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Xie Changrong 3 years ago
parent d1f1936b09
commit 69e9e55aac
51 changed files with 2686 additions and 0 deletions
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26
src/server/src/main/java/com/example/testdemo/ros/MessageHandler.java
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/**
* Copyright (c) 2014 example.testdemo Systems, Inc.
*
* This file is part of the Java ROSBridge Client.
*
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* The Java ROSBridge Client is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
*
*/
package com.example.testdemo.ros;
import com.example.testdemo.ros.message.Message;
public interface MessageHandler<T extends Message> {
public void onMessage(T message);
}

9
src/server/src/main/java/com/example/testdemo/ros/message/AudioMsg.java
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package com.example.testdemo.ros.message;
/**
* Created by xxhong on 16-11-17.
*/
@MessageType(string = "std_msgs/Int16MultiArray")
public class AudioMsg extends Message {
public short[] data;
}

25
src/server/src/main/java/com/example/testdemo/ros/message/Clock.java
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/**
* Copyright (c) 2014 example.testdemo Systems, Inc.
*
* This file is part of the Java ROSBridge Client.
*
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* The Java ROSBridge Client is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
*
*/
package com.example.testdemo.ros.message;
@MessageType(string = "rosgraph_msgs/Clock")
public class Clock extends Message {
public TimePrimitive clock;
}

24
src/server/src/main/java/com/example/testdemo/ros/message/Duration.java
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/**
* Copyright (c) 2014 example.testdemo Systems, Inc.
*
* This file is part of the Java ROSBridge Client.
*
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* The Java ROSBridge Client is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
*
*/
package com.example.testdemo.ros.message;
@MessageType(string = "std_msgs/Duration")
public class Duration extends DurationPrimitive {
}

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src/server/src/main/java/com/example/testdemo/ros/message/DurationPrimitive.java
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/**
* Copyright (c) 2014 example.testdemo Systems, Inc.
*
* This file is part of the Java ROSBridge Client.
*
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* The Java ROSBridge Client is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
*
*/
package com.example.testdemo.ros.message;
@MessageType(string = "duration")
public class DurationPrimitive extends TimePrimitive {
}

24
src/server/src/main/java/com/example/testdemo/ros/message/Empty.java
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/**
* Copyright (c) 2014 example.testdemo Systems, Inc.
*
* This file is part of the Java ROSBridge Client.
*
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* The Java ROSBridge Client is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
*
*/
package com.example.testdemo.ros.message;
@MessageType(string = "std_srvs/Empty")
public class Empty extends Message {
}

27
src/server/src/main/java/com/example/testdemo/ros/message/Header.java
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/**
* Copyright (c) 2014 example.testdemo Systems, Inc.
*
* This file is part of the Java ROSBridge Client.
*
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* The Java ROSBridge Client is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
*
*/
package com.example.testdemo.ros.message;
@MessageType(string = "std_msgs/Header")
public class Header extends Message {
public long seq;
public TimePrimitive stamp;
public String frame_id;
}

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src/server/src/main/java/com/example/testdemo/ros/message/Log.java
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/**
* Copyright (c) 2014 example.testdemo Systems, Inc.
*
* This file is part of the Java ROSBridge Client.
*
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* The Java ROSBridge Client is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
*
*/
package com.example.testdemo.ros.message;
@MessageType(string = "rosgraph_msgs/Log")
public class Log extends Message {
public Header header;
public byte level;
public String name;
public String msg;
public String file;
public String function;
public long line;
public String[] topics;
}

202
src/server/src/main/java/com/example/testdemo/ros/message/Message.java
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/**
* Copyright (c) 2014 example.testdemo Systems, Inc.
*
* This file is part of the Java ROSBridge Client.
*
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* The Java ROSBridge Client is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
*
*/
package com.example.testdemo.ros.message;
import java.lang.reflect.Array;
import java.lang.reflect.Field;
import java.util.Map;
@MessageType(string = "message")
public abstract class Message {
// Some requirements about message types:
// - It must have a MessageType declaration to be recognized on inbound messages
// - Every field must be explicitly designated as public
// - Every field that is not a primitive or near-primitive must be another Message class
// - If there is a non-empty constructor, you must also have an empty constructor
// - If it is set up as an inner class, it needs an explicit nullary constructor
// (note: I have seen an inner class otherwise fail, I have not tested it with the explicit constructor)
public static void register(Class c, Map<String, Class> messageClasses) {
try {
typecheck(c);
// Must register the class and not have duplicate
// This is not recursive because only the top level message class
// needs to be determined from the string - others are top-down.
String messageString = getMessageType(c);
Class existingClass = messageClasses.get(messageString);
if (existingClass != null && !existingClass.equals(c))
throw new MessageException("Message String \'" + messageString +
"\' is assigned to two different classes (" +
c.getName() + " and " + existingClass.getName() + ")");
messageClasses.put(messageString, c);
}
catch (MessageException ex) {
// should be changed to be a hooked method to give library user control
System.out.println(ex.getMessage());
}
}
public static String getMessageType(Class c) {
return ((MessageType) c.getAnnotation(MessageType.class)).string();
}
// this has never been used or tested but kind of belongs here
// commented out because it uses ReflectiveOperationException which is not available on Android
/*
public static Message newInstance(String className) {
try {
Class messageClass = Class.forName(className);
if (Message.class.isAssignableFrom(messageClass))
return (Message) messageClass.newInstance();
else throw new ClassCastException();
}
catch (ReflectiveOperationException ex) {
throw new RuntimeException("Unable to create message of class \'" + className + "\'.", ex);
}
}
*/
// Could probably do more checking here, but not sure what right now
private static void typecheck(Class c) throws MessageException {
// Must inherit from Message
if (!Message.class.isAssignableFrom(c))
throw new MessageException("Class \'" + c.getName() +
"\' does not extend Message");
// Must have the MessageType annotation
if (getMessageType(c) == null)
throw new MessageException("Class \'" + c.getName() +
"\' is missing the MessageType annotation");
// All fields must also be valid Message classes
// Note that this also serves to force-load all the message classes
// so that they get registered
for (Field f : c.getFields()) {
Class fc = f.getType();
if (fc.isArray()) {
Class ac = fc.getComponentType();
if (!isPrimitive(ac))
typecheck(ac);
}
else if (!isPrimitive(fc))
typecheck(fc);
}
}
public void print() {
printMessage(this, "");
}
private static void printMessage(Object o, String indent) {
for (Field f : o.getClass().getFields()) {
Class c = f.getType();
Object fieldObject = getFieldObject(f, o);
if (fieldObject != null) {
if (isPrimitive(c))
System.out.println(indent + f.getName() + ": " + fieldObject);
else if (c.isArray()) {
System.out.println(indent + f.getName() + ": [");
printArray(fieldObject, indent + " ");
System.out.println(indent + "]");
}
else {
System.out.println(indent + f.getName() + ":");
printMessage(fieldObject, indent + " ");
}
}
}
}
private static void printArray(Object array, String indent) {
Class arrayClass = array.getClass().getComponentType();
for (int i = 0; i < Array.getLength(array); i++) {
Object elementObject = Array.get(array, i);
if (elementObject != null) {
if (isPrimitive(arrayClass))
System.out.println(indent + i + ": " + elementObject);
else if (arrayClass.isArray()) { // this is not actually allowed in ROS
System.out.println(indent + i + ": [");
printArray(elementObject, indent + " ");
System.out.println(indent + "]");
}
else {
System.out.println(indent + i + ":");
printMessage(elementObject, indent + " ");
}
}
}
// remember to print array indices
}
public static boolean isPrimitive(Class c) {
return (c.isPrimitive() ||
c.equals(String.class) ||
Number.class.isAssignableFrom(c) ||
c.equals(Boolean.class));
}
// Copied from com.example.testdemo.ros.rosbridge.JSON
private static Object getFieldObject(Field f, Object o) {
Object fo = null;
try {
fo = f.get(o);
}
catch (IllegalAccessException ex) {
ex.printStackTrace();
}
return fo;
}
public void copyFrom(Message source) {
try {
if (source.getClass() != getClass())
throw new RuntimeException("Attempt to copy non-matching classes");
for (Field f : getClass().getFields()) {
Class fc = f.getType();
if (fc.isArray())
throw new RuntimeException("copyFrom - array types not implemented");
else if (!isPrimitive(fc))
((Message) f.get(this)).copyFrom((Message) f.get(source));
else {
Object value = f.get(source);
f.set(this, value);
}
}
}
catch (IllegalAccessException ex) {
throw new RuntimeException("copyFrom error", ex);
}
catch (ClassCastException ex) {
throw new RuntimeException("copyFrom error", ex);
}
// ReflectiveOperationException is not available on Android (Java 1.6)
/*
catch (ReflectiveOperationException ex) {
throw new RuntimeException ("copyFrom error", ex);
}
*/
}
}

