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|
|||||||
|
package com.example.logistics.tools;
|
||||||
|
|
||||||
|
import android.util.Log;
|
||||||
|
|
||||||
|
import org.java_websocket.client.WebSocketClient;
|
||||||
|
import org.java_websocket.drafts.Draft_6455;
|
||||||
|
import org.java_websocket.handshake.ServerHandshake;
|
||||||
|
|
||||||
|
import java.net.URI;
|
||||||
|
|
||||||
|
public class JWebSocketClient extends WebSocketClient {
|
||||||
|
public JWebSocketClient(URI serverUri) {
|
||||||
|
super(serverUri, new Draft_6455());
|
||||||
|
}
|
||||||
|
|
||||||
|
@Override
|
||||||
|
public void onOpen(ServerHandshake handshakedata) {
|
||||||
|
Log.e("JWebSocketClient", "onOpen()");
|
||||||
|
}
|
||||||
|
|
||||||
|
@Override
|
||||||
|
public void onMessage(String message) {
|
||||||
|
Log.e("JWebSocketClient", "onMessage()");
|
||||||
|
}
|
||||||
|
|
||||||
|
@Override
|
||||||
|
public void onClose(int code, String reason, boolean remote) {
|
||||||
|
Log.e("JWebSocketClient", "onClose()");
|
||||||
|
}
|
||||||
|
|
||||||
|
@Override
|
||||||
|
public void onError(Exception ex) {
|
||||||
|
Log.e("JWebSocketClient", "onError()");
|
||||||
|
}
|
||||||
|
}
|
||||||
@ -0,0 +1,200 @@
|
|||||||
|
package com.example.logistics.ui;
|
||||||
|
|
||||||
|
import com.example.logistics.R;
|
||||||
|
import com.example.logistics.manager.goodManager;
|
||||||
|
import com.example.logistics.manager.operationManager;
|
||||||
|
import com.example.logistics.manager.userManager;
|
||||||
|
import com.example.logistics.entity.User;
|
||||||
|
|
||||||
|
import android.annotation.SuppressLint;
|
||||||
|
import android.app.Activity;
|
||||||
|
import android.app.AlertDialog;
|
||||||
|
import android.content.DialogInterface;
|
||||||
|
import android.content.Intent;
|
||||||
|
import android.os.Bundle;
|
||||||
|
import android.os.Handler;
|
||||||
|
import android.os.Message;
|
||||||
|
import android.util.Log;
|
||||||
|
import android.view.View;
|
||||||
|
import android.widget.Button;
|
||||||
|
import android.widget.EditText;
|
||||||
|
import android.widget.Toast;
|
||||||
|
|
||||||
|
import org.json.JSONException;
|
||||||
|
import org.json.JSONObject;
|
||||||
|
|
||||||
|
|
||||||
|
public class LoginActivity extends Activity {
|
||||||
|
|
||||||
|
private int islogin = 0;
|
||||||
|
private Button loginButton;
|
||||||
|
private Button signUpButton;
|
||||||
|
private Button forgetButton;
|
||||||
|
private Button phonenumButton;
|
||||||
|
private AlertDialog alert;
|
||||||
|
private Button changeButton;
|
||||||
|
private EditText fphonenum;
|
||||||
|
private EditText fpassword;
|
||||||
|
int flag = 0; //flag = 0 是用户名登录；=1是手机号
|
||||||
|
|
||||||
|
// 调用Actvity
|
||||||
|
private String TAG = "LoginActivity";
|
||||||
|
@Override
|
||||||
|
protected void onCreate(Bundle savedInstanceState) {
|
||||||
|
super.onCreate(savedInstanceState);
|
||||||
|
setContentView(R.layout.activity_main);
|
||||||
|
|
||||||
|
loginButton = (Button) this.findViewById(R.id.LoginButton);
|
||||||
|
signUpButton = (Button) this.findViewById(R.id.SignUpButton);
|
||||||
|
forgetButton = (Button) this.findViewById(R.id.forget);
|
||||||
|
phonenumButton = (Button) this.findViewById(R.id.phonenum);
|
||||||
|
|
||||||
|
|
||||||
|
AlertDialog.Builder builder = new AlertDialog.Builder(LoginActivity.this);
|
||||||
|
|
||||||
|
View view2 = View.inflate(LoginActivity.this, R.layout.forget, null);
|
||||||
|
|
||||||
|
builder.setTitle("取件").setView(view2);
|
||||||
|
|
||||||
|
alert = builder.create();
|
||||||
|
|
||||||
|
changeButton = (Button) view2.findViewById(R.id.change);
|
||||||
|
fphonenum = (EditText) view2.findViewById(R.id.fphonenum);
