parent
3b32dde47f
commit
4d8b5a3ec1
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
|
After Width: | Height: | Size: 23 KiB |
Binary file not shown.
|
After Width: | Height: | Size: 20 KiB |
Binary file not shown.
|
After Width: | Height: | Size: 20 KiB |
|
Before Width: | Height: | Size: 2.2 KiB After Width: | Height: | Size: 2.2 KiB |
|
Before Width: | Height: | Size: 2.1 KiB After Width: | Height: | Size: 2.1 KiB |
|
Before Width: | Height: | Size: 2.2 KiB After Width: | Height: | Size: 2.2 KiB |
|
After Width: | Height: | Size: 22 KiB |
|
Before Width: | Height: | Size: 10 KiB After Width: | Height: | Size: 10 KiB |
|
Before Width: | Height: | Size: 14 KiB After Width: | Height: | Size: 14 KiB |
|
Before Width: | Height: | Size: 6.9 KiB After Width: | Height: | Size: 6.9 KiB |
|
Before Width: | Height: | Size: 8.3 KiB After Width: | Height: | Size: 8.3 KiB |
|
Before Width: | Height: | Size: 11 KiB After Width: | Height: | Size: 11 KiB |
|
Before Width: | Height: | Size: 10 KiB After Width: | Height: | Size: 10 KiB |
|
After Width: | Height: | Size: 11 KiB |
Binary file not shown.
|
After Width: | Height: | Size: 20 KiB |
|
After Width: | Height: | Size: 28 KiB |
Binary file not shown.
|
After Width: | Height: | Size: 9.5 KiB |
Binary file not shown.
|
After Width: | Height: | Size: 9.2 KiB |
Binary file not shown.
|
After Width: | Height: | Size: 14 KiB |
|
After Width: | Height: | Size: 7.0 KiB |
Binary file not shown.
|
After Width: | Height: | Size: 10 KiB |
Binary file not shown.
|
After Width: | Height: | Size: 15 KiB |
|
After Width: | Height: | Size: 21 KiB |
|
After Width: | Height: | Size: 26 KiB |
|
After Width: | Height: | Size: 9.1 KiB |
Binary file not shown.
|
After Width: | Height: | Size: 9.8 KiB |
Binary file not shown.
|
After Width: | Height: | Size: 27 KiB |
|
After Width: | Height: | Size: 9.7 KiB |
Binary file not shown.
|
After Width: | Height: | Size: 26 KiB |
|
After Width: | Height: | Size: 9.0 KiB |
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
File diff suppressed because one or more lines are too long
@ -0,0 +1,121 @@
|
|||||||
|
|
||||||
|
<!DOCTYPE html>
|
||||||
|
<html>
|
||||||
|
<head>
|
||||||
|
<meta charset="utf-8" />
|
||||||
|
|
||||||
|
<script type="text/javascript" type="text/javascript">
|
||||||
|
|
||||||
|
function callJS(){
|
||||||
|
var ros = new ROSLIB.Ros({
|
||||||
|
url : 'ws://192.168.43.164:9090'
|
||||||
|
});
|
||||||
|
|
||||||
|
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.');
|
||||||
|
});
|
||||||
|
|
||||||
|
// 发布一个话题
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
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_mux/input/navi',
|
||||||
|
messageType : 'geometry_msgs/Twist'
|
||||||
|
});
|
||||||
|
|
||||||
|
var twist = new ROSLIB.Message({
|
||||||
|
linear : {
|
||||||
|
x : 0.2,
|
||||||
|
y : 0.0,
|
||||||
|
z : 0.0
|
||||||
|
},
|
||||||
|
angular : {
|
||||||
|
x : 0.0,
|
||||||
|
y : 0.0,
|
||||||
|
z : 0.0
|
||||||
|
}
|
||||||
|
});
|
||||||
|
cmdVel.publish(twist);*/
|
||||||
|
}
|
||||||
|
|
||||||
|
</script>
|
||||||
|
|
||||||
|
</head>
|
||||||
|
|
||||||
|
<body>
|
||||||
|
<h1>Simple roslib Example</h1>
|
||||||
|
<p>Check your Web Console for output.</p>
|
||||||
|
|
||||||
|
</body>
|
||||||
|
</html>
|
||||||
File diff suppressed because one or more lines are too long
@ -0,0 +1,42 @@
|
|||||||
|
package com.example.logistics.tools;
|
||||||
|
|
||||||
|
import android.app.Application;
|
||||||
|
|
||||||
|
import com.jilk.ros.rosbridge.ROSBridgeClient;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @ Create by dadac on 2018/10/8.