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src/server/src/main/java/com/example/testdemo/ros/message/MessageException.java
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/**
* Copyright (c) 2014 example.testdemo Systems, Inc.
*
* This file is part of the Java ROSBridge Client.
*
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* The Java ROSBridge Client is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
*
*/
package com.example.testdemo.ros.message;
public class MessageException extends Exception {
public MessageException(String message) {
super(message);
}
public MessageException(String message, Throwable cause) {
super(message, cause);
}
}

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src/server/src/main/java/com/example/testdemo/ros/message/MessageType.java
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/**
* Copyright (c) 2014 example.testdemo Systems, Inc.
*
* This file is part of the Java ROSBridge Client.
*
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* The Java ROSBridge Client is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
*
*/
package com.example.testdemo.ros.message;
import java.lang.annotation.ElementType;
import java.lang.annotation.Retention;
import java.lang.annotation.RetentionPolicy;
import java.lang.annotation.Target;
@Retention(RetentionPolicy.RUNTIME)
@Target(ElementType.TYPE)
public @interface MessageType {
String string() default "";
}

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src/server/src/main/java/com/example/testdemo/ros/message/SemanticRequest.java
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package com.example.testdemo.ros.message;
/**
* Created by xxhong on 16-11-17.
*/
@MessageType(string = "std_msgs/String")
public class SemanticRequest extends Message {
public SemanticRequest(String args) {
jsonStr = args;
}
public String jsonStr;
}

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src/server/src/main/java/com/example/testdemo/ros/message/SemanticResponse.java
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package com.example.testdemo.ros.message;
/**
* Created by xxhong on 16-11-17.
*/
@MessageType(string = "std_msgs/String")
public class SemanticResponse extends Message {
public String result;
}

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src/server/src/main/java/com/example/testdemo/ros/message/StdMsg.java
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package com.example.testdemo.ros.message;
/**
* Created by xxhong on 16-11-17.
*/
@MessageType(string = "std_msgs/String")
public class StdMsg extends Message {
public String data;
}

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src/server/src/main/java/com/example/testdemo/ros/message/Time.java
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/**
* Copyright (c) 2014 example.testdemo Systems, Inc.
*
* This file is part of the Java ROSBridge Client.
*
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* The Java ROSBridge Client is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
*
*/
package com.example.testdemo.ros.message;
@MessageType(string = "std_msgs/Time")
public class Time extends TimePrimitive {
}

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src/server/src/main/java/com/example/testdemo/ros/message/TimePrimitive.java
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/**
* Copyright (c) 2014 example.testdemo Systems, Inc.
*
* This file is part of the Java ROSBridge Client.
*
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* The Java ROSBridge Client is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
*
*/
package com.example.testdemo.ros.message;
@MessageType(string = "time")
public class TimePrimitive extends Message {
public int secs; // when requesting this format from ROSbridge, it uses 'sec' (no 's')
public int nsecs; // when requesting this format from ROSbridge, it uses 'nsec'
}

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src/server/src/main/java/com/example/testdemo/ros/rosapi/message/Empty.java
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/**
* Copyright (c) 2014 example.testdemo Systems, Inc.
*
* This file is part of the Java ROSBridge Client.
*
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* The Java ROSBridge Client is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
*
*/
package com.example.testdemo.ros.rosapi.message;
import com.example.testdemo.ros.message.Message;
import com.example.testdemo.ros.message.MessageType;
@MessageType(string = "std_msgs/Empty")
public class Empty extends Message {
}

30
src/server/src/main/java/com/example/testdemo/ros/rosapi/message/GetTime.java
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/**
* Copyright (c) 2014 example.testdemo Systems, Inc.
*
* This file is part of the Java ROSBridge Client.
*
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* The Java ROSBridge Client is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
*
*/
package com.example.testdemo.ros.rosapi.message;
import com.example.testdemo.ros.message.Message;
import com.example.testdemo.ros.message.MessageType;
import com.example.testdemo.ros.message.TimePrimitive;
@MessageType(string = "rosapi/GetTimeResponse")
public class GetTime extends Message {
public TimePrimitive time;
}

28
src/server/src/main/java/com/example/testdemo/ros/rosapi/message/MessageDetails.java
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/**
* Copyright (c) 2014 example.testdemo Systems, Inc.
*
* This file is part of the Java ROSBridge Client.
*
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* The Java ROSBridge Client is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
*
*/
package com.example.testdemo.ros.rosapi.message;
import com.example.testdemo.ros.message.Message;
import com.example.testdemo.ros.message.MessageType;
@MessageType(string = "rosapi/MessageDetails")
public class MessageDetails extends Message {
public TypeDef[] typedefs;
}

28
src/server/src/main/java/com/example/testdemo/ros/rosapi/message/Nodes.java
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/**
* Copyright (c) 2014 example.testdemo Systems, Inc.
*
* This file is part of the Java ROSBridge Client.
*
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* The Java ROSBridge Client is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
*
*/
package com.example.testdemo.ros.rosapi.message;
import com.example.testdemo.ros.message.Message;
import com.example.testdemo.ros.message.MessageType;
@MessageType(string = "rosapi/Nodes")
public class Nodes extends Message {
public String[] nodes;
}

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src/server/src/main/java/com/example/testdemo/ros/rosapi/message/Service.java
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/**
* Copyright (c) 2014 example.testdemo Systems, Inc.
*
* This file is part of the Java ROSBridge Client.
*
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* The Java ROSBridge Client is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
*
*/
package com.example.testdemo.ros.rosapi.message;
import com.example.testdemo.ros.message.Message;
import com.example.testdemo.ros.message.MessageType;
@MessageType(string = "rosapi/Service")
public class Service extends Message {
public String service;
public Service() {}
public Service(String service) {
this.service = service;
}
}

28
src/server/src/main/java/com/example/testdemo/ros/rosapi/message/Services.java
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/**
* Copyright (c) 2014 example.testdemo Systems, Inc.
*
* This file is part of the Java ROSBridge Client.
*
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* The Java ROSBridge Client is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
*
*/
package com.example.testdemo.ros.rosapi.message;
import com.example.testdemo.ros.message.Message;
import com.example.testdemo.ros.message.MessageType;
@MessageType(string = "rosapi/Services")
public class Services extends Message {
public String[] services;
}

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src/server/src/main/java/com/example/testdemo/ros/rosapi/message/Topic.java
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/**
* Copyright (c) 2014 example.testdemo Systems, Inc.
*
* This file is part of the Java ROSBridge Client.
*
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* The Java ROSBridge Client is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
*
*/
package com.example.testdemo.ros.rosapi.message;
import com.example.testdemo.ros.message.Message;
import com.example.testdemo.ros.message.MessageType;
@MessageType(string = "rosapi/Topic")
public class Topic extends Message {
public String topic;
public Topic() {}
public Topic(String topic) {
this.topic = topic;
}
}

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src/server/src/main/java/com/example/testdemo/ros/rosapi/message/Topics.java
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/**
* Copyright (c) 2014 example.testdemo Systems, Inc.
*
* This file is part of the Java ROSBridge Client.
*
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* The Java ROSBridge Client is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
*
*/
package com.example.testdemo.ros.rosapi.message;
import com.example.testdemo.ros.message.Message;
import com.example.testdemo.ros.message.MessageType;
@MessageType(string = "rosapi/Topics")
public class Topics extends Message {
public String[] topics;
}

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src/server/src/main/java/com/example/testdemo/ros/rosapi/message/Type.java
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/**
* Copyright (c) 2014 example.testdemo Systems, Inc.
*
* This file is part of the Java ROSBridge Client.
*
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* The Java ROSBridge Client is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
*
*/
package com.example.testdemo.ros.rosapi.message;
import com.example.testdemo.ros.message.Message;
import com.example.testdemo.ros.message.MessageType;
@MessageType(string = "rosapi/Type")
public class Type extends Message {
public String type;
public Type() {}
public Type(String type) {
this.type = type;
}
}

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src/server/src/main/java/com/example/testdemo/ros/rosapi/message/TypeDef.java
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/**
* Copyright (c) 2014 example.testdemo Systems, Inc.
*
* This file is part of the Java ROSBridge Client.
*
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* The Java ROSBridge Client is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
*
*/
package com.example.testdemo.ros.rosapi.message;
import com.example.testdemo.ros.message.Message;
import com.example.testdemo.ros.message.MessageType;
@MessageType(string = "rosapi/TypeDef")
public class TypeDef extends Message {
public String type;
public String[] fieldnames;
public String[] fieldtypes;
public int[] fieldarraylen;
public String[] examples;
public static boolean match(String type, Class c) {
boolean result = false;
if (
(type.equals("bool") && ((boolean.class.equals(c)) || (Boolean.class.equals(c)))) ||
(type.equals("int8") && ((byte.class.equals(c)) || (Byte.class.equals(c)))) ||
(type.equals("byte") && ((byte.class.equals(c)) || (Byte.class.equals(c)))) || // deprecated
(type.equals("uint8") && ((short.class.equals(c)) || (Short.class.equals(c)))) ||
(type.equals("char") && ((short.class.equals(c)) || (Short.class.equals(c)))) || // deprecated
(type.equals("int16") && ((short.class.equals(c)) || (Short.class.equals(c)))) ||
(type.equals("uint16") && ((int.class.equals(c)) || (Integer.class.equals(c)))) ||
(type.equals("int32") && ((int.class.equals(c)) || (Integer.class.equals(c)))) ||
(type.equals("uint32") && ((long.class.equals(c)) || (Long.class.equals(c)))) ||
(type.equals("int64") && ((long.class.equals(c)) || (Long.class.equals(c)))) ||
(type.equals("float32") && ((float.class.equals(c)) || (Float.class.equals(c)))) ||
(type.equals("float64") && ((double.class.equals(c)) || (Double.class.equals(c)))) ||
(type.equals("uint64") && (java.math.BigInteger.class.equals(c))) ||
(type.equals("string") && (String.class.equals(c)))
)
result = true;
return result;
}
}