|
||||||
|
fpassword = (EditText) view2.findViewById(R.id.fpassword);
|
||||||
|
|
||||||
|
loginButton.setOnClickListener(
|
||||||
|
new View.OnClickListener() {
|
||||||
|
@Override
|
||||||
|
public void onClick(View v) {
|
||||||
|
login(v);
|
||||||
|
Log.d(TAG, "login");
|
||||||
|
}
|
||||||
|
}
|
||||||
|
);
|
||||||
|
|
||||||
|
signUpButton.setOnClickListener(
|
||||||
|
new View.OnClickListener() {
|
||||||
|
@Override
|
||||||
|
public void onClick(View v) {
|
||||||
|
Intent intent = new Intent(LoginActivity.this, SignUpActivity.class);
|
||||||
|
Log.d(TAG, "signup");
|
||||||
|
startActivity(intent);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
);
|
||||||
|
|
||||||
|
forgetButton.setOnClickListener(
|
||||||
|
new View.OnClickListener() {
|
||||||
|
@Override
|
||||||
|
public void onClick(View view) {
|
||||||
|
alert.show();
|
||||||
|
changeButton.setOnClickListener(
|
||||||
|
new View.OnClickListener() {
|
||||||
|
@Override
|
||||||
|
public void onClick(View view) {
|
||||||
|
Log.d(TAG, "change password");
|
||||||
|
change(view);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
);
|
||||||
|
|
||||||
|
EditText userName = (EditText) this.findViewById(R.id.UserNameEdit);
|
||||||
|
phonenumButton.setOnClickListener(
|
||||||
|
new View.OnClickListener() {
|
||||||
|
@Override
|
||||||
|
public void onClick(View view) {
|
||||||
|
userName.setHint("请输入手机号");
|
||||||
|
flag = 1;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
);
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
public void change(View view){
|
||||||
|
String phoneunm = fphonenum.getText().toString().trim();
|
||||||
|
String password = fpassword.getText().toString().trim();
|
||||||
|
new Thread() {
|
||||||
|
@Override
|
||||||
|
public void run() {
|
||||||
|
userManager userManager = new userManager();
|
||||||
|
|
||||||
|
int msg = userManager.change(phoneunm, password);
|
||||||
|
|
||||||
|
Log.d(TAG, "change");
|
||||||
|
if(msg != 1){
|
||||||
|
Log.d(TAG, "pickup,failed");
|
||||||
|
hand2.sendEmptyMessage(msg);
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
Log.d(TAG, "change,success");
|
||||||
|
|
||||||
|
hand2.sendEmptyMessage(msg);
|
||||||
|
}
|
||||||
|
}.start();
|
||||||
|
}
|
||||||
|
|
||||||
|
public void login(View view){
|
||||||
|
EditText userName = (EditText) this.findViewById(R.id.UserNameEdit);
|
||||||
|
EditText passWord = (EditText) this.findViewById(R.id.PassWordEdit);
|
||||||
|
|
||||||
|
new Thread(){
|
||||||
|
@Override
|
||||||
|
public void run(){
|
||||||
|
userManager userManager = new userManager();
|
||||||
|
int msg = 0;
|
||||||
|
if(flag == 0){
|
||||||
|
msg = userManager.login(userName.getText().toString().trim(), passWord.getText().toString().trim());
|
||||||
|
}else if(flag == 1){
|
||||||
|
msg = userManager.loginByPhone(userName.getText().toString().trim(), passWord.getText().toString().trim());
|
||||||
|
|
||||||
|
}
|
||||||
|
Log.e("MAin", "msg");
|
||||||
|
hand1.sendEmptyMessage(msg);
|
||||||
|
if(msg == 1){
|
||||||
|
User owner = userManager.findUser(userName.getText().toString().trim());
|
||||||
|
Intent intent = new Intent(LoginActivity.this, MenuActivity.class);
|
||||||
|
if(flag == 1){
|
||||||
|
intent.putExtra("user", userName.getText().toString().trim());
|
||||||
|
}else{
|
||||||
|
intent.putExtra("user", owner.getPhoneNum());
|
||||||
|
}
|
||||||
|
startActivity(intent);
|
||||||
|
finish();
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}.start();
|
||||||
|
}
|
||||||
|
|
||||||
|
@SuppressLint("HandlerLeak")
|
||||||
|
final Handler hand1 = new Handler(){
|
||||||
|
@Override
|
||||||
|
public void handleMessage(Message msg){