|
||||||
|
* @Function:
|
||||||
|
* @Return:
|
||||||
|
*/
|
||||||
|
public class RCApplication extends Application {
|
||||||
|
|
||||||
|
|
||||||
|
ROSBridgeClient client;
|
||||||
|
|
||||||
|
@Override
|
||||||
|
public void onCreate() {
|
||||||
|
super.onCreate();
|
||||||
|
}
|
||||||
|
|
||||||
|
@Override
|
||||||
|
public void onTerminate() {
|
||||||
|
if (client != null)
|
||||||
|
client.disconnect();
|
||||||
|
super.onTerminate();
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
public ROSBridgeClient getRosClient() {
|
||||||
|
return client;
|
||||||
|
}
|
||||||
|
|
||||||
|
public void setRosClient(ROSBridgeClient client) {
|
||||||
|
this.client = client;
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
@ -0,0 +1,139 @@
|
|||||||
|
/**
|
||||||
|
* Copyright (c) 2014 Jilk 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.jilk.ros;
|
||||||
|
|
||||||
|
import com.jilk.ros.message.Clock;
|
||||||
|
import com.jilk.ros.message.Log;
|
||||||
|
import com.jilk.ros.rosapi.message.Empty;
|
||||||
|
import com.jilk.ros.rosapi.message.GetTime;
|
||||||
|
import com.jilk.ros.rosapi.message.MessageDetails;
|
||||||
|
import com.jilk.ros.rosapi.message.Type;
|
||||||
|
import com.jilk.ros.rosbridge.ROSBridgeClient;
|
||||||
|
|
||||||
|
public class Example {
|
||||||
|
|
||||||
|
public Example() {}
|
||||||
|
|
||||||
|
public static void main(String[] args) {
|
||||||
|
ROSBridgeClient client = new ROSBridgeClient("ws://162.243.238.80:9090");
|
||||||
|
client.connect();
|
||||||
|
//testTopic(client);
|
||||||
|
try {
|
||||||
|
testService(client);
|
||||||
|
}
|
||||||
|
catch (RuntimeException ex) {
|
||||||
|
ex.printStackTrace();
|
||||||
|
}
|
||||||
|
finally {
|
||||||
|
client.disconnect();
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
public static void testService(ROSBridgeClient client) {
|
||||||
|
try {
|
||||||
|
Service<Empty, GetTime> timeService =
|
||||||
|
new Service<Empty, GetTime>("/rosapi/get_time", Empty.class, GetTime.class, client);
|
||||||
|
timeService.verify();
|
||||||
|
//System.out.println("Time (secs): " + timeService.callBlocking(new Empty()).time.sec);
|
||||||
|
|
||||||
|
Service<com.jilk.ros.rosapi.message.Service, Type> serviceTypeService =
|
||||||
|
new Service<com.jilk.ros.rosapi.message.Service, Type>("/rosapi/service_type",
|
||||||
|
com.jilk.ros.rosapi.message.Service.class, Type.class, client);
|
||||||
|
serviceTypeService.verify();
|
||||||
|
String type = serviceTypeService.callBlocking(new com.jilk.ros.rosapi.message.Service("/rosapi/service_response_details")).type;
|
||||||
|
|
||||||
|
Service<Type, MessageDetails> serviceDetails =
|
||||||
|
new Service<Type, MessageDetails>("/rosapi/service_response_details",
|
||||||
|
Type.class, MessageDetails.class, client);
|
||||||
|
serviceDetails.verify();
|
||||||
|
//serviceDetails.callBlocking(new Type(type)).print();
|
||||||
|
|
||||||
|
Topic<Log> logTopic =
|
||||||
|
new Topic<Log>("/rosout", Log.class, client);
|
||||||
|
logTopic.verify();
|
||||||
|
|
||||||
|
/*
|
||||||
|
System.out.println("Nodes");
|
||||||
|
for (String s : client.getNodes())
|
||||||
|
System.out.println(" " + s);
|
||||||
|
System.out.println("Topics");
|
||||||
|
for (String s : client.getTopics()) {
|
||||||
|
System.out.println(s + ":");
|
||||||
|
client.getTopicMessageDetails(s).print();
|
||||||
|
}
|
||||||
|
System.out.println("Services");
|
||||||
|
for (String s : client.getServices()) {
|
||||||
|
System.out.println(s + ":");
|
||||||
|
client.getServiceRequestDetails(s).print();