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src/server/src/main/java/com/example/testdemo/ros/rosbridge/FullMessageHandler.java
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/**
* Copyright (c) 2014 example.testdemo Systems, Inc.
*
* This file is part of the Java ROSBridge Client.
*
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* The Java ROSBridge Client is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
*
*/
package com.example.testdemo.ros.rosbridge;
import com.example.testdemo.ros.message.Message;
public interface FullMessageHandler<T extends Message> {
public void onMessage(String id, T message);
}

575
src/server/src/main/java/com/example/testdemo/ros/rosbridge/implementation/Base64.java
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package com.example.testdemo.ros.rosbridge.implementation;
import java.util.Arrays;
/** A very fast and memory efficient class to encode and decode to and from BASE64 in full accordance
* with RFC 2045.<br><br>
* On Windows XP sp1 with 1.4.2_04 and later ;), this encoder and decoder is about 10 times faster
* on small arrays (10 - 1000 bytes) and 2-3 times as fast on larger arrays (10000 - 1000000 bytes)
* compared to <code>sun.misc.Encoder()/Decoder()</code>.<br><br>
*
* On byte arrays the encoder is about 20% faster than Jakarta Commons Base64 Codec for encode and
* about 50% faster for decoding large arrays. This implementation is about twice as fast on very small
* arrays (&lt 30 bytes). If source/destination is a <code>String</code> this
* version is about three times as fast due to the fact that the Commons Codec result has to be recoded
* to a <code>String</code> from <code>byte[]</code>, which is very expensive.<br><br>
*
* This encode/decode algorithm doesn't create any temporary arrays as many other codecs do, it only
* allocates the resulting array. This produces less garbage and it is possible to handle arrays twice
* as large as algorithms that create a temporary array. (E.g. Jakarta Commons Codec). It is unknown
* whether Sun's <code>sun.misc.Encoder()/Decoder()</code> produce temporary arrays but since performance
* is quite low it probably does.<br><br>
*
* The encoder produces the same output as the Sun one except that the Sun's encoder appends
* a trailing line separator if the last character isn't a pad. Unclear why but it only adds to the
* length and is probably a side effect. Both are in conformance with RFC 2045 though.<br>
* Commons codec seem to always att a trailing line separator.<br><br>
*
* <b>Note!</b>
* The encode/decode method pairs (types) come in three versions with the <b>exact</b> same algorithm and
* thus a lot of code redundancy. This is to not create any temporary arrays for transcoding to/from different
* format types. The methods not used can simply be commented out.<br><br>
*
* There is also a "fast" version of all decode methods that works the same way as the normal ones, but
* har a few demands on the decoded input. Normally though, these fast verions should be used if the source if
* the input is known and it hasn't bee tampered with.<br><br>
*
* If you find the code useful or you find a bug, please send me a note at base64 @ miginfocom . com.
*
* Licence (BSD):
* ==============
*
* Copyright (c) 2004, Mikael Grev, MiG InfoCom AB. (base64 @ miginfocom . com)
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright notice, this list
* of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright notice, this
* list of conditions and the following disclaimer in the documentation and/or other
* materials provided with the distribution.
* Neither the name of the MiG InfoCom AB nor the names of its contributors may be
* used to endorse or promote products derived from this software without specific
* prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
* IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT,
* INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
* OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
* WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
* OF SUCH DAMAGE.
*
* @version 2.2
* @author Mikael Grev
* Date: 2004-aug-02
* Time: 11:31:11
*/
public class Base64
{
private static final char[] CA = "ABCDEFGHIJKLMNOPQRSTUVWXYZabcdefghijklmnopqrstuvwxyz0123456789+/".toCharArray();
private static final int[] IA = new int[256];
static {
Arrays.fill(IA, -1);
for (int i = 0, iS = CA.length; i < iS; i++)
IA[CA[i]] = i;
IA['='] = 0;
}
// ****************************************************************************************
// * char[] version
// ****************************************************************************************
/** Encodes a raw byte array into a BASE64 <code>char[]</code> representation i accordance with RFC 2045.
* @param sArr The bytes to convert. If <code>null</code> or length 0 an empty array will be returned.
* @param lineSep Optional "\r\n" after 76 characters, unless end of file.<br>
* No line separator will be in breach of RFC 2045 which specifies max 76 per line but will be a
* little faster.
* @return A BASE64 encoded array. Never <code>null</code>.
*/
public final static char[] encodeToChar(byte[] sArr, boolean lineSep)
{
// Check special case
int sLen = sArr != null ? sArr.length : 0;
if (sLen == 0)
return new char[0];
int eLen = (sLen / 3) * 3; // Length of even 24-bits.
int cCnt = ((sLen - 1) / 3 + 1) << 2; // Returned character count
int dLen = cCnt + (lineSep ? (cCnt - 1) / 76 << 1 : 0); // Length of returned array
char[] dArr = new char[dLen];
// Encode even 24-bits
for (int s = 0, d = 0, cc = 0; s < eLen;) {
// Copy next three bytes into lower 24 bits of int, paying attension to sign.
int i = (sArr[s++] & 0xff) << 16 | (sArr[s++] & 0xff) << 8 | (sArr[s++] & 0xff);
// Encode the int into four chars
dArr[d++] = CA[(i >>> 18) & 0x3f];
dArr[d++] = CA[(i >>> 12) & 0x3f];
dArr[d++] = CA[(i >>> 6) & 0x3f];
dArr[d++] = CA[i & 0x3f];
// Add optional line separator
if (lineSep && ++cc == 19 && d < dLen - 2) {
dArr[d++] = '\r';
dArr[d++] = '\n';
cc = 0;
}
}
// Pad and encode last bits if source isn't even 24 bits.
int left = sLen - eLen; // 0 - 2.
if (left > 0) {
// Prepare the int
int i = ((sArr[eLen] & 0xff) << 10) | (left == 2 ? ((sArr[sLen - 1] & 0xff) << 2) : 0);
// Set last four chars
dArr[dLen - 4] = CA[i >> 12];
dArr[dLen - 3] = CA[(i >>> 6) & 0x3f];
dArr[dLen - 2] = left == 2 ? CA[i & 0x3f] : '=';
dArr[dLen - 1] = '=';
}
return dArr;
}
/** Decodes a BASE64 encoded char array. All illegal characters will be ignored and can handle both arrays with
* and without line separators.
* @param sArr The source array. <code>null</code> or length 0 will return an empty array.
* @return The decoded array of bytes. May be of length 0. Will be <code>null</code> if the legal characters
* (including '=') isn't divideable by 4. (I.e. definitely corrupted).
*/
public final static byte[] decode(char[] sArr)
{
// Check special case
int sLen = sArr != null ? sArr.length : 0;
if (sLen == 0)
return new byte[0];
// Count illegal characters (including '\r', '\n') to know what size the returned array will be,