|
||||||
|
if(msg.what == 0){
|
||||||
|
Toast.makeText(getApplicationContext(), "登录失败", Toast.LENGTH_SHORT).show();
|
||||||
|
}else if(msg.what == 1){
|
||||||
|
Toast.makeText(getApplicationContext(), "登录成功", Toast.LENGTH_SHORT).show();
|
||||||
|
islogin = 1;
|
||||||
|
}else if(msg.what == 2){
|
||||||
|
Toast.makeText(getApplicationContext(), "密码错误", Toast.LENGTH_SHORT).show();
|
||||||
|
}else if(msg.what == 3){
|
||||||
|
Toast.makeText(getApplicationContext(), "账号不存在", Toast.LENGTH_SHORT).show();
|
||||||
|
}
|
||||||
|
}
|
||||||
|
};
|
||||||
|
@SuppressLint("HandlerLeak")
|
||||||
|
final Handler hand2 = new Handler() {
|
||||||
|
@Override
|
||||||
|
public void handleMessage(Message msg) {
|
||||||
|
if(msg.what == 0){
|
||||||
|
Toast.makeText(LoginActivity.this, "修改失败", Toast.LENGTH_SHORT).show();
|
||||||
|
}else if(msg.what == 1) {
|
||||||
|
Toast.makeText(LoginActivity.this, "修改成功", Toast.LENGTH_SHORT).show();
|
||||||
|
}
|
||||||
|
}
|
||||||
|
};
|
||||||
|
|
||||||
|
}
|
||||||
@ -1,95 +0,0 @@
|
|||||||
package com.example.logistics.ui;
|
|
||||||
|
|
||||||
import com.example.logistics.R;
|
|
||||||
import com.example.logistics.dao.userDao;
|
|
||||||
import com.example.logistics.entity.User;
|
|
||||||
import com.example.logistics.tools.MD5Utils;
|
|
||||||
|
|
||||||
import android.annotation.SuppressLint;
|
|
||||||
import android.app.Activity;
|
|
||||||
import android.content.Intent;
|
|
||||||
import android.os.Bundle;
|
|
||||||
import android.os.Handler;
|
|
||||||
import android.os.Message;
|
|
||||||
import android.util.Log;
|
|
||||||
import android.view.View;
|
|
||||||
import android.widget.Button;
|
|
||||||
import android.widget.EditText;
|
|
||||||
import android.widget.Toast;
|
|
||||||
|
|
||||||
import java.text.SimpleDateFormat;
|
|
||||||
import java.util.Date;
|
|
||||||
|
|
||||||
|
|
||||||
public class MainActivity extends Activity {
|
|
||||||
|
|
||||||
private int islogin = 0;
|
|
||||||
// 调用Actvity
|
|
||||||
@Override
|
|
||||||
protected void onCreate(Bundle savedInstanceState) {
|
|
||||||
super.onCreate(savedInstanceState);
|
|
||||||
setContentView(R.layout.activity_main);
|
|
||||||
|
|
||||||
Button loginButton = (Button) this.findViewById(R.id.LoginButton);
|
|
||||||
Button signUpButton = (Button) this.findViewById(R.id.SignUpButton);
|
|
||||||
|
|
||||||
loginButton.setOnClickListener(
|
|
||||||
new View.OnClickListener() {
|
|
||||||
@Override
|
|
||||||
public void onClick(View v) {
|
|
||||||
login(v);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
);
|
|
||||||
signUpButton.setOnClickListener(
|
|
||||||
new View.OnClickListener() {
|
|
||||||
@Override
|
|
||||||
public void onClick(View v) {
|
|
||||||
Intent intent = new Intent(MainActivity.this, SignUpActivity.class);
|
|
||||||
startActivity(intent);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
);
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
||||||
public void login(View view){
|
|
||||||
EditText userName = (EditText) this.findViewById(R.id.UserNameEdit);
|
|
||||||
EditText passWord = (EditText) this.findViewById(R.id.PassWordEdit);
|
|
||||||
|
|
||||||
new Thread(){
|
|
||||||
@Override
|
|
||||||
public void run(){
|
|
||||||
userDao userDao = new userDao();
|
|
||||||
int msg = userDao.login(userName.getText().toString().trim(), passWord.getText().toString().trim());
|
|
||||||
Log.e("MAin", "msg");
|
|
||||||
hand1.sendEmptyMessage(msg);
|
|
||||||
if(msg == 1){
|
|
||||||
User owner = userDao.findUser(userName.getText().toString().trim());
|
|
||||||
Intent intent = new Intent(MainActivity.this, MenuActivity.class);
|
|
||||||
intent.putExtra("user", owner.getPhoneNum());
|
|
||||||
