class c, String s, T t) {
+        Map<String, T> table = get(c);
+        if (table == null) {
+            table = new HashMap<String, T>();
+            put(c, table);
+        }
+        table.put(s, t);
+    }
+
+    public void unregister(Class c, String s) {
+        Map<String, T> table = get(c);
+        if (table != null)
+            table.remove(s);
+    }
+
+    public T lookup(Class c, String s) {
+        T result = null;
+        Map<String, T> table = get(c);
+        if (table != null)
+            result = table.get(s);
+        return result;
+    }
+}
diff --git a/src/server/src/main/java/com/example/testdemo/ros/rosbridge/indication/AsArray.java b/src/server/src/main/java/com/example/testdemo/ros/rosbridge/indication/AsArray.java
new file mode 100644
index 0000000..e57f11d
--- /dev/null
+++ b/src/server/src/main/java/com/example/testdemo/ros/rosbridge/indication/AsArray.java
@@ -0,0 +1,30 @@
+/**
+ * Copyright (c) 2014 example.testdemo Systems, Inc.
+ *
+ * This file is part of the Java ROSBridge Client.
+ *
+ * The Java ROSBridge Client is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The Java ROSBridge Client is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Java ROSBridge Client.  If not, see http://www.gnu.org/licenses/.
+ *
+ */
+package com.example.testdemo.ros.rosbridge.indication;
+
+import java.lang.annotation.ElementType;
+import java.lang.annotation.Retention;
+import java.lang.annotation.RetentionPolicy;
+import java.lang.annotation.Target;
+
+@Retention(RetentionPolicy.RUNTIME)
+@Target(ElementType.FIELD)
+public @interface AsArray {
+}
diff --git a/src/server/src/main/java/com/example/testdemo/ros/rosbridge/indication/Base64Encoded.java b/src/server/src/main/java/com/example/testdemo/ros/rosbridge/indication/Base64Encoded.java
new file mode 100644
index 0000000..9ac48a4
--- /dev/null
+++ b/src/server/src/main/java/com/example/testdemo/ros/rosbridge/indication/Base64Encoded.java
@@ -0,0 +1,30 @@
+/**
+ * Copyright (c) 2014 example.testdemo Systems, Inc.
+ *
+ * This file is part of the Java ROSBridge Client.
+ *
+ * The Java ROSBridge Client is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The Java ROSBridge Client is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Java ROSBridge Client.  If not, see http://www.gnu.org/licenses/.
+ *
+ */
+package com.example.testdemo.ros.rosbridge.indication;
+
+import java.lang.annotation.ElementType;
+import java.lang.annotation.Retention;
+import java.lang.annotation.RetentionPolicy;
+import java.lang.annotation.Target;
+
+@Retention(RetentionPolicy.RUNTIME)
+@Target(ElementType.FIELD)
+public @interface Base64Encoded {
+}
diff --git a/src/server/src/main/java/com/example/testdemo/ros/rosbridge/indication/Indicate.java b/src/server/src/main/java/com/example/testdemo/ros/rosbridge/indication/Indicate.java
new file mode 100644
index 0000000..36f8fcf
--- /dev/null
+++ b/src/server/src/main/java/com/example/testdemo/ros/rosbridge/indication/Indicate.java
@@ -0,0 +1,31 @@
+/**
+ * Copyright (c) 2014 example.testdemo Systems, Inc.
+ *
+ * This file is part of the Java ROSBridge Client.
+ *
+ * The Java ROSBridge Client is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The Java ROSBridge Client is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Java ROSBridge Client.  If not, see http://www.gnu.org/licenses/.