// so we don't have to reallocate & copy it later.
int sepCnt = 0; // Number of separator characters. (Actually illegal characters, but that's a bonus...)
for (int i = 0; i < sLen; i++) // If input is "pure" (I.e. no line separators or illegal chars) base64 this loop can be commented out.
if (IA[sArr[i]] < 0)
sepCnt++;
// Check so that legal chars (including '=') are evenly divideable by 4 as specified in RFC 2045.
if ((sLen - sepCnt) % 4 != 0)
return null;
int pad = 0;
for (int i = sLen; i > 1 && IA[sArr[--i]] <= 0;)
if (sArr[i] == '=')
pad++;
int len = ((sLen - sepCnt) * 6 >> 3) - pad;
byte[] dArr = new byte[len]; // Preallocate byte[] of exact length
for (int s = 0, d = 0; d < len;) {
// Assemble three bytes into an int from four "valid" characters.
int i = 0;
for (int j = 0; j < 4; j++) { // j only increased if a valid char was found.
int c = IA[sArr[s++]];
if (c >= 0)
i |= c << (18 - j * 6);
else
j--;
}
// Add the bytes
dArr[d++] = (byte) (i >> 16);
if (d < len) {
dArr[d++]= (byte) (i >> 8);
if (d < len)
dArr[d++] = (byte) i;
}
}
return dArr;
}
/** Decodes a BASE64 encoded char array that is known to be resonably well formatted. The method is about twice as
* fast as {@link #decode(char[])}. The preconditions are:<br>
* + The array must have a line length of 76 chars OR no line separators at all (one line).<br>
* + Line separator must be "\r\n", as specified in RFC 2045
* + The array must not contain illegal characters within the encoded string<br>
* + The array CAN have illegal characters at the beginning and end, those will be dealt with appropriately.<br>
* @param sArr The source array. Length 0 will return an empty array. <code>null</code> will throw an exception.
* @return The decoded array of bytes. May be of length 0.
*/
public final static byte[] decodeFast(char[] sArr)
{
// Check special case
int sLen = sArr.length;
if (sLen == 0)
return new byte[0];
int sIx = 0, eIx = sLen - 1; // Start and end index after trimming.
// Trim illegal chars from start
while (sIx < eIx && IA[sArr[sIx]] < 0)
sIx++;
// Trim illegal chars from end
while (eIx > 0 && IA[sArr[eIx]] < 0)
eIx--;
// get the padding count (=) (0, 1 or 2)
int pad = sArr[eIx] == '=' ? (sArr[eIx - 1] == '=' ? 2 : 1) : 0; // Count '=' at end.
int cCnt = eIx - sIx + 1; // Content count including possible separators
int sepCnt = sLen > 76 ? (sArr[76] == '\r' ? cCnt / 78 : 0) << 1 : 0;
int len = ((cCnt - sepCnt) * 6 >> 3) - pad; // The number of decoded bytes
byte[] dArr = new byte[len]; // Preallocate byte[] of exact length
// Decode all but the last 0 - 2 bytes.
int d = 0;
for (int cc = 0, eLen = (len / 3) * 3; d < eLen;) {
// Assemble three bytes into an int from four "valid" characters.
int i = IA[sArr[sIx++]] << 18 | IA[sArr[sIx++]] << 12 | IA[sArr[sIx++]] << 6 | IA[sArr[sIx++]];
// Add the bytes
dArr[d++] = (byte) (i >> 16);
dArr[d++] = (byte) (i >> 8);
dArr[d++] = (byte) i;
// If line separator, jump over it.
if (sepCnt > 0 && ++cc == 19) {
sIx += 2;
cc = 0;
}
}
if (d < len) {
// Decode last 1-3 bytes (incl '=') into 1-3 bytes
int i = 0;
for (int j = 0; sIx <= eIx - pad; j++)
i |= IA[sArr[sIx++]] << (18 - j * 6);
for (int r = 16; d < len; r -= 8)
dArr[d++] = (byte) (i >> r);
}
return dArr;
}
// ****************************************************************************************
// * byte[] version
// ****************************************************************************************
/** Encodes a raw byte array into a BASE64 <code>byte[]</code> representation i accordance with RFC 2045.
* @param sArr The bytes to convert. If <code>null</code> or length 0 an empty array will be returned.
* @param lineSep Optional "\r\n" after 76 characters, unless end of file.<br>
* No line separator will be in breach of RFC 2045 which specifies max 76 per line but will be a
* little faster.
* @return A BASE64 encoded array. Never <code>null</code>.
*/
public final static byte[] encodeToByte(byte[] sArr, boolean lineSep)
{
// Check special case
int sLen = sArr != null ? sArr.length : 0;
if (sLen == 0)
return new byte[0];
int eLen = (sLen / 3) * 3; // Length of even 24-bits.
int cCnt = ((sLen - 1) / 3 + 1) << 2; // Returned character count
int dLen = cCnt + (lineSep ? (cCnt - 1) / 76 << 1 : 0); // Length of returned array
byte[] dArr = new byte[dLen];
// Encode even 24-bits
for (int s = 0, d = 0, cc = 0; s < eLen;) {
// Copy next three bytes into lower 24 bits of int, paying attension to sign.
int i = (sArr[s++] & 0xff) << 16 | (sArr[s++] & 0xff) << 8 | (sArr[s++] & 0xff);
// Encode the int into four chars
dArr[d++] = (byte) CA[(i >>> 18) & 0x3f];
dArr[d++] = (byte) CA[(i >>> 12) & 0x3f];
dArr[d++] = (byte) CA[(i >>> 6) & 0x3f];
dArr[d++] = (byte) CA[i & 0x3f];
// Add optional line separator
if (lineSep && ++cc == 19 && d < dLen - 2) {
dArr[d++] = '\r';
dArr[d++] = '\n';
cc = 0;
}
}
// Pad and encode last bits if source isn't an even 24 bits.
int left = sLen - eLen; // 0 - 2.
if (left > 0) {
// Prepare the int
int i = ((sArr[eLen] & 0xff) << 10) | (left == 2 ? ((sArr[sLen - 1] & 0xff) << 2) : 0);
// Set last four chars
dArr[dLen - 4] = (byte) CA[i >> 12];
dArr[dLen - 3] = (byte) CA[(i >>> 6) & 0x3f];
dArr[dLen - 2] = left == 2 ? (byte) CA[i & 0x3f] : (byte) '=';
dArr[dLen - 1] = '=';
}
return dArr;
}
/** Decodes a BASE64 encoded byte array. All illegal characters will be ignored and can handle both arrays with
* and without line separators.
* @param sArr The source array. Length 0 will return an empty array. <code>null</code> will throw an exception.
* @return The decoded array of bytes. May be of length 0. Will be <code>null</code> if the legal characters
* (including '=') isn't divideable by 4. (I.e. definitely corrupted).
*/
public final static byte[] decode(byte[] sArr)
{
// Check special case
int sLen = sArr.length;
// Count illegal characters (including '\r', '\n') to know what size the returned array will be,
// so we don't have to reallocate & copy it later.
int sepCnt = 0; // Number of separator characters. (Actually illegal characters, but that's a bonus...)
for (int i = 0; i < sLen; i++) // If input is "pure" (I.e. no line separators or illegal chars) base64 this loop can be commented out.
if (IA[sArr[i] & 0xff] < 0)
sepCnt++;
// Check so that legal chars (including '=') are evenly divideable by 4 as specified in RFC 2045.
if ((sLen - sepCnt) % 4 != 0)
return null;
int pad = 0;
for (int i = sLen; i > 1 && IA[sArr[--i] & 0xff] <= 0;)
if (sArr[i] == '=')
pad++;
int len = ((sLen - sepCnt) * 6 >> 3) - pad;
byte[] dArr = new byte[len]; // Preallocate byte[] of exact length
for (int s = 0, d = 0; d < len;) {
// Assemble three bytes into an int from four "valid" characters.
int i = 0;
for (int j = 0; j < 4; j++) { // j only increased if a valid char was found.
int c = IA[sArr[s++] & 0xff];
if (c >= 0)
i |= c << (18 - j * 6);
else
j--;
}
// Add the bytes
dArr[d++] = (byte) (i >> 16);
if (d < len) {
dArr[d++]= (byte) (i >> 8);
if (d < len)
dArr[d++] = (byte) i;
}
}
return dArr;
}
/** Decodes a BASE64 encoded byte array that is known to be resonably well formatted. The method is about twice as
* fast as {@link #decode(byte[])}. The preconditions are:<br>