startActivity(intent);
|
|
||||||
finish();
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}.start();
|
|
||||||
}
|
|
||||||
|
|
||||||
@SuppressLint("HandlerLeak")
|
|
||||||
final Handler hand1 = new Handler(){
|
|
||||||
@Override
|
|
||||||
public void handleMessage(Message msg){
|
|
||||||
if(msg.what == 0){
|
|
||||||
Toast.makeText(getApplicationContext(), "登录失败", Toast.LENGTH_SHORT).show();
|
|
||||||
}else if(msg.what == 1){
|
|
||||||
Toast.makeText(getApplicationContext(), "登录成功", Toast.LENGTH_SHORT).show();
|
|
||||||
islogin = 1;
|
|
||||||
}else if(msg.what == 2){
|
|
||||||
Toast.makeText(getApplicationContext(), "密码错误", Toast.LENGTH_SHORT).show();
|
|
||||||
}else if(msg.what == 3){
|
|
||||||
Toast.makeText(getApplicationContext(), "账号不存在", Toast.LENGTH_SHORT).show();
|
|
||||||
}
|
|
||||||
}
|
|
||||||
};
|
|
||||||
|
|
||||||
}
|
|
||||||
@ -1,220 +0,0 @@
|
|||||||
package com.example.logistics.ui;
|
|
||||||
|
|
||||||
import androidx.fragment.app.Fragment;
|
|
||||||
|
|
||||||
import android.annotation.SuppressLint;
|
|
||||||
import android.app.AlertDialog;
|
|
||||||
import android.content.Context;
|
|
||||||
import android.content.Intent;
|
|
||||||
import android.os.Bundle;
|
|
||||||
import android.os.Handler;
|
|
||||||
import android.os.Message;
|
|
||||||
import android.util.Log;
|
|
||||||
import android.view.LayoutInflater;
|
|
||||||
import android.view.View;
|
|
||||||
import android.view.ViewGroup;
|
|
||||||
import android.webkit.WebSettings;
|
|
||||||
import android.webkit.WebView;
|
|
||||||
import android.webkit.WebViewClient;
|
|
||||||
import android.widget.Button;
|
|
||||||
import android.widget.EditText;
|
|
||||||
import android.widget.TextView;
|
|
||||||
import android.widget.Toast;
|
|
||||||
|
|
||||||
import androidx.annotation.Nullable;
|
|
||||||
|
|
||||||
import com.example.logistics.R;
|
|
||||||
import com.example.logistics.dao.goodDao;
|
|
||||||
import com.example.logistics.dao.operationDao;
|
|
||||||
import com.example.logistics.dao.userDao;
|
|
||||||
import com.example.logistics.entity.User;
|
|
||||||
import com.google.zxing.integration.android.IntentIntegrator;
|
|
||||||
import com.google.zxing.integration.android.IntentResult;
|
|
||||||
import com.journeyapps.barcodescanner.CaptureActivity;
|
|
||||||
|
|
||||||
import java.io.ByteArrayOutputStream;
|
|
||||||
import java.io.IOException;
|
|
||||||
import java.io.InputStream;
|
|
||||||
|
|
||||||
public class MyFragment2 extends Fragment implements View.OnClickListener{
|
|
||||||
|
|
||||||
private Button mButton;
|
|
||||||
private Context mContext;
|
|
||||||
|
|
||||||
private WebView mWebView;
|
|
||||||
|
|
||||||
public MyFragment2(){
|
|
||||||
|
|
||||||
}
|
|
||||||
@Nullable
|
|
||||||
|
|
||||||
@Override
|
|
||||||
public View onCreateView(LayoutInflater inflater, ViewGroup container, Bundle savedInstanceState) {
|
|
||||||
View view = inflater.inflate(R.layout.my_fragment2,container,false);
|
|
||||||
mWebView = (WebView) view.findViewById(R.id.webview);
|
|
||||||
|
|
||||||
WebSettings webSettings = mWebView.getSettings();
|
|
||||||
mButton = (Button)view.findViewById(R.id.Pick_Button);
|
|
||||||
mButton.setOnClickListener(this);
|
|
||||||
mContext = getActivity();
|
|
||||||
|
|
||||||
webSettings.setJavaScriptEnabled(true);
|
|
||||||
mWebView.loadUrl("file:///android_asset/js.html");
|
|
||||||
|
|
||||||
Log.i("set", "listner");
|
|
||||||
|
|
||||||
mWebView.setWebViewClient(new WebViewClient(){
|
|
||||||
@Override
|
|
||||||
public void onPageFinished(WebView view, String url){
|
|
||||||
super.onPageFinished(view, url);
|
|
||||||
String jsStr1 = "";
|
|
||||||
try{
|
|
||||||