|
||||||
|
System.out.println("-----------------");
|
||||||
|
client.getServiceResponseDetails(s).print();
|
||||||
|
}
|
||||||
|
*/
|
||||||
|
}
|
||||||
|
catch (InterruptedException ex) {
|
||||||
|
System.out.println("Process was interrupted.");
|
||||||
|
}
|
||||||
|
/*
|
||||||
|
Service<Empty, Topics> topicService =
|
||||||
|
new Service<Empty, Topics>("/rosapi/topics", Empty.class, Topics.class, client);
|
||||||
|
Service<Topic, Type> typeService =
|
||||||
|
new Service<Topic, Type>("/rosapi/topic_type", Topic.class, Type.class, client);
|
||||||
|
Service<Type, MessageDetails> messageService =
|
||||||
|
new Service<Type, MessageDetails>("/rosapi/message_details", Type.class, MessageDetails.class, client);
|
||||||
|
try {
|
||||||
|
Topics topics = topicService.callBlocking(new Empty());
|
||||||
|
for (String topicString : topics.topics) {
|
||||||
|
Topic topic = new Topic();
|
||||||
|
topic.topic = topicString;
|
||||||
|
Type type = typeService.callBlocking(topic);
|
||||||
|
MessageDetails details = messageService.callBlocking(type);
|
||||||
|
System.out.println("Topic: " + topic.topic + " Type: " + type.type);
|
||||||
|
details.print();
|
||||||
|
System.out.println();
|
||||||
|
}
|
||||||
|
Type type = new Type();
|
||||||
|
type.type = "time";
|
||||||
|
System.out.print("Single type check on \'time\': ");
|
||||||
|
messageService.callBlocking(type).print();
|
||||||
|
}
|
||||||
|
catch (InterruptedException ex) {
|
||||||
|
System.out.println("testService: process was interrupted.");
|
||||||
|
}
|
||||||
|
*/
|
||||||
|
}
|
||||||
|
|
||||||
|
public static void testTopic(ROSBridgeClient client) {
|
||||||
|
Topic<Clock> clockTopic = new Topic<Clock>("/clock", Clock.class, client);
|
||||||
|
clockTopic.subscribe();
|
||||||
|
try {
|
||||||
|
Thread.sleep(20000);} catch(InterruptedException ex) {}
|
||||||
|
Clock cl = null;
|
||||||
|
try {
|
||||||
|
cl = clockTopic.take(); // just gets one
|
||||||
|
}
|
||||||
|
catch (InterruptedException ex) {}
|
||||||
|
cl.print();
|
||||||
|
cl.clock.nsecs++;
|
||||||
|
clockTopic.unsubscribe();
|
||||||
|
clockTopic.advertise();
|
||||||
|
clockTopic.publish(cl);
|
||||||
|
clockTopic.unadvertise();
|
||||||
|
}
|
||||||
|
}
|
||||||
@ -0,0 +1,26 @@
|
|||||||
|
/**
|
||||||
|
* Copyright (c) 2014 Jilk 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.jilk.ros;
|
||||||
|
|
||||||
|
import com.jilk.ros.message.Message;
|
||||||
|
|
||||||
|
public interface MessageHandler<T extends Message> {
|
||||||
|
public void onMessage(T message);
|
||||||
|
}
|
||||||
@ -0,0 +1,68 @@
|
|||||||
|
/**
|
||||||
|
* Copyright (c) 2014 Jilk 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.jilk.ros;
|
||||||
|
|
||||||
|
import com.jilk.ros.message.Message;
|
||||||
|
import com.jilk.ros.rosapi.message.TypeDef;
|
||||||
|
import com.jilk.ros.rosbridge.FullMessageHandler;
|
||||||
|
import com.jilk.ros.rosbridge.ROSBridgeClient;
|
||||||
|
import com.jilk.ros.rosbridge.operation.Operation;
|
||||||
|
|
||||||
|
public abstract class ROSClient {
|
||||||
|
|
||||||
|
public ROSClient() {}
|
||||||
|
|
||||||
|
public static ROSClient create(String uriString) {
|
||||||
|
// if we ever implement other ROSClient types, we'll key off the URI protocol (e.g., ws://)
|
||||||
|
// we'd also have to abstract out Topic and Service since they depend on the ROSBridge operations
|
||||||
|
return new ROSBridgeClient(uriString);
|
||||||
|
}
|
||||||
|
|
||||||
|
public abstract boolean connect();
|
||||||
|