+ *
+ */
+package com.example.testdemo.ros.rosbridge.indication;
+
+import java.lang.annotation.ElementType;
+import java.lang.annotation.Retention;
+import java.lang.annotation.RetentionPolicy;
+import java.lang.annotation.Target;
+
+@Retention(RetentionPolicy.RUNTIME)
+@Target(ElementType.METHOD)
+public @interface Indicate {
+    // if later we want multiple indicated fields, use an int here
+}
diff --git a/src/server/src/main/java/com/example/testdemo/ros/rosbridge/indication/Indicated.java b/src/server/src/main/java/com/example/testdemo/ros/rosbridge/indication/Indicated.java
new file mode 100644
index 0000000..9ab56ec
--- /dev/null
+++ b/src/server/src/main/java/com/example/testdemo/ros/rosbridge/indication/Indicated.java
@@ -0,0 +1,31 @@
+/**
+ * Copyright (c) 2014 example.testdemo Systems, Inc.
+ *
+ * This file is part of the Java ROSBridge Client.
+ *
+ * The Java ROSBridge Client is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The Java ROSBridge Client is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Java ROSBridge Client.  If not, see http://www.gnu.org/licenses/.
+ *
+ */
+package com.example.testdemo.ros.rosbridge.indication;
+
+import java.lang.annotation.ElementType;
+import java.lang.annotation.Retention;
+import java.lang.annotation.RetentionPolicy;
+import java.lang.annotation.Target;
+
+@Retention(RetentionPolicy.RUNTIME)
+@Target(ElementType.FIELD)
+public @interface Indicated {
+    // if later we want multiple indicated fields, use an int here
+}
diff --git a/src/server/src/main/java/com/example/testdemo/ros/rosbridge/indication/Indication.java b/src/server/src/main/java/com/example/testdemo/ros/rosbridge/indication/Indication.java
new file mode 100644
index 0000000..d133a39
--- /dev/null
+++ b/src/server/src/main/java/com/example/testdemo/ros/rosbridge/indication/Indication.java
@@ -0,0 +1,83 @@
+/**
+ * Copyright (c) 2014 example.testdemo Systems, Inc.
+ *
+ * This file is part of the Java ROSBridge Client.
+ *
+ * The Java ROSBridge Client is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The Java ROSBridge Client is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Java ROSBridge Client.  If not, see http://www.gnu.org/licenses/.
+ *
+ */
+package com.example.testdemo.ros.rosbridge.indication;
+
+import java.lang.reflect.Field;
+
+public class Indication {
+    public static boolean isIndicated(Field f) {
+        return (f.getAnnotation(Indicated.class) != null);
+    }
+
+    public static boolean asArray(Field f) {
+        return (f.getAnnotation(AsArray.class) != null);
+    }
+
+    public static boolean isBase64Encoded(Field f) {
+        return ((f.getAnnotation(Base64Encoded.class) != null) &&
+                f.getType().isArray() &&
+                f.getType().getComponentType().equals(byte.class));
+    }
+
+    public static String getIndicatorName(Class c) {
+        return getName(c, Indicator.class);
+    }
+
+    public static String getIndicatedName(Class c) {
+        return getName(c, Indicated.class);
+    }
+
+    private static String getName(Class c, Class annotation) {
+        String result = null;
+        for (Field f : c.getFields()) {
+            if (f.getAnnotation(annotation) != null) {
+                result = f.getName();
+                break;
+            }
+        }
+        return result;
+    }
+
+    /*
+    public static Class getIndication(Object o, String s) {
+        Class c = o.getClass();
+        Class result = null;
+        try {
+            Method m = getIndicateMethod(c);
+            result = (Class) (m.invoke(o, s));
+        }
+        catch (ReflectiveOperationException ex) {
+            ex.printStackTrace();
+        }
+        return result;
+    }
+
+    private static Method getIndicateMethod(Class c) {
+        Method result = null;
+        for (Method m : c.getMethods()) {
+            if (m.getAnnotation(Indicate.class) != null) {
+                result = m;
+                break;
+            }
+        }
+        return result;
+    }
+    */
+}
diff --git a/src/server/src/main/java/com/example/testdemo/ros/rosbridge/indication/Indicator.java b/src/server/src/main/java/com/example/testdemo/ros/rosbridge/indication/Indicator.java
new file mode 100644
index 0000000..4e400eb
--- /dev/null
+++ b/src/server/src/main/java/com/example/testdemo/ros/rosbridge/indication/Indicator.java
@@ -0,0 +1,31 @@
+/**
+ * Copyright (c) 2014 example.testdemo Systems, Inc.