InputStream in1 = mContext.getAssets().open("em.js");
|
|
||||||
byte buff[] = new byte[1024];
|
|
||||||
ByteArrayOutputStream fromFile = new ByteArrayOutputStream();
|
|
||||||
do {
|
|
||||||
int numRead = in1.read(buff);
|
|
||||||
if (numRead <= 0) {
|
|
||||||
break;
|
|
||||||
}
|
|
||||||
fromFile.write(buff, 0, numRead);
|
|
||||||
} while (true);
|
|
||||||
jsStr1 = fromFile.toString();
|
|
||||||
in1.close();
|
|
||||||
fromFile.close();
|
|
||||||
} catch (IOException e) {
|
|
||||||
e.printStackTrace();
|
|
||||||
}
|
|
||||||
mWebView.loadUrl("javascript:" + jsStr1);
|
|
||||||
|
|
||||||
String jsStr2 = "";
|
|
||||||
try{
|
|
||||||
InputStream in2 = mContext.getAssets().open("roslib.min.js");
|
|
||||||
byte buff[] = new byte[1024];
|
|
||||||
ByteArrayOutputStream fromFile = new ByteArrayOutputStream();
|
|
||||||
do {
|
|
||||||
int numRead = in2.read(buff);
|
|
||||||
if (numRead <= 0) {
|
|
||||||
break;
|
|
||||||
}
|
|
||||||
fromFile.write(buff, 0, numRead);
|
|
||||||
} while (true);
|
|
||||||
jsStr2 = fromFile.toString();
|
|
||||||
in2.close();
|
|
||||||
fromFile.close();
|
|
||||||
} catch (IOException e) {
|
|
||||||
e.printStackTrace();
|
|
||||||
}
|
|
||||||
mWebView.loadUrl("javascript:" + jsStr2);
|
|
||||||
}
|
|
||||||
|
|
||||||
});
|
|
||||||
|
|
||||||
|
|
||||||
return view;
|
|
||||||
}
|
|
||||||
|
|
||||||
@Override
|
|
||||||
public void onClick(View view) {
|
|
||||||
switch(view.getId()){
|
|
||||||
case R.id.Pick_Button:
|
|
||||||
/*new IntentIntegrator(getActivity())
|
|
||||||
.setDesiredBarcodeFormats(IntentIntegrator.QR_CODE)// 扫码的类型,一维码，二维码，一/二维码，默认为一/二维码
|
|
||||||
.setPrompt("请对准摄像头")
|
|
||||||
.setCameraId(0)
|
|
||||||
.setBeepEnabled(false)
|
|
||||||
.setCaptureActivity(CaptureActivity.class)
|
|
||||||
.initiateScan();*/
|
|
||||||
pickup("abnc");
|
|
||||||
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
public void test(){
|
|
||||||
mWebView.loadUrl("javascript:callJS()");
|
|
||||||
Log.i("abc", "bcd");
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
@Override
|
|
||||||
@SuppressLint("MissingSuperCall")
|
|
||||||
public void onActivityResult(int requestCode, int resultCode, Intent data) {
|
|
||||||
IntentResult result = IntentIntegrator.parseActivityResult(requestCode, resultCode, data);
|
|
||||||
if(result != null) {
|
|
||||||
if(result.getContents() != null) {
|
|
||||||
//Toast.makeText(mContext, "Scanned: " + result.getContents(), Toast.LENGTH_LONG).show();
|
|
||||||
pickup(result.getContents());
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
public void pickup(String result){
|
|
||||||
AlertDialog.Builder builder = new AlertDialog.Builder(mContext);
|
|
||||||
|
|
||||||
View view2 = View.inflate(mContext, R.layout.pickup, null);
|
|
||||||
|
|
||||||
EditText PickUpCode = (EditText) view2.findViewById(R.id.pk_PickUp);
|
|
||||||
EditText PhoneNum = (EditText) view2.findViewById(R.id.pk_PhoneNum);
|
|
||||||
Button button = (Button) view2.findViewById(R.id.pk_button);
|
|
||||||
|
|
||||||
builder.setTitle("取件").setView(view2);
|
|
||||||
|
|
||||||
builder.create().show();
|
|
||||||
button.setOnClickListener(new View.OnClickListener() {
|
|
||||||
@Override
|
|
||||||
public void onClick(View view) {
|
|
||||||
String pickupcode = PickUpCode.getText().toString().trim();
|
|
||||||
String phonenum = PhoneNum.getText().toString().trim();
|
|
||||||
Log.d("onclick", "123");
|
|
||||||
//String QR_pickup = result.split(" ")[0];
|
|
||||||
//String QR_phone = result.split(" ")[1];
|
|
||||||
|
|
||||||
if(true){
|
|
||||||
//if (pickupcode.equals(QR_pickup) && phonenum.equals(QR_phone)) {
|
|
||||||
/*new Thread() {
|
|
||||||
@Override
|
|
||||||
public void run() {
|