public abstract boolean connect(ConnectionStatusListener listener);
|
||||||
|
public abstract void disconnect();
|
||||||
|
public abstract void send(Operation operation);
|
||||||
|
public abstract void send(String json);
|
||||||
|
public abstract void register(Class<? extends Operation> c,
|
||||||
|
String s,
|
||||||
|
Class<? extends Message> m,
|
||||||
|
FullMessageHandler h);
|
||||||
|
public abstract void unregister(Class<? extends Operation> c, String s);
|
||||||
|
public abstract void setDebug(boolean debug);
|
||||||
|
public abstract String[] getNodes() throws InterruptedException;
|
||||||
|
public abstract String[] getTopics() throws InterruptedException;
|
||||||
|
public abstract String[] getServices() throws InterruptedException;
|
||||||
|
public abstract TypeDef getTopicMessageDetails(String topic) throws InterruptedException;
|
||||||
|
public abstract TypeDef[] getTopicMessageList(String topic) throws InterruptedException;
|
||||||
|
public abstract TypeDef getServiceRequestDetails(String service) throws InterruptedException;
|
||||||
|
public abstract TypeDef[] getServiceRequestList(String service) throws InterruptedException;
|
||||||
|
public abstract TypeDef getServiceResponseDetails(String service) throws InterruptedException;
|
||||||
|
public abstract TypeDef[] getServiceResponseList(String service) throws InterruptedException;
|
||||||
|
public abstract TypeDef getTypeDetails(String type) throws InterruptedException;
|
||||||
|
public abstract TypeDef[] getTypeList(String type) throws InterruptedException;
|
||||||
|
public abstract void typeMatch(TypeDef t, Class<? extends Message> c) throws InterruptedException;
|
||||||
|
public abstract Object getUnderlyingClient(); // for debugging
|
||||||
|
|
||||||
|
public interface ConnectionStatusListener {
|
||||||
|
public void onConnect();
|
||||||
|
public void onDisconnect(boolean normal, String reason, int code);
|
||||||
|
public void onError(Exception ex);
|
||||||
|
}
|
||||||
|
}
|
||||||
@ -0,0 +1,134 @@
|
|||||||
|
/**
|
||||||
|
* Copyright (c) 2014 Jilk 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.jilk.ros;
|
||||||
|
|
||||||
|
import com.jilk.ros.message.Message;
|
||||||
|
import com.jilk.ros.rosbridge.FullMessageHandler;
|
||||||
|
import com.jilk.ros.rosbridge.operation.CallService;
|
||||||
|
import com.jilk.ros.rosbridge.operation.ServiceResponse;
|
||||||
|
|
||||||
|
import java.util.HashMap;
|
||||||
|
import java.util.Map;
|
||||||
|
import java.util.concurrent.CountDownLatch;
|
||||||
|
|
||||||
|
public class Service<CallType extends Message, ResponseType extends Message> extends Message implements FullMessageHandler {
|
||||||
|
private String service;
|
||||||
|
private Class<? extends ResponseType> responseType;
|
||||||
|
private Class<? extends CallType> callType;
|
||||||
|
private ROSClient client;
|
||||||
|
private Map<String, CallRecord> calls;
|
||||||
|
|
||||||
|
public Service(String service, Class<? extends CallType> callType,
|
||||||
|
Class<? extends ResponseType> responseType, ROSClient client) {
|
||||||
|
this.service = service;
|
||||||
|
this.client = client;
|
||||||
|
this.responseType = responseType;
|
||||||
|
this.callType = callType;
|
||||||
|
calls = new HashMap<String, CallRecord>();
|
||||||
|
}
|
||||||
|
|
||||||
|
// A result can only be returned once; it is cleared from the hash before
|
||||||
|
// being sent/returned. This is to ensure that results do not accumulate
|
||||||
|
// indefinitely. If callers need to keep these around they can set up their
|
||||||
|
// own hash.