+ *
+ * This file is part of the Java ROSBridge Client.
+ *
+ * The Java ROSBridge Client is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The Java ROSBridge Client is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Java ROSBridge Client.  If not, see http://www.gnu.org/licenses/.
+ *
+ */
+package com.example.testdemo.ros.rosbridge.indication;
+
+import java.lang.annotation.ElementType;
+import java.lang.annotation.Retention;
+import java.lang.annotation.RetentionPolicy;
+import java.lang.annotation.Target;
+
+@Retention(RetentionPolicy.RUNTIME)
+@Target(ElementType.FIELD)
+public @interface Indicator {
+    // if later we want multiple indicated fields, use an int here
+}
diff --git a/src/server/src/main/java/com/example/testdemo/ros/rosbridge/operation/Advertise.java b/src/server/src/main/java/com/example/testdemo/ros/rosbridge/operation/Advertise.java
new file mode 100644
index 0000000..2e96db7
--- /dev/null
+++ b/src/server/src/main/java/com/example/testdemo/ros/rosbridge/operation/Advertise.java
@@ -0,0 +1,35 @@
+/**
+ * Copyright (c) 2014 example.testdemo Systems, Inc.
+ *
+ * This file is part of the Java ROSBridge Client.
+ *
+ * The Java ROSBridge Client is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The Java ROSBridge Client is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Java ROSBridge Client.  If not, see http://www.gnu.org/licenses/.
+ *
+ */
+package com.example.testdemo.ros.rosbridge.operation;
+
+import com.example.testdemo.ros.message.MessageType;
+
+@MessageType(string = "advertise")
+public class Advertise extends Operation {
+    public String topic;
+    public String type;
+
+    public Advertise() {}
+
+    public Advertise(String topic, String type) {
+        this.topic = topic;
+        this.type = type;
+    }
+}
diff --git a/src/server/src/main/java/com/example/testdemo/ros/rosbridge/operation/Authenticate.java b/src/server/src/main/java/com/example/testdemo/ros/rosbridge/operation/Authenticate.java
new file mode 100644
index 0000000..c796855
--- /dev/null
+++ b/src/server/src/main/java/com/example/testdemo/ros/rosbridge/operation/Authenticate.java
@@ -0,0 +1,56 @@
+/**
+ * Copyright (c) 2014 example.testdemo Systems, Inc.
+ *
+ * This file is part of the Java ROSBridge Client.
+ *
+ * The Java ROSBridge Client is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The Java ROSBridge Client is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Java ROSBridge Client.  If not, see http://www.gnu.org/licenses/.
+ *
+ */
+package com.example.testdemo.ros.rosbridge.operation;
+
+import com.example.testdemo.ros.message.MessageType;
+
+@MessageType(string = "auth")
+public class Authenticate extends Operation {
+    public String mac;
+    public String client;
+    public String dest;
+    public String rand;
+    public int t;
+    public String level;
+    public int end;
+
+    public Authenticate() {}
+
+    public Authenticate(
+            String mac,
+            String client,
+            String dest,
+            String rand,
+            int t,
+            String level,
+            int end)
+    {
+        this.mac = mac;
+        this.client = client;
+        this.dest = dest;
+        this.rand = rand;
+        this.t = t;
+        this.level = level;
+        this.end = end;
+
+        this.id = null; // even though id is on EVERY OTHER operation type
+    }
+
+}
diff --git a/src/server/src/main/java/com/example/testdemo/ros/rosbridge/operation/CallService.java b/src/server/src/main/java/com/example/testdemo/ros/rosbridge/operation/CallService.java
new file mode 100644
index 0000000..0b7c3c9
--- /dev/null
+++ b/src/server/src/main/java/com/example/testdemo/ros/rosbridge/operation/CallService.java
@@ -0,0 +1,41 @@
+/**
+ * Copyright (c) 2014 example.testdemo Systems, Inc.
+ *
+ * This file is part of the Java ROSBridge Client.
