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<!DOCTYPE html>
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<html>
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<head>
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<meta charset="utf-8" />
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<script type="text/javascript" type="text/javascript">
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function callJS(){
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var ros = new ROSLIB.Ros({
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url : 'ws://192.168.43.164:9090'
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});
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ros.on('connection', function() {
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console.log('Connected to websocket server.');
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});
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ros.on('error', function(error) {
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console.log('Error connecting to websocket server: ', error);
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});
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ros.on('close', function() {
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console.log('Connection to websocket server closed.');
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});
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// 发布一个话题
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var move_base= new ROSLIB.ActionClient({
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ros : ros,
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serverName : '/move_base',
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actionName : 'move_base_msgs/MoveBaseAction'
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});
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var currentTime = new Date();
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var secs = Math.floor(currentTime.getTime()/1000)
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var nsecs = Math.round(1000000000*(currentTime.getTime()/1000-secs))
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var goal = new ROSLIB.Goal({
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actionClient: move_base,
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goalMessage:{
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target_pose:{
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header:{
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frame_id:'map',
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stamp:{
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secs: secs,
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nsecs:nsecs
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}
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},
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pose:{
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position:{
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x:-3.97, //-0.743 -0.0273 取件点
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y:1.68, //3.00 -0.09
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z:0.000
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},
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orientation:{
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x:0.000,
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y:0.000,
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z:0.000,
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w:1.000
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}
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}
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}
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}
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});
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goal.on('feedback', function(feedback) {
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console.log('Feedback: ' + feedback.sequence);
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});
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goal.on('result', function(result) {
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console.log('Final Result: ' + result.sequence);
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});
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ros.on('connection', function() {
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console.log('Connected to websocket server.');
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});
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ros.on('error', function(error) {
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console.log('Error connecting to websocket server: ', error);
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});
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ros.on('close', function() {
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console.log('Connection to websocket server closed.');
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});
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goal.send();
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/*var cmdVel = new ROSLIB.Topic({
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ros : ros,
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name : '/cmd_vel_mux/input/navi',
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messageType : 'geometry_msgs/Twist'
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});
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var twist = new ROSLIB.Message({
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linear : {
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x : 0.2,
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y : 0.0,
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z : 0.0
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},
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angular : {
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x : 0.0,
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y : 0.0,
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z : 0.0
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}
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});
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cmdVel.publish(twist);*/
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}
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</script>
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</head>
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<body>
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<h1>Simple roslib Example</h1>
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<p>Check your Web Console for output.</p>
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</body>
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</html>
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@ -0,0 +1,42 @@
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package com.example.logistics.tools;
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import android.app.Application;
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import com.jilk.ros.rosbridge.ROSBridgeClient;
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/**
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* @ Create by dadac on 2018/10/8.
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* @Function:
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* @Return:
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*/
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public class RCApplication extends Application {
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ROSBridgeClient client;
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@Override
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public void onCreate() {
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super.onCreate();
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}
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@Override
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public void onTerminate() {
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if (client != null)
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client.disconnect();
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super.onTerminate();
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}
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public ROSBridgeClient getRosClient() {
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return client;
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}
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public void setRosClient(ROSBridgeClient client) {
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this.client = client;
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}
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}
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/**
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* Copyright (c) 2014 Jilk Systems, Inc.
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*
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* This file is part of the Java ROSBridge Client.
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*
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* The Java ROSBridge Client is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* The Java ROSBridge Client is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
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*
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*/
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package com.jilk.ros;
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import com.jilk.ros.message.Clock;
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import com.jilk.ros.message.Log;
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import com.jilk.ros.rosapi.message.Empty;
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import com.jilk.ros.rosapi.message.GetTime;
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import com.jilk.ros.rosapi.message.MessageDetails;
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import com.jilk.ros.rosapi.message.Type;
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import com.jilk.ros.rosbridge.ROSBridgeClient;
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public class Example {
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public Example() {}
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public static void main(String[] args) {
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ROSBridgeClient client = new ROSBridgeClient("ws://162.243.238.80:9090");
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client.connect();
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//testTopic(client);
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try {
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testService(client);
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}
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catch (RuntimeException ex) {
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ex.printStackTrace();
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}
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finally {
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client.disconnect();
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}
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}
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public static void testService(ROSBridgeClient client) {
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try {
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Service<Empty, GetTime> timeService =
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new Service<Empty, GetTime>("/rosapi/get_time", Empty.class, GetTime.class, client);
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timeService.verify();
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//System.out.println("Time (secs): " + timeService.callBlocking(new Empty()).time.sec);
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Service<com.jilk.ros.rosapi.message.Service, Type> serviceTypeService =
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new Service<com.jilk.ros.rosapi.message.Service, Type>("/rosapi/service_type",
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com.jilk.ros.rosapi.message.Service.class, Type.class, client);
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serviceTypeService.verify();
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String type = serviceTypeService.callBlocking(new com.jilk.ros.rosapi.message.Service("/rosapi/service_response_details")).type;
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Service<Type, MessageDetails> serviceDetails =
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new Service<Type, MessageDetails>("/rosapi/service_response_details",
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Type.class, MessageDetails.class, client);
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serviceDetails.verify();
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//serviceDetails.callBlocking(new Type(type)).print();
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Topic<Log> logTopic =
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new Topic<Log>("/rosout", Log.class, client);
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logTopic.verify();
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/*
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|
System.out.println("Nodes");
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|
for (String s : client.getNodes())
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|
System.out.println(" " + s);
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|
System.out.println("Topics");
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|
for (String s : client.getTopics()) {
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System.out.println(s + ":");
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client.getTopicMessageDetails(s).print();
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|
}
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System.out.println("Services");
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for (String s : client.getServices()) {
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|
System.out.println(s + ":");
|
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|
client.getServiceRequestDetails(s).print();
|
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|
System.out.println("-----------------");
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|
client.getServiceResponseDetails(s).print();
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|
}
|
||||||
|
*/
|
||||||
|
}
|
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|
catch (InterruptedException ex) {
|
||||||
|
System.out.println("Process was interrupted.");
|
||||||
|
}
|
||||||
|
/*
|
||||||
|
Service<Empty, Topics> topicService =
|
||||||
|
new Service<Empty, Topics>("/rosapi/topics", Empty.class, Topics.class, client);
|
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|
Service<Topic, Type> typeService =
|
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|
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();
|
||||||
|
}
|
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|
Type type = new Type();
|
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|
type.type = "time";
|
||||||
|
System.out.print("Single type check on \'time\': ");
|
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|
messageService.callBlocking(type).print();
|
||||||
|
}
|
||||||
|
catch (InterruptedException ex) {
|
||||||
|
System.out.println("testService: process was interrupted.");
|
||||||
|
}
|
||||||
|
*/
|
||||||
|
}
|
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|
|
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|
public static void testTopic(ROSBridgeClient client) {
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||||||
|
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();
|
||||||
|
}
|
||||||
|
}
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|||||||
|
/**
|
||||||
|
* 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;
|
||||||
|
}
|
||||||
Some files were not shown because too many files have changed in this diff Show More
Loading…
Reference in new issue