|
||||||
|
|
||||||
|
@Override
|
||||||
|
public void onMessage(String id, Message response) {
|
||||||
|
//System.out.print("Service.onMessage: ");
|
||||||
|
//response.print();
|
||||||
|
CallRecord call = calls.get(id);
|
||||||
|
if(call == null) {
|
||||||
|
System.out.print("No caller service response");
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
if (call.handler != null) {
|
||||||
|
calls.remove(id);
|
||||||
|
call.handler.onMessage((ResponseType) response);
|
||||||
|
}
|
||||||
|
else {
|
||||||
|
call.result = (ResponseType) response;
|
||||||
|
call.latch.countDown();
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
public String call(CallType args) {
|
||||||
|
return callImpl(args, null);
|
||||||
|
}
|
||||||
|
|
||||||
|
public void callWithHandler(CallType args, MessageHandler<ResponseType> responseHandler) {
|
||||||
|
callImpl(args, responseHandler);
|
||||||
|
}
|
||||||
|
|
||||||
|
public ResponseType callBlocking(CallType args) throws InterruptedException {
|
||||||
|
return take(call(args));
|
||||||
|
}
|
||||||
|
|
||||||
|
private String callImpl(CallType args, MessageHandler<ResponseType> responseHandler) {
|
||||||
|
client.register(ServiceResponse.class, service, responseType, this); // do this once on creation?
|
||||||
|
CallService messageCallService = new CallService(service, args);
|
||||||
|
String id = messageCallService.id;
|
||||||
|
CallRecord callRecord = new CallRecord(responseHandler);
|
||||||
|
calls.put(id, callRecord);
|
||||||
|
client.send(messageCallService);
|
||||||
|
return id;
|
||||||
|
}
|
||||||
|
|
||||||
|
public ResponseType poll(String id) {
|
||||||
|
CallRecord call = calls.get(id);
|
||||||
|
if (call.result != null)
|
||||||
|
calls.remove(id);
|
||||||
|
return call.result;
|
||||||
|
}
|
||||||
|
|
||||||
|
public ResponseType take(String id) throws InterruptedException {
|
||||||
|
CallRecord call = calls.get(id);
|
||||||
|
call.latch.await();
|
||||||
|
calls.remove(id);
|
||||||
|
return call.result;
|
||||||
|
}
|
||||||
|
|
||||||
|
public void verify() throws InterruptedException {
|
||||||
|
|
||||||
|
boolean hasService = false;
|
||||||
|
for (String s : client.getServices()) {
|
||||||
|
if (s.equals(service)) {
|
||||||
|
hasService = true;
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
if (!hasService)
|
||||||
|
throw new RuntimeException("Service \'" + service + "\' not available.");
|
||||||
|
|
||||||
|
client.typeMatch(client.getServiceRequestDetails(service), callType);
|
||||||
|
client.typeMatch(client.getServiceResponseDetails(service), responseType);
|
||||||
|
}
|
||||||
|
|
||||||
|
private class CallRecord {
|
||||||
|
public ResponseType result;
|
||||||
|
public CountDownLatch latch;
|
||||||
|
public MessageHandler<ResponseType> handler;
|
||||||
|
|
||||||
|
public CallRecord(MessageHandler<ResponseType> handler) {
|
||||||
|
this.result = null;
|
||||||
|
this.latch = new CountDownLatch(1);
|
||||||
|
this.handler = handler;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
@ -0,0 +1,144 @@
|
|||||||
|
/**
|
||||||
|
* Copyright (c) 2014 Jilk 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.jilk.ros;
|
||||||
|
|
||||||
|
import com.jilk.ros.message.Message;
|
||||||
|
import com.jilk.ros.rosbridge.FullMessageHandler;
|
||||||
|
import com.jilk.ros.rosbridge.operation.Advertise;
|
||||||
|
import com.jilk.ros.rosbridge.operation.Operation;
|
||||||
|
import com.jilk.ros.rosbridge.operation.Publish;
|
||||||
|
import com.jilk.ros.rosbridge.operation.Subscribe;
|
||||||
|
import com.jilk.ros.rosbridge.operation.Unadvertise;
|
||||||
|
import com.jilk.ros.rosbridge.operation.Unsubscribe;
|
||||||
|
|
||||||
|
import java.util.concurrent.LinkedBlockingQueue;
|
||||||
|
|
||||||
|
|
||||||
|
public class Topic<T extends Message> extends LinkedBlockingQueue<T> implements FullMessageHandler {
|
||||||
|
protected String topic;
|
||||||
|
private Class<? extends T> type;
|
||||||
|
private String messageType;
|
||||||
|
private ROSClient client;
|
||||||
|
private Thread handlerThread;
|
||||||
|
|
||||||
|
public Topic(String topic, Class<? extends T> type, ROSClient client) {
|
||||||
|
this.topic = topic;
|
||||||
|
this.client = client;
|
||||||
|
this.type = type;
|
||||||
|
messageType = Message.getMessageType(type);
|
||||||
|
handlerThread = null;
|
||||||
|
}
|
||||||
|
|
||||||
|
@Override
|
||||||
|
public void onMessage(String id, Message message) {
|
||||||
|
add((T) message);
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
// warning: there is a delay between the completion of this method and
|
||||||
|
// the completion of the subscription; it takes longer than
|
||||||
|
// publishing multiple other messages, for example.