+ *
+ * The Java ROSBridge Client is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The Java ROSBridge Client is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Java ROSBridge Client.  If not, see http://www.gnu.org/licenses/.
+ *
+ */
+package com.example.testdemo.ros.rosbridge.operation;
+
+import com.example.testdemo.ros.message.Message;
+import com.example.testdemo.ros.message.MessageType;
+import com.example.testdemo.ros.rosbridge.indication.AsArray;
+import com.example.testdemo.ros.rosbridge.indication.Indicated;
+import com.example.testdemo.ros.rosbridge.indication.Indicator;
+
+@MessageType(string = "call_service")
+public class CallService extends Operation {
+    @Indicator public String service;
+    @Indicated @AsArray public Message args;
+    public Integer fragment_size; // use Integer for optional items
+    public String compression;
+
+    public CallService() {}
+
+    public CallService(String service, Message args) {
+        this.service = service;
+        this.args = args;
+    }
+}
diff --git a/src/server/src/main/java/com/example/testdemo/ros/rosbridge/operation/Fragment.java b/src/server/src/main/java/com/example/testdemo/ros/rosbridge/operation/Fragment.java
new file mode 100644
index 0000000..139d7fb
--- /dev/null
+++ b/src/server/src/main/java/com/example/testdemo/ros/rosbridge/operation/Fragment.java
@@ -0,0 +1,37 @@
+/**
+ * Copyright (c) 2014 example.testdemo Systems, Inc.
+ *
+ * This file is part of the Java ROSBridge Client.
+ *
+ * The Java ROSBridge Client is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The Java ROSBridge Client is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Java ROSBridge Client.  If not, see http://www.gnu.org/licenses/.
+ *
+ */
+package com.example.testdemo.ros.rosbridge.operation;
+
+import com.example.testdemo.ros.message.MessageType;
+
+@MessageType(string = "fragment")
+public class Fragment extends Operation {
+    public String data;
+    public int num;
+    public int total;
+
+    public Fragment() {}
+
+    public Fragment(String data, int num, int total) {
+        this.data = data;
+        this.num = num;
+        this.total = total;
+    }
+}
diff --git a/src/server/src/main/java/com/example/testdemo/ros/rosbridge/operation/Operation.java b/src/server/src/main/java/com/example/testdemo/ros/rosbridge/operation/Operation.java
new file mode 100644
index 0000000..ca4965e
--- /dev/null
+++ b/src/server/src/main/java/com/example/testdemo/ros/rosbridge/operation/Operation.java
@@ -0,0 +1,77 @@
+/**
+ * Copyright (c) 2014 example.testdemo Systems, Inc.
+ *
+ * This file is part of the Java ROSBridge Client.
+ *
+ * The Java ROSBridge Client is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The Java ROSBridge Client is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Java ROSBridge Client.  If not, see http://www.gnu.org/licenses/.
+ *
+ */
+package com.example.testdemo.ros.rosbridge.operation;
+
+import com.example.testdemo.ros.message.Message;
+import com.example.testdemo.ros.message.MessageType;
+import com.example.testdemo.ros.rosbridge.implementation.JSON;
+import com.example.testdemo.ros.rosbridge.implementation.Registry;
+
+@MessageType(string = "operation")
+public class Operation extends Message {
+    private static Long uid = 0L;
+
+    public String op;
+    public String id;
+
+    public Operation() {
+        this.op = getMessageType(getClass());
+        this.id = nextId();
+    }
+
+    private static synchronized String nextId() {
+        String result = uid.toString();
+        uid++;
+        return result;
+    }
+
+    public String toJSON() {
+        return JSON.toJSON(this);
+    }
+
+    public static Operation toOperation(String json, Registry<Class> registry) {
+        return ((Wrapper) JSON.toMessage(json, Wrapper.class, registry)).msg;
+    }
+
+    public static void initialize(Registry<Class> registry) {
+        initClass(registry, Advertise.class);
+        initClass(registry, Authenticate.class);