|
||||||
int msg = 0;
|
|
||||||
|
|
||||||
operationDao operationDao = new operationDao();
|
|
||||||
goodDao goodDao = new goodDao();
|
|
||||||
Bundle bundle = getArguments();
|
|
||||||
|
|
||||||
String user = bundle.getString("user");
|
|
||||||
|
|
||||||
boolean flag1 = operationDao.add(pickupcode, user);
|
|
||||||
boolean flag2 = goodDao.delete(pickupcode);
|
|
||||||
|
|
||||||
boolean flag = flag1 & flag2;
|
|
||||||
if (flag) {
|
|
||||||
msg = 1;
|
|
||||||
}
|
|
||||||
int msg = 1;
|
|
||||||
test();
|
|
||||||
hand1.sendEmptyMessage(msg);
|
|
||||||
}
|
|
||||||
}.start();*/
|
|
||||||
Toast.makeText(mContext, "取件成功", Toast.LENGTH_LONG).show();
|
|
||||||
test();
|
|
||||||
|
|
||||||
} else {
|
|
||||||
Toast.makeText(mContext, "取件失败", Toast.LENGTH_LONG).show();
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
});
|
|
||||||
}
|
|
||||||
|
|
||||||
@SuppressLint("HandlerLeak")
|
|
||||||
final Handler hand1 = new Handler() {
|
|
||||||
@Override
|
|
||||||
public void handleMessage(Message msg) {
|
|
||||||
if (msg.what == 1) {
|
|
||||||
Toast.makeText(mContext, "取件成功", Toast.LENGTH_SHORT).show();
|
|
||||||
} else {
|
|
||||||
Toast.makeText(mContext, "取件失败", Toast.LENGTH_SHORT);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
};
|
|
||||||
}
|
|
||||||
@ -0,0 +1,37 @@
|
|||||||
|
<?xml version="1.0" encoding="utf-8"?>
|
||||||
|
<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
|
||||||
|
android:orientation="vertical"
|
||||||
|
android:layout_width="match_parent"
|
||||||
|
android:layout_height="match_parent"
|
||||||
|
android:gravity="center">
|
||||||
|
|
||||||
|
<LinearLayout
|
||||||
|
android:layout_width="wrap_content"
|
||||||
|
android:layout_height="wrap_content"
|
||||||
|
android:orientation="horizontal">
|
||||||
|
<EditText
|
||||||
|
android:layout_width="200dp"
|
||||||
|
android:layout_height="wrap_content"
|
||||||
|
android:id="@+id/fphonenum"
|
||||||
|
android:hint="请输入注册时手机号"
|
||||||
|
/>
|
||||||
|
</LinearLayout>
|
||||||
|
|
||||||
|
<LinearLayout
|
||||||
|
android:layout_width="wrap_content"
|
||||||
|
android:layout_height="wrap_content"
|
||||||
|
android:orientation="horizontal">
|
||||||
|
<EditText
|
||||||
|
android:layout_width="200dp"
|
||||||
|
android:layout_height="wrap_content"
|
||||||
|
android:id="@+id/fpassword"
|
||||||
|
android:hint="请输入新密码"
|
||||||
|
/>
|
||||||
|
</LinearLayout>
|
||||||
|
<Button
|
||||||
|
android:layout_width="wrap_content"
|
||||||
|
android:layout_height="wrap_content"
|
||||||
|
android:text="修改"
|
||||||
|
android:id="@+id/change"/>
|
||||||
|
|
||||||
|
</LinearLayout>
|
||||||
@ -0,0 +1,33 @@
|
|||||||
|
HELP.md
|
||||||
|
target/
|
||||||
|
!.mvn/wrapper/maven-wrapper.jar
|
||||||
|
!**/src/main/**/target/
|
||||||
|
!**/src/test/**/target/
|
||||||
|
|
||||||
|
### STS ###
|
||||||
|
.apt_generated
|
||||||
|
.classpath
|
||||||
|
.factorypath
|
||||||
|
.project
|
||||||
|
.settings
|
||||||
|
.springBeans
|
||||||
|
.sts4-cache
|
||||||
|
|
||||||
|
### IntelliJ IDEA ###
|
||||||
|
.idea
|
||||||
|
*.iws
|
||||||
|
*.iml
|
||||||
|
*.ipr
|
||||||
|
|
||||||
|
### NetBeans ###
|
||||||
|
/nbproject/private/
|
||||||
|
/nbbuild/
|
||||||
|
/dist/
|
||||||
|
/nbdist/
|
||||||
|
/.nb-gradle/
|
||||||
|
build/
|
||||||
|
!**/src/main/**/build/
|
||||||
|
!**/src/test/**/build/
|
||||||
|
|
||||||
|
### VS Code ###
|
||||||
|
.vscode/
|
||||||
Binary file not shown.
@ -0,0 +1,2 @@
|
|||||||
|
distributionUrl=https://repo.maven.apache.org/maven2/org/apache/maven/apache-maven/3.8.4/apache-maven-3.8.4-bin.zip
|
||||||
|
wrapperUrl=https://repo.maven.apache.org/maven2/org/apache/maven/wrapper/maven-wrapper/3.1.0/maven-wrapper-3.1.0.jar