|
||||||
|
public void subscribe(MessageHandler<T> handler) {
|
||||||
|
startRunner(handler);
|
||||||
|
subscribe();
|
||||||
|
}
|
||||||
|
|
||||||
|
public void subscribe() {
|
||||||
|
client.register(Publish.class, topic, type, this);
|
||||||
|
send(new Subscribe(topic, messageType));
|
||||||
|
}
|
||||||
|
|
||||||
|
public void unsubscribe() {
|
||||||
|
// need to handle race conditions in incoming message handler
|
||||||
|
// so that once unsubscribe has happened the handler gets no more
|
||||||
|
// messages
|
||||||
|
send(new Unsubscribe(topic));
|
||||||
|
client.unregister(Publish.class, topic);
|
||||||
|
stopRunner();
|
||||||
|
}
|
||||||
|
|
||||||
|
private void startRunner(MessageHandler<T> handler) {
|
||||||
|
stopRunner();
|
||||||
|
handlerThread = new Thread(new MessageRunner(handler));
|
||||||
|
handlerThread.setName("Message handler for " + topic);
|
||||||
|
handlerThread.start();
|
||||||
|
}
|
||||||
|
|
||||||
|
private void stopRunner() {
|
||||||
|
if (handlerThread != null) {
|
||||||
|
handlerThread.interrupt();
|
||||||
|
clear();
|
||||||
|
handlerThread = null;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
public void advertise() {
|
||||||
|
send(new Advertise(topic, messageType));
|
||||||
|
}
|
||||||
|
|
||||||
|
public void publish(T message) {
|
||||||
|
send(new Publish(topic, message));
|
||||||
|
}
|
||||||
|
|
||||||
|
public void unadvertise() {
|
||||||
|
send(new Unadvertise(topic));
|
||||||
|
}
|
||||||
|
|
||||||
|
private void send(Operation operation) {
|
||||||
|
client.send(operation);
|
||||||
|
}
|
||||||
|
|
||||||
|
public void verify() throws InterruptedException {
|
||||||
|
|
||||||
|
boolean hasTopic = false;
|
||||||
|
for (String s : client.getTopics()) {
|
||||||
|
if (s.equals(topic)) {
|
||||||
|
hasTopic = true;
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
if (!hasTopic)
|
||||||
|
throw new RuntimeException("Topic \'" + topic + "\' not available.");
|
||||||
|
|
||||||
|
client.typeMatch(client.getTopicMessageDetails(topic), type);
|
||||||
|
}
|
||||||
|
|
||||||
|
private class MessageRunner implements Runnable {
|
||||||
|
private MessageHandler<T> handler;
|
||||||
|
|
||||||
|
public MessageRunner(MessageHandler<T> handler) {
|
||||||
|
this.handler = handler;
|
||||||
|
}
|
||||||
|
|
||||||
|
@Override
|
||||||
|
public void run() {
|
||||||
|
while (!Thread.interrupted()) {
|
||||||
|
try {
|
||||||
|
handler.onMessage(take());
|
||||||
|
}
|
||||||
|
catch (InterruptedException ex) {
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
}
|
||||||
@ -0,0 +1,9 @@
|
|||||||
|
package com.jilk.ros.message;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Created by xxhong on 16-11-17.