+        initClass(registry, CallService.class);
+        initClass(registry, Fragment.class);
+        initClass(registry, Operation.class);
+        initClass(registry, PNG.class);
+        initClass(registry, Publish.class);
+        initClass(registry, ServiceResponse.class);
+        initClass(registry, SetStatusLevel.class);
+        initClass(registry, Status.class);
+        initClass(registry, Subscribe.class);
+        initClass(registry, Unadvertise.class);
+        initClass(registry, Unsubscribe.class);
+        initClass(registry, Wrapper.class);
+
+        registry.register(Wrapper.class, Message.getMessageType(Publish.class), Publish.class);
+        registry.register(Wrapper.class, Message.getMessageType(CallService.class), CallService.class);
+        registry.register(Wrapper.class, Message.getMessageType(ServiceResponse.class), ServiceResponse.class);
+    }
+
+    private static void initClass(Registry<Class> registry, Class<? extends Message> c) {
+        registry.register(Message.class, Message.getMessageType(c), c);
+    }
+}
diff --git a/src/server/src/main/java/com/example/testdemo/ros/rosbridge/operation/PNG.java b/src/server/src/main/java/com/example/testdemo/ros/rosbridge/operation/PNG.java
new file mode 100644
index 0000000..ac7455d
--- /dev/null
+++ b/src/server/src/main/java/com/example/testdemo/ros/rosbridge/operation/PNG.java
@@ -0,0 +1,41 @@
+/**
+ * Copyright (c) 2014 example.testdemo Systems, Inc.
+ *
+ * This file is part of the Java ROSBridge Client.
+ *
+ * The Java ROSBridge Client is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The Java ROSBridge Client is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Java ROSBridge Client.  If not, see http://www.gnu.org/licenses/.
+ *
+ */
+package com.example.testdemo.ros.rosbridge.operation;
+
+import com.example.testdemo.ros.message.MessageType;
+
+@MessageType(string = "png")
+public class PNG extends Operation {
+    public String data;
+    public Integer num;     // use Integer for optional items
+    public Integer total;   // use Integer for optional items
+
+    public PNG() {}
+
+    public PNG(String data) {
+        this.data = data;
+    }
+
+    public PNG(String data, int num, int total) {
+        this.data = data;
+        this.num = num;
+        this.total = total;
+    }
+}
diff --git a/src/server/src/main/java/com/example/testdemo/ros/rosbridge/operation/Publish.java b/src/server/src/main/java/com/example/testdemo/ros/rosbridge/operation/Publish.java
new file mode 100644
index 0000000..9700cbc
--- /dev/null
+++ b/src/server/src/main/java/com/example/testdemo/ros/rosbridge/operation/Publish.java
@@ -0,0 +1,40 @@
+/**
+ * Copyright (c) 2014 example.testdemo Systems, Inc.
+ *
+ * This file is part of the Java ROSBridge Client.
+ *
+ * The Java ROSBridge Client is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The Java ROSBridge Client is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Java ROSBridge Client.  If not, see http://www.gnu.org/licenses/.
+ *
+ */
+package com.example.testdemo.ros.rosbridge.operation;
+
+import com.example.testdemo.ros.message.Message;
+import com.example.testdemo.ros.message.MessageType;
+import com.example.testdemo.ros.rosbridge.indication.Indicated;
+import com.example.testdemo.ros.rosbridge.indication.Indicator;
+
+@MessageType(string = "publish")
+public class Publish extends Operation {
+
+    @Indicator public String topic;
+    @Indicated
+    public Message msg;
+
+    public Publish() {}
+
+    public Publish(String topic, Message msg) {
+        this.topic = topic;
+        this.msg = msg;
+    }
+}
diff --git a/src/server/src/main/java/com/example/testdemo/ros/rosbridge/operation/ServiceResponse.java b/src/server/src/main/java/com/example/testdemo/ros/rosbridge/operation/ServiceResponse.java
new file mode 100644
index 0000000..b7be1d2
--- /dev/null
+++ b/src/server/src/main/java/com/example/testdemo/ros/rosbridge/operation/ServiceResponse.java
@@ -0,0 +1,38 @@
+/**
+ * Copyright (c) 2014 example.testdemo Systems, Inc.