* + The array must have a line length of 76 chars OR no line separators at all (one line).<br>
* + Line separator must be "\r\n", as specified in RFC 2045
* + The array must not contain illegal characters within the encoded string<br>
* + The array CAN have illegal characters at the beginning and end, those will be dealt with appropriately.<br>
* @param sArr The source array. Length 0 will return an empty array. <code>null</code> will throw an exception.
* @return The decoded array of bytes. May be of length 0.
*/
public final static byte[] decodeFast(byte[] sArr)
{
// Check special case
int sLen = sArr.length;
if (sLen == 0)
return new byte[0];
int sIx = 0, eIx = sLen - 1; // Start and end index after trimming.
// Trim illegal chars from start
while (sIx < eIx && IA[sArr[sIx] & 0xff] < 0)
sIx++;
// Trim illegal chars from end
while (eIx > 0 && IA[sArr[eIx] & 0xff] < 0)
eIx--;
// get the padding count (=) (0, 1 or 2)
int pad = sArr[eIx] == '=' ? (sArr[eIx - 1] == '=' ? 2 : 1) : 0; // Count '=' at end.
int cCnt = eIx - sIx + 1; // Content count including possible separators
int sepCnt = sLen > 76 ? (sArr[76] == '\r' ? cCnt / 78 : 0) << 1 : 0;
int len = ((cCnt - sepCnt) * 6 >> 3) - pad; // The number of decoded bytes
byte[] dArr = new byte[len]; // Preallocate byte[] of exact length
// Decode all but the last 0 - 2 bytes.
int d = 0;
for (int cc = 0, eLen = (len / 3) * 3; d < eLen;) {
// Assemble three bytes into an int from four "valid" characters.
int i = IA[sArr[sIx++]] << 18 | IA[sArr[sIx++]] << 12 | IA[sArr[sIx++]] << 6 | IA[sArr[sIx++]];
// Add the bytes
dArr[d++] = (byte) (i >> 16);
dArr[d++] = (byte) (i >> 8);
dArr[d++] = (byte) i;
// If line separator, jump over it.
if (sepCnt > 0 && ++cc == 19) {
sIx += 2;
cc = 0;
}
}
if (d < len) {
// Decode last 1-3 bytes (incl '=') into 1-3 bytes
int i = 0;
for (int j = 0; sIx <= eIx - pad; j++)
i |= IA[sArr[sIx++]] << (18 - j * 6);
for (int r = 16; d < len; r -= 8)
dArr[d++] = (byte) (i >> r);
}
return dArr;
}
// ****************************************************************************************
// * String version
// ****************************************************************************************
/** Encodes a raw byte array into a BASE64 <code>String</code> representation i accordance with RFC 2045.
* @param sArr The bytes to convert. If <code>null</code> or length 0 an empty array will be returned.
* @param lineSep Optional "\r\n" after 76 characters, unless end of file.<br>
* No line separator will be in breach of RFC 2045 which specifies max 76 per line but will be a
* little faster.
* @return A BASE64 encoded array. Never <code>null</code>.
*/
public final static String encodeToString(byte[] sArr, boolean lineSep)
{
// Reuse char[] since we can't create a String incrementally anyway and StringBuffer/Builder would be slower.
return new String(encodeToChar(sArr, lineSep));
}
/** Decodes a BASE64 encoded <code>String</code>. All illegal characters will be ignored and can handle both strings with
* and without line separators.<br>
* <b>Note!</b> It can be up to about 2x the speed to call <code>decode(str.toCharArray())</code> instead. That
* will create a temporary array though. This version will use <code>str.charAt(i)</code> to iterate the string.
* @param str The source string. <code>null</code> or length 0 will return an empty array.
* @return The decoded array of bytes. May be of length 0. Will be <code>null</code> if the legal characters
* (including '=') isn't divideable by 4. (I.e. definitely corrupted).
*/
public final static byte[] decode(String str)
{
// Check special case
int sLen = str != null ? str.length() : 0;
if (sLen == 0)
return new byte[0];
// Count illegal characters (including '\r', '\n') to know what size the returned array will be,
// so we don't have to reallocate & copy it later.
int sepCnt = 0; // Number of separator characters. (Actually illegal characters, but that's a bonus...)
for (int i = 0; i < sLen; i++) // If input is "pure" (I.e. no line separators or illegal chars) base64 this loop can be commented out.
if (IA[str.charAt(i)] < 0)
sepCnt++;
// Check so that legal chars (including '=') are evenly divideable by 4 as specified in RFC 2045.
if ((sLen - sepCnt) % 4 != 0)
return null;
// Count '=' at end
int pad = 0;
for (int i = sLen; i > 1 && IA[str.charAt(--i)] <= 0;)
if (str.charAt(i) == '=')
pad++;
int len = ((sLen - sepCnt) * 6 >> 3) - pad;
byte[] dArr = new byte[len]; // Preallocate byte[] of exact length
for (int s = 0, d = 0; d < len;) {
// Assemble three bytes into an int from four "valid" characters.
int i = 0;
for (int j = 0; j < 4; j++) { // j only increased if a valid char was found.
int c = IA[str.charAt(s++)];
if (c >= 0)
i |= c << (18 - j * 6);
else
j--;
}
// Add the bytes
dArr[d++] = (byte) (i >> 16);
if (d < len) {
dArr[d++]= (byte) (i >> 8);
if (d < len)
dArr[d++] = (byte) i;
}
}
return dArr;
}
/** Decodes a BASE64 encoded string that is known to be resonably well formatted. The method is about twice as
* fast as {@link #decode(String)}. The preconditions are:<br>
* + The array must have a line length of 76 chars OR no line separators at all (one line).<br>
* + Line separator must be "\r\n", as specified in RFC 2045
* + The array must not contain illegal characters within the encoded string<br>
* + The array CAN have illegal characters at the beginning and end, those will be dealt with appropriately.<br>
* @param s The source string. Length 0 will return an empty array. <code>null</code> will throw an exception.
* @return The decoded array of bytes. May be of length 0.
*/
public final static byte[] decodeFast(String s)
{
// Check special case
int sLen = s.length();
if (sLen == 0)
return new byte[0];
int sIx = 0, eIx = sLen - 1; // Start and end index after trimming.
// Trim illegal chars from start
while (sIx < eIx && IA[s.charAt(sIx) & 0xff] < 0)
sIx++;
// Trim illegal chars from end
while (eIx > 0 && IA[s.charAt(eIx) & 0xff] < 0)
eIx--;
// get the padding count (=) (0, 1 or 2)
int pad = s.charAt(eIx) == '=' ? (s.charAt(eIx - 1) == '=' ? 2 : 1) : 0; // Count '=' at end.
int cCnt = eIx - sIx + 1; // Content count including possible separators
int sepCnt = sLen > 76 ? (s.charAt(76) == '\r' ? cCnt / 78 : 0) << 1 : 0;
int len = ((cCnt - sepCnt) * 6 >> 3) - pad; // The number of decoded bytes
byte[] dArr = new byte[len]; // Preallocate byte[] of exact length
// Decode all but the last 0 - 2 bytes.
int d = 0;
for (int cc = 0, eLen = (len / 3) * 3; d < eLen;) {
// Assemble three bytes into an int from four "valid" characters.
int i = IA[s.charAt(sIx++)] << 18 | IA[s.charAt(sIx++)] << 12 | IA[s.charAt(sIx++)] << 6 | IA[s.charAt(sIx++)];
// Add the bytes
dArr[d++] = (byte) (i >> 16);
dArr[d++] = (byte) (i >> 8);
dArr[d++] = (byte) i;
// If line separator, jump over it.
if (sepCnt > 0 && ++cc == 19) {
sIx += 2;
cc = 0;
}
}
if (d < len) {
// Decode last 1-3 bytes (incl '=') into 1-3 bytes
int i = 0;
for (int j = 0; sIx <= eIx - pad; j++)
i |= IA[s.charAt(sIx++)] << (18 - j * 6);
for (int r = 16; d < len; r -= 8)
dArr[d++] = (byte) (i >> r);
}
return dArr;
}
}