|
||||||
|
*/
|
||||||
|
@MessageType(string = "std_msgs/Int16MultiArray")
|
||||||
|
public class AudioMsg extends Message {
|
||||||
|
public short[] data;
|
||||||
|
}
|
||||||
@ -0,0 +1,25 @@
|
|||||||
|
/**
|
||||||
|
* Copyright (c) 2014 Jilk 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.jilk.ros.message;
|
||||||
|
|
||||||
|
@MessageType(string = "rosgraph_msgs/Clock")
|
||||||
|
public class Clock extends Message {
|
||||||
|
public TimePrimitive clock;
|
||||||
|
}
|
||||||
@ -0,0 +1,24 @@
|
|||||||
|
/**
|
||||||
|
* Copyright (c) 2014 Jilk 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.jilk.ros.message;
|
||||||
|
|
||||||
|
@MessageType(string = "std_msgs/Duration")
|
||||||
|
public class Duration extends DurationPrimitive {
|
||||||
|
}
|
||||||
@ -0,0 +1,25 @@
|
|||||||
|
/**
|
||||||
|
* Copyright (c) 2014 Jilk 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.jilk.ros.message;
|
||||||
|
|
||||||
|
@MessageType(string = "duration")
|
||||||
|
public class DurationPrimitive extends TimePrimitive {
|
||||||
|
|
||||||
|
}
|
||||||
@ -0,0 +1,24 @@
|
|||||||
|
/**
|
||||||
|
* Copyright (c) 2014 Jilk 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.jilk.ros.message;
|
||||||
|
|
||||||
|
@MessageType(string = "std_srvs/Empty")
|
||||||
|
public class Empty extends Message {
|
||||||
|
}
|
||||||
@ -0,0 +1,27 @@
|
|||||||
|
/**
|
||||||
|
* Copyright (c) 2014 Jilk 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.jilk.ros.message;
|
||||||
|
|
||||||
|
@MessageType(string = "std_msgs/Header")
|
||||||
|
public class Header extends Message {
|
||||||
|
public long seq;
|
||||||
|
public TimePrimitive stamp;
|
||||||
|
public String frame_id;
|
||||||
|
}
|
||||||
@ -0,0 +1,32 @@
|
|||||||
|
/**
|
||||||
|
* Copyright (c) 2014 Jilk 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.jilk.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;
|
||||||
|
}
|
||||||
@ -0,0 +1,202 @@
|
|||||||
|
/**
|
||||||
|
* Copyright (c) 2014 Jilk 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.jilk.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.jilk.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);
|
||||||
|
}
|
||||||
|
*/
|
||||||
|
}
|
||||||
|
|
||||||
|
}
|
||||||
@ -0,0 +1,32 @@
|
|||||||
|
/**
|
||||||
|
* Copyright (c) 2014 Jilk 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.jilk.ros.message;
|
||||||
|
|
||||||
|
public class MessageException extends Exception {
|
||||||
|
|
||||||
|
public MessageException(String message) {
|
||||||
|
super(message);
|
||||||
|
}
|
||||||
|
|
||||||
|
public MessageException(String message, Throwable cause) {
|
||||||
|
super(message, cause);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
@ -0,0 +1,32 @@
|
|||||||
|
/**
|
||||||
|
* Copyright (c) 2014 Jilk 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.jilk.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 "";
|
||||||
|
}
|
||||||
|
|
||||||
@ -0,0 +1,13 @@
|
|||||||
|
package com.jilk.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;
|
||||||
|
}
|
||||||
@ -0,0 +1,9 @@
|
|||||||
|
package com.jilk.ros.message;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Created by xxhong on 16-11-17.
|
||||||
|
*/
|
||||||
|
@MessageType(string = "std_msgs/String")
|
||||||
|
public class SemanticResponse extends Message {
|
||||||
|
public String result;
|
||||||
|
}
|
||||||
@ -0,0 +1,9 @@
|
|||||||
|
package com.jilk.ros.message;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Created by xxhong on 16-11-17.