+ *
+ * This file is part of the Java ROSBridge Client.
+ *
+ * The Java ROSBridge Client is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The Java ROSBridge Client is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Java ROSBridge Client.  If not, see http://www.gnu.org/licenses/.
+ *
+ */
+package com.example.testdemo.ros.rosbridge.operation;
+
+import com.example.testdemo.ros.message.Message;
+import com.example.testdemo.ros.message.MessageType;
+import com.example.testdemo.ros.rosbridge.indication.Indicated;
+import com.example.testdemo.ros.rosbridge.indication.Indicator;
+
+@MessageType(string = "service_response")
+public class ServiceResponse extends Operation {
+    @Indicator public String service;
+    public boolean result;
+    @Indicated public Message values;
+
+    public ServiceResponse() {}
+
+    public ServiceResponse(String service) {
+        this.service = service;
+    }
+}
diff --git a/src/server/src/main/java/com/example/testdemo/ros/rosbridge/operation/SetStatusLevel.java b/src/server/src/main/java/com/example/testdemo/ros/rosbridge/operation/SetStatusLevel.java
new file mode 100644
index 0000000..9cd5915
--- /dev/null
+++ b/src/server/src/main/java/com/example/testdemo/ros/rosbridge/operation/SetStatusLevel.java
@@ -0,0 +1,38 @@
+/**
+ * Copyright (c) 2014 example.testdemo Systems, Inc.
+ *
+ * This file is part of the Java ROSBridge Client.
+ *
+ * The Java ROSBridge Client is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The Java ROSBridge Client is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Java ROSBridge Client.  If not, see http://www.gnu.org/licenses/.
+ *
+ */
+package com.example.testdemo.ros.rosbridge.operation;
+
+import com.example.testdemo.ros.message.MessageType;
+
+@MessageType(string = "set_level")
+public class SetStatusLevel extends Operation {
+    public String level;
+
+    public SetStatusLevel() {}
+
+    public SetStatusLevel(String level) {
+        this.level = null;
+        if ("none".equals(level) ||
+                "warning".equals(level) ||
+                "error".equals(level) ||
+                "info".equals(level))
+            this.level = level;
+    }
+}
diff --git a/src/server/src/main/java/com/example/testdemo/ros/rosbridge/operation/Status.java b/src/server/src/main/java/com/example/testdemo/ros/rosbridge/operation/Status.java
new file mode 100644
index 0000000..3b43ad0
--- /dev/null
+++ b/src/server/src/main/java/com/example/testdemo/ros/rosbridge/operation/Status.java
@@ -0,0 +1,35 @@
+/**
+ * Copyright (c) 2014 example.testdemo Systems, Inc.
+ *
+ * This file is part of the Java ROSBridge Client.
+ *
+ * The Java ROSBridge Client is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The Java ROSBridge Client is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Java ROSBridge Client.  If not, see http://www.gnu.org/licenses/.
+ *
+ */
+package com.example.testdemo.ros.rosbridge.operation;
+
+import com.example.testdemo.ros.message.MessageType;
+
+@MessageType(string = "status")
+public class Status extends Operation {
+    String level;
+    String msg;
+
+    public Status() {}
+
+    public Status(String level, String msg) {
+        this.level = level;
+        this.msg = msg;
+    }
+}
diff --git a/src/server/src/main/java/com/example/testdemo/ros/rosbridge/operation/Subscribe.java b/src/server/src/main/java/com/example/testdemo/ros/rosbridge/operation/Subscribe.java
new file mode 100644
index 0000000..4acfaf6
--- /dev/null
+++ b/src/server/src/main/java/com/example/testdemo/ros/rosbridge/operation/Subscribe.java
@@ -0,0 +1,39 @@
+/**
+ * Copyright (c) 2014 example.testdemo Systems, Inc.
+ *
+ * This file is part of the Java ROSBridge Client.
+ *
+ * The Java ROSBridge Client is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The Java ROSBridge Client is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Java ROSBridge Client.  If not, see http://www.gnu.org/licenses/.