|
||||||
@ -0,0 +1,316 @@
|
|||||||
|
#!/bin/sh
|
||||||
|
# ----------------------------------------------------------------------------
|
||||||
|
# Licensed to the Apache Software Foundation (ASF) under one
|
||||||
|
# or more contributor license agreements. See the NOTICE file
|
||||||
|
# distributed with this work for additional information
|
||||||
|
# regarding copyright ownership. The ASF licenses this file
|
||||||
|
# to you under the Apache License, Version 2.0 (the
|
||||||
|
# "License"); you may not use this file except in compliance
|
||||||
|
# with the License. You may obtain a copy of the License at
|
||||||
|
#
|
||||||
|
# https://www.apache.org/licenses/LICENSE-2.0
|
||||||
|
#
|
||||||
|
# Unless required by applicable law or agreed to in writing,
|
||||||
|
# software distributed under the License is distributed on an
|
||||||
|
# "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY
|
||||||
|
# KIND, either express or implied. See the License for the
|
||||||
|
# specific language governing permissions and limitations
|
||||||
|
# under the License.
|
||||||
|
# ----------------------------------------------------------------------------
|
||||||
|
|
||||||
|
# ----------------------------------------------------------------------------
|
||||||
|
# Maven Start Up Batch script
|
||||||
|
#
|
||||||
|
# Required ENV vars:
|
||||||
|
# ------------------
|
||||||
|
# JAVA_HOME - location of a JDK home dir
|
||||||
|
#
|
||||||
|
# Optional ENV vars
|
||||||
|
# -----------------
|
||||||
|
# M2_HOME - location of maven2's installed home dir
|
||||||
|
# MAVEN_OPTS - parameters passed to the Java VM when running Maven
|
||||||
|
# e.g. to debug Maven itself, use
|
||||||
|
# set MAVEN_OPTS=-Xdebug -Xrunjdwp:transport=dt_socket,server=y,suspend=y,address=8000
|
||||||
|
# MAVEN_SKIP_RC - flag to disable loading of mavenrc files
|
||||||
|
# ----------------------------------------------------------------------------
|
||||||
|
|
||||||
|
if [ -z "$MAVEN_SKIP_RC" ] ; then
|
||||||
|
|
||||||
|
if [ -f /usr/local/etc/mavenrc ] ; then
|
||||||
|
. /usr/local/etc/mavenrc
|
||||||
|
fi
|
||||||
|
|
||||||
|
if [ -f /etc/mavenrc ] ; then
|
||||||
|
. /etc/mavenrc
|
||||||
|
fi
|
||||||
|
|
||||||
|
if [ -f "$HOME/.mavenrc" ] ; then
|
||||||
|
. "$HOME/.mavenrc"
|
||||||
|
fi
|
||||||
|
|
||||||
|
fi
|
||||||
|
|
||||||
|
# OS specific support. $var _must_ be set to either true or false.
|
||||||
|
cygwin=false;
|
||||||
|
darwin=false;
|
||||||
|
mingw=false
|
||||||
|
case "`uname`" in
|
||||||
|
CYGWIN*) cygwin=true ;;
|
||||||
|
MINGW*) mingw=true;;
|
||||||
|
Darwin*) darwin=true
|
||||||
|
# Use /usr/libexec/java_home if available, otherwise fall back to /Library/Java/Home
|
||||||
|
# See https://developer.apple.com/library/mac/qa/qa1170/_index.html
|
||||||
|
if [ -z "$JAVA_HOME" ]; then
|
||||||
|
if [ -x "/usr/libexec/java_home" ]; then
|
||||||
|
export JAVA_HOME="`/usr/libexec/java_home`"
|
||||||
|
else
|
||||||
|
export JAVA_HOME="/Library/Java/Home"
|
||||||
|
fi
|
||||||
|
fi
|
||||||
|
;;
|
||||||
|
esac
|
||||||
|
|
||||||
|
if [ -z "$JAVA_HOME" ] ; then
|
||||||
|
if [ -r /etc/gentoo-release ] ; then
|
||||||
|
JAVA_HOME=`java-config --jre-home`
|
||||||
|
fi
|
||||||
|
fi
|
||||||
|
|
||||||
|
if [ -z "$M2_HOME" ] ; then
|
||||||
|
## resolve links - $0 may be a link to maven's home
|
||||||
|
PRG="$0"
|
||||||
|
|
||||||
|
# need this for relative symlinks
|
||||||
|
while [ -h "$PRG" ] ; do
|
||||||
|
ls=`ls -ld "$PRG"`
|
||||||
|
link=`expr "$ls" : '.*-> \(.*\)$'`
|
||||||
|
if expr "$link" : '/.*' > /dev/null; then
|
||||||
|
PRG="$link"
|
||||||
|
else
|
||||||
|
PRG="`dirname "$PRG"`/$link"
|
||||||
|
fi
|
||||||
|
done
|
||||||
|
|
||||||
|
saveddir=`pwd`
|
||||||
|
|
||||||
|
M2_HOME=`dirname "$PRG"`/..
|
||||||
|
|
||||||
|
# make it fully qualified
|
||||||
|
M2_HOME=`cd "$M2_HOME" && pwd`
|
||||||
|
|
||||||
|
cd "$saveddir"
|
||||||
|
# echo Using m2 at $M2_HOME
|
||||||
|
fi
|
||||||
|
|
||||||
|
# For Cygwin, ensure paths are in UNIX format before anything is touched
|
||||||
|
if $cygwin ; then
|
||||||
|
[ -n "$M2_HOME" ] &&
|
||||||
|
M2_HOME=`cygpath --unix "$M2_HOME"`
|
||||||
|
[ -n "$JAVA_HOME" ] &&
|
||||||
|
JAVA_HOME=`cygpath --unix "$JAVA_HOME"`
|
||||||
|
[ -n "$CLASSPATH" ] &&
|
||||||
|
CLASSPATH=`cygpath --path --unix "$CLASSPATH"`
|
||||||
|
fi
|
||||||
|
|
||||||
|
# For Mingw, ensure paths are in UNIX format before anything is touched
|
||||||
|
if $mingw ; then
|
||||||
|
[ -n "$M2_HOME" ] &&
|
||||||
|
M2_HOME="`(cd "$M2_HOME"; pwd)`"
|
||||||
|
[ -n "$JAVA_HOME" ] &&
|
||||||
|
JAVA_HOME="`(cd "$JAVA_HOME"; pwd)`"
|
||||||
|
fi
|
||||||
|
|
||||||
|
if [ -z "$JAVA_HOME" ]; then
|
||||||
|
javaExecutable="`which javac`"
|
||||||
|
if [ -n "$javaExecutable" ] && ! [ "`expr \"$javaExecutable\" : '\([^ ]*\)'`" = "no" ]; then