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src/server/src/main/java/com/example/testdemo/ros/rosbridge/implementation/JSON.java
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/**
* Copyright (c) 2014 example.testdemo Systems, Inc.
*
* This file is part of the Java ROSBridge Client.
*
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* The Java ROSBridge Client is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
*
*/
package com.example.testdemo.ros.rosbridge.implementation;
import com.alibaba.fastjson.JSONArray;
import com.alibaba.fastjson.JSONObject;
import com.example.testdemo.ros.message.Message;
import com.example.testdemo.ros.rosbridge.indication.Indication;
import com.example.testdemo.ros.rosbridge.operation.Wrapper;
import jdk.nashorn.internal.parser.JSONParser;
import java.io.StringReader;
import java.lang.reflect.Array;
import java.lang.reflect.Field;
// The slightly crazy abstractions here are designed to isolate knowledge of
// the JSON library and data types from the Operation details of rosbridge.
// Why is this important? A few reasons I can see. First, we might want
// to change JSON libraries and this encapsulates all use of JSON-simple.
// Second, as much as possible I would like the semantics of the rosbridge
// protocol to be encapsulated in the Operation and its subclasses rather
// than in a module that is essentially about serialization.
//
// Unfortunately the hierarchical Message abstraction is a bit broken
// at the top level. Beginning at the actual operation (e.g., Publish), the
// types of the fields are determined either by the fields themselves or by
// an indicator. However, the type of the operation itself is not determined
// this way, because the indicator is in the object itself, which means it
// would have to be created before its type is known. Rather than build in
// exceptions, I elected to create a "Wrapper" operation type that simply
// wraps the concrete operation and copies its "op" field.
//
public class JSON {
/**
* Translates a Message recursively into JSON. Normally the Message is also an
* Operation, but it does not have to be. The caller constructs a complete
* message using @Operation and @Message types. This includes situations
* where one or more fields are marked to be turned into arrays, using @AsArray.
* @param m the @Message object to be recursively translated.
* @return the complete JSON string.
*/
public static String toJSON(Message m) {
JSONObject jo = convertObjectToJSONObject(m); // Object to JSON-Simple
return jo.toJSONString(); // JSON-Simple to string
}
/**
* Translates JSON into a hierarchical Operation/Message structure.
* This includes handling fields that are @Indicated and @AsArray. If the
* @Class parameter is a @Wrapper, this is a special case whereby the
* object is wrapped to create a consistent hierarchy.
* @param json the source JSON string
* @param c the top level class of the JSON. Normally @Wrapper
* @param r the @Registry containing topic registrations
* @return the fully instantiated message hierarchy represented
* by the JSON string.
*/
public static Message toMessage(String json, Class c, Registry<Class> r) {
JSONObject joUnwrapped = convertStringToJSONObject(json); // String to JSON-Simple
JSONObject jo = joUnwrapped;
if (Wrapper.class.isAssignableFrom(c))
jo = wrap(joUnwrapped, c); // wrap: a hack to make the hierarchy homogeneous
return convertJSONObjectToMessage(jo, c, r); // JSON-Simple to Message
}
// *** Create JSON from Messages *** //
// Translate the object into a JSON-Simple object, field-by-field,
// recursively via convertElementToJSON.
// except for the case where AsArray is indicated
private static JSONObject convertObjectToJSONObject(Object o) {
JSONObject result = new JSONObject();
for (Field f : o.getClass().getFields()) {
Object fieldObject = getFieldObject(f, o);
if (fieldObject != null) {
Object resultObject;
if (Indication.isBase64Encoded(f))
resultObject = convertByteArrayToBase64JSONString(fieldObject);
else if (Indication.asArray(f))
resultObject = convertObjectToJSONArray(fieldObject);
else resultObject = convertElementToJSON(fieldObject);
result.put(f.getName(), resultObject);
}
}
return result;
}
// Convert an array type to a JSON-Simple array, element-by-element,
// recursively via convertElementToJSON.
private static JSONArray convertArrayToJSONArray(Object array) {
JSONArray result = new JSONArray();
for (int i = 0; i < Array.getLength(array); i++) {
Object elementObject = Array.get(array, i);
if (elementObject != null) {
Object resultObject = convertElementToJSON(elementObject);
result.add(resultObject);
}
}
return result;
}
// For AsArray objects, convert the object to a JSON-Simple array
// NOTE: This relies on later versions of the JDK providing
// the fields in order.
private static JSONArray convertObjectToJSONArray(Object o) {
JSONArray result = new JSONArray();
for (Field f : o.getClass().getFields()) {
Object fieldObject = getFieldObject(f, o);
if (fieldObject != null) {
Object resultObject = convertElementToJSON(fieldObject);
result.add(resultObject);
}
}
return result;
}
// Convert the individual field or array element items recursively
private static Object convertElementToJSON(Object elementObject) {
Class elementClass = elementObject.getClass();
Object resultObject;
if (Message.isPrimitive(elementClass))
resultObject = elementObject;
else if (elementClass.isArray())
resultObject = convertArrayToJSONArray(elementObject);
else
resultObject = convertObjectToJSONObject(elementObject);
return resultObject;
}
// Special case for Base 64-encoded fields
private static Object convertByteArrayToBase64JSONString(Object fieldObject) {
return Base64.encodeToString((byte[]) fieldObject, false);
}
// This is just to buffer the code from the exception. Better error
// handling needed here.
private static Object getFieldObject(Field f, Object o) {
Object fo = null;
try {
fo = f.get(o);
}
catch (IllegalAccessException ex) {
ex.printStackTrace();
}
return fo;
}
// *** Create Messages from JSON *** //
// Use the JSON-simple parser to create the JSON-Simple object
private static JSONObject convertStringToJSONObject(String json) {
JSONObject result = null;
StringReader r = new StringReader(json);
//JSONParser jp = new JSONParser();
try {
//result = (JSONObject) jp.parse(r);
}
catch (Throwable t) {
System.out.println(t.getMessage());
}
r.close();
return result;
}
// A bit of a hack to create a consistent hierarchy with jsonbridge operations
// At least it does not depend on any specific field names, it just copies the
// Indicator and Indicated fields.
private static JSONObject wrap(JSONObject jo, Class c) {
JSONObject result = new JSONObject();
String indicatorName = Indication.getIndicatorName(c);
String indicatedName = Indication.getIndicatedName(c);
result.put(indicatorName, jo.get(indicatorName));
result.put(indicatedName, jo);
return result;
}
// Convert the JSON-Simple object to the indicated message, field-by-field
// recursively via convertElementToField.
private static Message convertJSONObjectToMessage(JSONObject jo, Class c, Registry<Class> r) {
//System.out.println("JSON.convertJSONObjectToMessage: " + jo.toJSONString());
try {
Message result = (Message) c.newInstance();
for (Field f : c.getFields()) {
Class fc = getFieldClass(result, jo, f, r);
Object lookup = jo.get(f.getName());
if (lookup != null) {
Object value = convertElementToField(lookup, fc, f, r);
f.set(result, value);
}
}
return result;
}
catch (Exception ex) {
//ex.printStackTrace();
return null;
}
}
// Convert the JSON-Simple array to the indicated message, element-by-element
// recursively via convertElementToField.
private static Object convertJSONArrayToArray(JSONArray ja, Class c, Registry<Class> r) {
Object result = Array.newInstance(c, ja.size());
for (int i = 0; i < ja.size(); i++) {
Object lookup = ja.get(i);
Object value = null;
if (lookup != null) {
if (lookup.getClass().equals(JSONObject.class))
value = convertJSONObjectToMessage((JSONObject) lookup, c, r);
else if (lookup.getClass().equals(JSONArray.class)) // this is not actually allowed in ROS
value = convertJSONArrayToArray((JSONArray) lookup, c.getComponentType(), r);
else
value = convertJSONPrimitiveToPrimitive(lookup, c);
Array.set(result, i, value);
}
}
return result;
}
// Convert a JSON-Simple array to a Message, field-by-field of the Message,
// element-by-element of the array, recursively via convertElementToField.
// NOTE: This relies on later versions of the JDK providing
// the fields in order.
private static Message convertJSONArrayToMessage(JSONArray ja, Class c, Registry<Class> r) {
try {
Message result = (Message) c.newInstance();
int arrayIndex = 0;
for (Field f : c.getFields()) {
Class fc = getFieldClass(result, null, f, r);
Object lookup = ja.get(arrayIndex++); // yes we are assuming that the fields are delivered in order
if (lookup != null) {
Object value = convertElementToField(lookup, fc, f, r);
f.set(result, value);
}
}
return result;
}
catch (Exception ex) {
ex.printStackTrace();
return null;
}
}
// Convert an individual array or object element to a field in the Message,
// recursively, and applying AsArray if needed.
private static Object convertElementToField(Object element, Class fc, Field f, Registry<Class> r) {
//System.out.println("JSON.convertElementToField: " + f.getName() + " " + fc.getName());
Object value;
if (element.getClass().equals(JSONObject.class)) {
//System.out.println("JSON.convertElementToField: JSON Object " + ((JSONObject) element).toJSONString());
value = convertJSONObjectToMessage((JSONObject) element, fc, r);
}
else if (element.getClass().equals(JSONArray.class)) {
//System.out.println("JSON.convertElementToField: JSON Array " + ((JSONArray) element).toJSONString());
if (Indication.asArray(f))
value = convertJSONArrayToMessage((JSONArray) element, fc, r);
else value = convertJSONArrayToArray((JSONArray) element, fc, r);
}
else {
//System.out.println("JSON.convertElementToField: Primitive " + element);
if (Indication.isBase64Encoded(f))
value = convertBase64JSONStringToByteArray(element);
else value = convertJSONPrimitiveToPrimitive(element, fc);
}
return value;
}
// Note that this is not checking ranges
public static Object convertJSONPrimitiveToPrimitive(Object o, Class c) {
Object result = o;
if (c.isPrimitive() || Number.class.isAssignableFrom(c)) {
if (c.equals(double.class) || c.equals(Double.class))
result = new Double(((Number) o).doubleValue());
else if (c.equals(float.class) || c.equals(Float.class))
result = new Float(((Number) o).floatValue());
else if (c.equals(long.class) || c.equals(Long.class))
result = new Long(((Number) o).longValue());
else if (int.class.equals(c) || c.equals(Integer.class))
result = new Integer(((Number) o).intValue());
else if (c.equals(short.class) || c.equals(Short.class))
result = new Short(((Number) o).shortValue());
else if (c.equals(byte.class) || c.equals(Byte.class))
result = new Byte(((Number) o).byteValue());
}
return result;
}
public static byte[] convertBase64JSONStringToByteArray(Object element) {
return Base64.decode((String) element);
}
// Determine the target class of a field in the object or array, based
// directly on the field's type, or using the Indicator if applicable,
// The Indicator field only provides the topic/service, so we have to look
// up the Class in the registry.
public static Class getFieldClass(Message parent, JSONObject jo, Field f, Registry<Class> r) {
Class fc;
fc = f.getType();
if (fc.isArray())
fc = f.getType().getComponentType();
if (Indication.isIndicated(f) && (jo != null)) {
//fc = Indication.getIndication(parent,
// (String) jo.get(Indication.getIndicatorName(parent.getClass())));
fc = r.lookup(parent.getClass(),
(String) jo.get(Indication.getIndicatorName(parent.getClass())));
//System.out.println("JSON.getFieldClass: parent class " + parent.getClass().getName() +
// " Indicator: " + Indication.getIndicatorName(parent.getClass()) +
// " result: " + fc.getName());
}
return fc;
}
}