+ *
+ */
+package com.example.testdemo.ros.rosbridge.operation;
+
+import com.example.testdemo.ros.message.MessageType;
+
+@MessageType(string = "subscribe")
+public class Subscribe extends Operation {
+    public String topic;
+    public String type;
+    public Integer throttle_rate;   // use Integer for optional items
+    public Integer queue_length;    // use Integer for optional items
+    public Integer fragment_size;   // use Integer for optional items
+    public String compression;
+
+    public Subscribe() {}
+
+    public Subscribe(String topic, String type) {
+        this.topic = topic;
+        this.type = type;
+    }
+}
diff --git a/src/server/src/main/java/com/example/testdemo/ros/rosbridge/operation/Unadvertise.java b/src/server/src/main/java/com/example/testdemo/ros/rosbridge/operation/Unadvertise.java
new file mode 100644
index 0000000..eaf6055
--- /dev/null
+++ b/src/server/src/main/java/com/example/testdemo/ros/rosbridge/operation/Unadvertise.java
@@ -0,0 +1,33 @@
+/**
+ * Copyright (c) 2014 example.testdemo Systems, Inc.
+ *
+ * This file is part of the Java ROSBridge Client.
+ *
+ * The Java ROSBridge Client is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The Java ROSBridge Client is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Java ROSBridge Client.  If not, see http://www.gnu.org/licenses/.
+ *
+ */
+package com.example.testdemo.ros.rosbridge.operation;
+
+import com.example.testdemo.ros.message.MessageType;
+
+@MessageType(string = "unadvertise")
+public class Unadvertise extends Operation {
+    public String topic;
+
+    public Unadvertise() {}
+
+    public Unadvertise(String topic) {
+        this.topic = topic;
+    }
+}
diff --git a/src/server/src/main/java/com/example/testdemo/ros/rosbridge/operation/Unsubscribe.java b/src/server/src/main/java/com/example/testdemo/ros/rosbridge/operation/Unsubscribe.java
new file mode 100644
index 0000000..18b35ba
--- /dev/null
+++ b/src/server/src/main/java/com/example/testdemo/ros/rosbridge/operation/Unsubscribe.java
@@ -0,0 +1,33 @@
+/**
+ * Copyright (c) 2014 example.testdemo Systems, Inc.
+ *
+ * This file is part of the Java ROSBridge Client.
+ *
+ * The Java ROSBridge Client is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The Java ROSBridge Client is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Java ROSBridge Client.  If not, see http://www.gnu.org/licenses/.
+ *
+ */
+package com.example.testdemo.ros.rosbridge.operation;
+
+import com.example.testdemo.ros.message.MessageType;
+
+@MessageType(string = "unsubscribe")
+public class Unsubscribe extends Operation {
+    public String topic;
+
+    public Unsubscribe() {}
+
+    public Unsubscribe(String topic) {
+        this.topic = topic;
+    }
+}
diff --git a/src/server/src/main/java/com/example/testdemo/ros/rosbridge/operation/Wrapper.java b/src/server/src/main/java/com/example/testdemo/ros/rosbridge/operation/Wrapper.java
new file mode 100644
index 0000000..d806359
--- /dev/null
+++ b/src/server/src/main/java/com/example/testdemo/ros/rosbridge/operation/Wrapper.java
@@ -0,0 +1,33 @@
+/**
+ * Copyright (c) 2014 example.testdemo Systems, Inc.
+ *
+ * This file is part of the Java ROSBridge Client.
+ *
+ * The Java ROSBridge Client is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * The Java ROSBridge Client is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Java ROSBridge Client.  If not, see http://www.gnu.org/licenses/.
+ *
+ */
+package com.example.testdemo.ros.rosbridge.operation;
+
+import com.example.testdemo.ros.message.MessageType;
+import com.example.testdemo.ros.rosbridge.indication.Indicated;
+import com.example.testdemo.ros.rosbridge.indication.Indicator;
+
+@MessageType(string = "wrapper")
+public class Wrapper extends Operation {
+    @Indicator public String op;
+    @Indicated
+    public Operation msg;
+
+    public Wrapper() {}
+}