|
||||||
|
*/
|
||||||
|
@MessageType(string = "std_msgs/String")
|
||||||
|
public class StdMsg extends Message {
|
||||||
|
public String data;
|
||||||
|
}
|
||||||
@ -0,0 +1,24 @@
|
|||||||
|
/**
|
||||||
|
* Copyright (c) 2014 Jilk 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.jilk.ros.message;
|
||||||
|
|
||||||
|
@MessageType(string = "std_msgs/Time")
|
||||||
|
public class Time extends TimePrimitive {
|
||||||
|
}
|
||||||
@ -0,0 +1,26 @@
|
|||||||
|
/**
|
||||||
|
* Copyright (c) 2014 Jilk 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.jilk.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'
|
||||||
|
}
|
||||||
@ -0,0 +1,27 @@
|
|||||||
|
/**
|
||||||
|
* Copyright (c) 2014 Jilk 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.jilk.ros.rosapi.message;
|
||||||
|
|
||||||
|
import com.jilk.ros.message.Message;
|
||||||
|
import com.jilk.ros.message.MessageType;
|
||||||
|
|
||||||
|
@MessageType(string = "std_msgs/Empty")
|
||||||
|
public class Empty extends Message {
|
||||||
|
}
|
||||||
@ -0,0 +1,30 @@
|
|||||||
|
/**
|
||||||
|
* Copyright (c) 2014 Jilk 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.jilk.ros.rosapi.message;
|
||||||
|
|
||||||
|
import com.jilk.ros.message.Message;
|
||||||
|
import com.jilk.ros.message.MessageType;
|
||||||
|
import com.jilk.ros.message.TimePrimitive;
|
||||||
|
|
||||||
|
|
||||||
|
@MessageType(string = "rosapi/GetTimeResponse")
|
||||||
|
public class GetTime extends Message {
|
||||||
|
public TimePrimitive time;
|
||||||
|
}
|
||||||
@ -0,0 +1,28 @@
|
|||||||
|
/**
|
||||||
|
* Copyright (c) 2014 Jilk 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.jilk.ros.rosapi.message;
|
||||||
|
|
||||||
|
import com.jilk.ros.message.Message;
|
||||||
|
import com.jilk.ros.message.MessageType;
|
||||||
|
|
||||||
|
@MessageType(string = "rosapi/MessageDetails")
|
||||||
|
public class MessageDetails extends Message {
|
||||||
|
public TypeDef[] typedefs;
|
||||||
|
}
|
||||||
@ -0,0 +1,28 @@
|
|||||||
|
/**
|
||||||
|
* Copyright (c) 2014 Jilk 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.jilk.ros.rosapi.message;
|
||||||
|
|
||||||
|
import com.jilk.ros.message.Message;
|
||||||
|
import com.jilk.ros.message.MessageType;
|
||||||
|
|
||||||
|
@MessageType(string = "rosapi/Nodes")
|
||||||
|
public class Nodes extends Message {
|
||||||
|
public String[] nodes;
|
||||||
|
}
|
||||||
@ -0,0 +1,34 @@
|
|||||||
|
/**
|
||||||
|
* Copyright (c) 2014 Jilk 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.jilk.ros.rosapi.message;
|
||||||
|
|
||||||
|
import com.jilk.ros.message.Message;
|
||||||
|
import com.jilk.ros.message.MessageType;
|
||||||
|
|
||||||
|
@MessageType(string = "rosapi/Service")
|
||||||
|
public class Service extends Message {
|
||||||
|
public String service;
|
||||||
|
|
||||||
|
public Service() {}
|
||||||
|
|
||||||
|
public Service(String service) {
|
||||||
|
this.service = service;
|
||||||
|
}
|
||||||
|
}
|
||||||
@ -0,0 +1,28 @@
|
|||||||
|
/**
|
||||||
|
* Copyright (c) 2014 Jilk 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.jilk.ros.rosapi.message;
|
||||||
|
|
||||||
|
import com.jilk.ros.message.Message;
|
||||||
|
import com.jilk.ros.message.MessageType;
|
||||||
|
|
||||||
|
@MessageType(string = "rosapi/Services")
|
||||||
|
public class Services extends Message {
|
||||||
|
public String[] services;
|
||||||
|
}
|
||||||
@ -0,0 +1,34 @@
|
|||||||
|
/**
|
||||||
|
* Copyright (c) 2014 Jilk 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.jilk.ros.rosapi.message;
|
||||||
|
|
||||||
|
import com.jilk.ros.message.Message;
|
||||||
|
import com.jilk.ros.message.MessageType;
|
||||||
|
|
||||||
|
@MessageType(string = "rosapi/Topic")
|
||||||
|
public class Topic extends Message {
|
||||||
|
public String topic;
|
||||||
|
|
||||||
|
public Topic() {}
|
||||||
|
|
||||||
|
public Topic(String topic) {
|
||||||
|
this.topic = topic;
|
||||||
|
}
|
||||||
|
}
|
||||||
Some files were not shown because too many files have changed in this diff Show More
Loading…
Reference in new issue