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src/server/src/main/java/com/example/testdemo/ros/rosbridge/implementation/PublishEvent.java
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package com.example.testdemo.ros.rosbridge.implementation;
import com.example.testdemo.ros.rosbridge.operation.Operation;
/**EventBus event entity,describe ros server response info
* Created by xxhong on 16-11-22.
*/
public class PublishEvent {
public String msg;
public String id;
public String name;
public String op;
public PublishEvent(Operation operation, String name, String content) {
if(operation != null) {
id = operation.id;
op = operation.op;
}
this.name = name;
msg = content;
}
}

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src/server/src/main/java/com/example/testdemo/ros/rosbridge/implementation/Registry.java
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/**
* Copyright (c) 2014 example.testdemo Systems, Inc.
*
* This file is part of the Java ROSBridge Client.
*
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* The Java ROSBridge Client is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
*
*/
package com.example.testdemo.ros.rosbridge.implementation;
import java.util.HashMap;
import java.util.Map;
public class Registry<T> extends HashMap<Class, Map<String, T>> {
public void register(Class c, String s, T t) {
Map<String, T> table = get(c);
if (table == null) {
table = new HashMap<String, T>();
put(c, table);
}
table.put(s, t);
}
public void unregister(Class c, String s) {
Map<String, T> table = get(c);
if (table != null)
table.remove(s);
}
public T lookup(Class c, String s) {
T result = null;
Map<String, T> table = get(c);
if (table != null)
result = table.get(s);
return result;
}
}

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src/server/src/main/java/com/example/testdemo/ros/rosbridge/indication/AsArray.java
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/**
* Copyright (c) 2014 example.testdemo Systems, Inc.
*
* This file is part of the Java ROSBridge Client.
*
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* The Java ROSBridge Client is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
*
*/
package com.example.testdemo.ros.rosbridge.indication;
import java.lang.annotation.ElementType;
import java.lang.annotation.Retention;
import java.lang.annotation.RetentionPolicy;
import java.lang.annotation.Target;
@Retention(RetentionPolicy.RUNTIME)
@Target(ElementType.FIELD)
public @interface AsArray {
}

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src/server/src/main/java/com/example/testdemo/ros/rosbridge/indication/Base64Encoded.java
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/**
* Copyright (c) 2014 example.testdemo Systems, Inc.
*
* This file is part of the Java ROSBridge Client.
*
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* The Java ROSBridge Client is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
*
*/
package com.example.testdemo.ros.rosbridge.indication;
import java.lang.annotation.ElementType;
import java.lang.annotation.Retention;
import java.lang.annotation.RetentionPolicy;
import java.lang.annotation.Target;
@Retention(RetentionPolicy.RUNTIME)
@Target(ElementType.FIELD)
public @interface Base64Encoded {
}

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src/server/src/main/java/com/example/testdemo/ros/rosbridge/indication/Indicate.java
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/**
* Copyright (c) 2014 example.testdemo Systems, Inc.
*
* This file is part of the Java ROSBridge Client.
*
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* The Java ROSBridge Client is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
*
*/
package com.example.testdemo.ros.rosbridge.indication;
import java.lang.annotation.ElementType;
import java.lang.annotation.Retention;
import java.lang.annotation.RetentionPolicy;
import java.lang.annotation.Target;
@Retention(RetentionPolicy.RUNTIME)
@Target(ElementType.METHOD)
public @interface Indicate {
// if later we want multiple indicated fields, use an int here
}

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src/server/src/main/java/com/example/testdemo/ros/rosbridge/indication/Indicated.java
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/**
* Copyright (c) 2014 example.testdemo Systems, Inc.
*
* This file is part of the Java ROSBridge Client.
*
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* The Java ROSBridge Client is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
*
*/
package com.example.testdemo.ros.rosbridge.indication;
import java.lang.annotation.ElementType;
import java.lang.annotation.Retention;
import java.lang.annotation.RetentionPolicy;
import java.lang.annotation.Target;
@Retention(RetentionPolicy.RUNTIME)
@Target(ElementType.FIELD)
public @interface Indicated {
// if later we want multiple indicated fields, use an int here
}

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src/server/src/main/java/com/example/testdemo/ros/rosbridge/indication/Indication.java
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/**
* Copyright (c) 2014 example.testdemo Systems, Inc.
*
* This file is part of the Java ROSBridge Client.
*
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* The Java ROSBridge Client is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
*
*/
package com.example.testdemo.ros.rosbridge.indication;
import java.lang.reflect.Field;
public class Indication {
public static boolean isIndicated(Field f) {
return (f.getAnnotation(Indicated.class) != null);
}
public static boolean asArray(Field f) {
return (f.getAnnotation(AsArray.class) != null);
}
public static boolean isBase64Encoded(Field f) {
return ((f.getAnnotation(Base64Encoded.class) != null) &&
f.getType().isArray() &&
f.getType().getComponentType().equals(byte.class));
}
public static String getIndicatorName(Class c) {
return getName(c, Indicator.class);
}
public static String getIndicatedName(Class c) {
return getName(c, Indicated.class);
}
private static String getName(Class c, Class annotation) {
String result = null;
for (Field f : c.getFields()) {
if (f.getAnnotation(annotation) != null) {
result = f.getName();
break;
}
}
return result;
}
/*
public static Class getIndication(Object o, String s) {
Class c = o.getClass();
Class result = null;
try {
Method m = getIndicateMethod(c);
result = (Class) (m.invoke(o, s));
}
catch (ReflectiveOperationException ex) {
ex.printStackTrace();
}
return result;
}
private static Method getIndicateMethod(Class c) {
Method result = null;
for (Method m : c.getMethods()) {
if (m.getAnnotation(Indicate.class) != null) {
result = m;
break;
}
}
return result;
}
*/
}

31
src/server/src/main/java/com/example/testdemo/ros/rosbridge/indication/Indicator.java
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/**
* Copyright (c) 2014 example.testdemo Systems, Inc.
*
* This file is part of the Java ROSBridge Client.
*
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* The Java ROSBridge Client is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
*
*/
package com.example.testdemo.ros.rosbridge.indication;
import java.lang.annotation.ElementType;
import java.lang.annotation.Retention;
import java.lang.annotation.RetentionPolicy;
import java.lang.annotation.Target;
@Retention(RetentionPolicy.RUNTIME)
@Target(ElementType.FIELD)
public @interface Indicator {
// if later we want multiple indicated fields, use an int here
}

35
src/server/src/main/java/com/example/testdemo/ros/rosbridge/operation/Advertise.java
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/**
* Copyright (c) 2014 example.testdemo Systems, Inc.
*
* This file is part of the Java ROSBridge Client.
*
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* The Java ROSBridge Client is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
*
*/
package com.example.testdemo.ros.rosbridge.operation;
import com.example.testdemo.ros.message.MessageType;
@MessageType(string = "advertise")
public class Advertise extends Operation {
public String topic;
public String type;
public Advertise() {}
public Advertise(String topic, String type) {
this.topic = topic;
this.type = type;
}
}

56
src/server/src/main/java/com/example/testdemo/ros/rosbridge/operation/Authenticate.java
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/**
* Copyright (c) 2014 example.testdemo Systems, Inc.
*
* This file is part of the Java ROSBridge Client.
*
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* The Java ROSBridge Client is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
*
*/
package com.example.testdemo.ros.rosbridge.operation;
import com.example.testdemo.ros.message.MessageType;
@MessageType(string = "auth")
public class Authenticate extends Operation {
public String mac;
public String client;
public String dest;
public String rand;
public int t;
public String level;
public int end;
public Authenticate() {}
public Authenticate(
String mac,
String client,
String dest,
String rand,
int t,
String level,
int end)
{
this.mac = mac;
this.client = client;
this.dest = dest;
this.rand = rand;
this.t = t;
this.level = level;
this.end = end;
this.id = null; // even though id is on EVERY OTHER operation type
}
}

41
src/server/src/main/java/com/example/testdemo/ros/rosbridge/operation/CallService.java
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/**
* Copyright (c) 2014 example.testdemo Systems, Inc.
*
* This file is part of the Java ROSBridge Client.
*
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* The Java ROSBridge Client is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
*
*/
package com.example.testdemo.ros.rosbridge.operation;
import com.example.testdemo.ros.message.Message;
import com.example.testdemo.ros.message.MessageType;
import com.example.testdemo.ros.rosbridge.indication.AsArray;
import com.example.testdemo.ros.rosbridge.indication.Indicated;
import com.example.testdemo.ros.rosbridge.indication.Indicator;
@MessageType(string = "call_service")
public class CallService extends Operation {
@Indicator public String service;
@Indicated @AsArray public Message args;
public Integer fragment_size; // use Integer for optional items
public String compression;
public CallService() {}
public CallService(String service, Message args) {
this.service = service;
this.args = args;
}
}

37
src/server/src/main/java/com/example/testdemo/ros/rosbridge/operation/Fragment.java
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/**
* Copyright (c) 2014 example.testdemo Systems, Inc.
*
* This file is part of the Java ROSBridge Client.
*
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* The Java ROSBridge Client is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
*
*/
package com.example.testdemo.ros.rosbridge.operation;
import com.example.testdemo.ros.message.MessageType;
@MessageType(string = "fragment")
public class Fragment extends Operation {
public String data;
public int num;
public int total;
public Fragment() {}
public Fragment(String data, int num, int total) {
this.data = data;
this.num = num;
this.total = total;
}
}

77
src/server/src/main/java/com/example/testdemo/ros/rosbridge/operation/Operation.java
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/**
* Copyright (c) 2014 example.testdemo Systems, Inc.
*
* This file is part of the Java ROSBridge Client.
*
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* The Java ROSBridge Client is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
*
*/
package com.example.testdemo.ros.rosbridge.operation;
import com.example.testdemo.ros.message.Message;
import com.example.testdemo.ros.message.MessageType;
import com.example.testdemo.ros.rosbridge.implementation.JSON;
import com.example.testdemo.ros.rosbridge.implementation.Registry;
@MessageType(string = "operation")
public class Operation extends Message {
private static Long uid = 0L;
public String op;
public String id;
public Operation() {
this.op = getMessageType(getClass());
this.id = nextId();
}
private static synchronized String nextId() {
String result = uid.toString();
uid++;
return result;
}
public String toJSON() {
return JSON.toJSON(this);
}
public static Operation toOperation(String json, Registry<Class> registry) {
return ((Wrapper) JSON.toMessage(json, Wrapper.class, registry)).msg;
}
public static void initialize(Registry<Class> registry) {
initClass(registry, Advertise.class);
initClass(registry, Authenticate.class);
initClass(registry, CallService.class);
initClass(registry, Fragment.class);
initClass(registry, Operation.class);
initClass(registry, PNG.class);
initClass(registry, Publish.class);
initClass(registry, ServiceResponse.class);
initClass(registry, SetStatusLevel.class);
initClass(registry, Status.class);
initClass(registry, Subscribe.class);
initClass(registry, Unadvertise.class);
initClass(registry, Unsubscribe.class);
initClass(registry, Wrapper.class);
registry.register(Wrapper.class, Message.getMessageType(Publish.class), Publish.class);
registry.register(Wrapper.class, Message.getMessageType(CallService.class), CallService.class);
registry.register(Wrapper.class, Message.getMessageType(ServiceResponse.class), ServiceResponse.class);
}
private static void initClass(Registry<Class> registry, Class<? extends Message> c) {
registry.register(Message.class, Message.getMessageType(c), c);
}
}

41
src/server/src/main/java/com/example/testdemo/ros/rosbridge/operation/PNG.java
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/**
* Copyright (c) 2014 example.testdemo Systems, Inc.
*
* This file is part of the Java ROSBridge Client.
*
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* The Java ROSBridge Client is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
*
*/
package com.example.testdemo.ros.rosbridge.operation;
import com.example.testdemo.ros.message.MessageType;
@MessageType(string = "png")
public class PNG extends Operation {
public String data;
public Integer num; // use Integer for optional items
public Integer total; // use Integer for optional items
public PNG() {}
public PNG(String data) {
this.data = data;
}
public PNG(String data, int num, int total) {
this.data = data;
this.num = num;
this.total = total;
}
}

40
src/server/src/main/java/com/example/testdemo/ros/rosbridge/operation/Publish.java
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/**
* Copyright (c) 2014 example.testdemo Systems, Inc.
*
* This file is part of the Java ROSBridge Client.
*
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* The Java ROSBridge Client is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
*
*/
package com.example.testdemo.ros.rosbridge.operation;
import com.example.testdemo.ros.message.Message;
import com.example.testdemo.ros.message.MessageType;
import com.example.testdemo.ros.rosbridge.indication.Indicated;
import com.example.testdemo.ros.rosbridge.indication.Indicator;
@MessageType(string = "publish")
public class Publish extends Operation {
@Indicator public String topic;
@Indicated
public Message msg;
public Publish() {}
public Publish(String topic, Message msg) {
this.topic = topic;
this.msg = msg;
}
}

38
src/server/src/main/java/com/example/testdemo/ros/rosbridge/operation/ServiceResponse.java
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/**
* Copyright (c) 2014 example.testdemo Systems, Inc.
*
* This file is part of the Java ROSBridge Client.
*
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* The Java ROSBridge Client is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
*
*/
package com.example.testdemo.ros.rosbridge.operation;
import com.example.testdemo.ros.message.Message;
import com.example.testdemo.ros.message.MessageType;
import com.example.testdemo.ros.rosbridge.indication.Indicated;
import com.example.testdemo.ros.rosbridge.indication.Indicator;
@MessageType(string = "service_response")
public class ServiceResponse extends Operation {
@Indicator public String service;
public boolean result;
@Indicated public Message values;
public ServiceResponse() {}
public ServiceResponse(String service) {
this.service = service;
}
}

38
src/server/src/main/java/com/example/testdemo/ros/rosbridge/operation/SetStatusLevel.java
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/**
* Copyright (c) 2014 example.testdemo Systems, Inc.
*
* This file is part of the Java ROSBridge Client.
*
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* The Java ROSBridge Client is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
*
*/
package com.example.testdemo.ros.rosbridge.operation;
import com.example.testdemo.ros.message.MessageType;
@MessageType(string = "set_level")
public class SetStatusLevel extends Operation {
public String level;
public SetStatusLevel() {}
public SetStatusLevel(String level) {
this.level = null;
if ("none".equals(level) ||
"warning".equals(level) ||
"error".equals(level) ||
"info".equals(level))
this.level = level;
}
}

35
src/server/src/main/java/com/example/testdemo/ros/rosbridge/operation/Status.java
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/**
* Copyright (c) 2014 example.testdemo Systems, Inc.
*
* This file is part of the Java ROSBridge Client.
*
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* The Java ROSBridge Client is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
*
*/
package com.example.testdemo.ros.rosbridge.operation;
import com.example.testdemo.ros.message.MessageType;
@MessageType(string = "status")
public class Status extends Operation {
String level;
String msg;
public Status() {}
public Status(String level, String msg) {
this.level = level;
this.msg = msg;
}
}

39
src/server/src/main/java/com/example/testdemo/ros/rosbridge/operation/Subscribe.java
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/**
* Copyright (c) 2014 example.testdemo Systems, Inc.
*
* This file is part of the Java ROSBridge Client.
*
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* The Java ROSBridge Client is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
*
*/
package com.example.testdemo.ros.rosbridge.operation;
import com.example.testdemo.ros.message.MessageType;
@MessageType(string = "subscribe")
public class Subscribe extends Operation {
public String topic;
public String type;
public Integer throttle_rate; // use Integer for optional items
public Integer queue_length; // use Integer for optional items
public Integer fragment_size; // use Integer for optional items
public String compression;
public Subscribe() {}
public Subscribe(String topic, String type) {
this.topic = topic;
this.type = type;
}
}

33
src/server/src/main/java/com/example/testdemo/ros/rosbridge/operation/Unadvertise.java
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/**
* Copyright (c) 2014 example.testdemo Systems, Inc.
*
* This file is part of the Java ROSBridge Client.
*
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* The Java ROSBridge Client is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
*
*/
package com.example.testdemo.ros.rosbridge.operation;
import com.example.testdemo.ros.message.MessageType;
@MessageType(string = "unadvertise")
public class Unadvertise extends Operation {
public String topic;
public Unadvertise() {}
public Unadvertise(String topic) {
this.topic = topic;
}
}

33
src/server/src/main/java/com/example/testdemo/ros/rosbridge/operation/Unsubscribe.java
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/**
* Copyright (c) 2014 example.testdemo Systems, Inc.
*
* This file is part of the Java ROSBridge Client.
*
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* The Java ROSBridge Client is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
*
*/
package com.example.testdemo.ros.rosbridge.operation;
import com.example.testdemo.ros.message.MessageType;
@MessageType(string = "unsubscribe")
public class Unsubscribe extends Operation {
public String topic;
public Unsubscribe() {}
public Unsubscribe(String topic) {
this.topic = topic;
}
}

33
src/server/src/main/java/com/example/testdemo/ros/rosbridge/operation/Wrapper.java
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/**
* Copyright (c) 2014 example.testdemo Systems, Inc.
*
* This file is part of the Java ROSBridge Client.
*
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* The Java ROSBridge Client is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
*
*/
package com.example.testdemo.ros.rosbridge.operation;
import com.example.testdemo.ros.message.MessageType;
import com.example.testdemo.ros.rosbridge.indication.Indicated;
import com.example.testdemo.ros.rosbridge.indication.Indicator;
@MessageType(string = "wrapper")
public class Wrapper extends Operation {
@Indicator public String op;
@Indicated
public Operation msg;
public Wrapper() {}
}
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