|
||||||
|
# readlink(1) is not available as standard on Solaris 10.
|
||||||
|
readLink=`which readlink`
|
||||||
|
if [ ! `expr "$readLink" : '\([^ ]*\)'` = "no" ]; then
|
||||||
|
if $darwin ; then
|
||||||
|
javaHome="`dirname \"$javaExecutable\"`"
|
||||||
|
javaExecutable="`cd \"$javaHome\" && pwd -P`/javac"
|
||||||
|
else
|
||||||
|
javaExecutable="`readlink -f \"$javaExecutable\"`"
|
||||||
|
fi
|
||||||
|
javaHome="`dirname \"$javaExecutable\"`"
|
||||||
|
javaHome=`expr "$javaHome" : '\(.*\)/bin'`
|
||||||
|
JAVA_HOME="$javaHome"
|
||||||
|
export JAVA_HOME
|
||||||
|
fi
|
||||||
|
fi
|
||||||
|
fi
|
||||||
|
|
||||||
|
if [ -z "$JAVACMD" ] ; then
|
||||||
|
if [ -n "$JAVA_HOME" ] ; then
|
||||||
|
if [ -x "$JAVA_HOME/jre/sh/java" ] ; then
|
||||||
|
# IBM's JDK on AIX uses strange locations for the executables
|
||||||
|
JAVACMD="$JAVA_HOME/jre/sh/java"
|
||||||
|
else
|
||||||
|
JAVACMD="$JAVA_HOME/bin/java"
|
||||||
|
fi
|
||||||
|
else
|
||||||
|
JAVACMD="`\\unset -f command; \\command -v java`"
|
||||||
|
fi
|
||||||
|
fi
|
||||||
|
|
||||||
|
if [ ! -x "$JAVACMD" ] ; then
|
||||||
|
echo "Error: JAVA_HOME is not defined correctly." >&2
|
||||||
|
echo " We cannot execute $JAVACMD" >&2
|
||||||
|
exit 1
|
||||||
|
fi
|
||||||
|
|
||||||
|
if [ -z "$JAVA_HOME" ] ; then
|
||||||
|
echo "Warning: JAVA_HOME environment variable is not set."
|
||||||
|
fi
|
||||||
|
|
||||||
|
CLASSWORLDS_LAUNCHER=org.codehaus.plexus.classworlds.launcher.Launcher
|
||||||
|
|
||||||
|
# traverses directory structure from process work directory to filesystem root
|
||||||
|
# first directory with .mvn subdirectory is considered project base directory
|
||||||
|
find_maven_basedir() {
|
||||||
|
|
||||||
|
if [ -z "$1" ]
|
||||||
|
then
|
||||||
|
echo "Path not specified to find_maven_basedir"
|
||||||
|
return 1
|
||||||
|
fi
|
||||||
|
|
||||||
|
basedir="$1"
|
||||||
|
wdir="$1"
|
||||||
|
while [ "$wdir" != '/' ] ; do
|
||||||
|
if [ -d "$wdir"/.mvn ] ; then
|
||||||
|
basedir=$wdir
|
||||||
|
break
|
||||||
|
fi
|
||||||
|
# workaround for JBEAP-8937 (on Solaris 10/Sparc)
|
||||||
|
if [ -d "${wdir}" ]; then
|
||||||
|
wdir=`cd "$wdir/.."; pwd`
|
||||||
|
fi
|
||||||
|
# end of workaround
|
||||||
|
done
|
||||||
|
echo "${basedir}"
|
||||||
|
}
|
||||||
|
|
||||||
|
# concatenates all lines of a file
|
||||||
|
concat_lines() {
|
||||||
|
if [ -f "$1" ]; then
|
||||||
|
echo "$(tr -s '\n' ' ' < "$1")"
|
||||||
|
fi
|
||||||
|
}
|
||||||
|
|
||||||
|
BASE_DIR=`find_maven_basedir "$(pwd)"`
|
||||||
|
if [ -z "$BASE_DIR" ]; then
|
||||||
|
exit 1;
|
||||||
|
fi
|
||||||
|
|
||||||
|
##########################################################################################
|
||||||
|
# Extension to allow automatically downloading the maven-wrapper.jar from Maven-central
|
||||||
|
# This allows using the maven wrapper in projects that prohibit checking in binary data.
|
||||||
|
##########################################################################################
|
||||||
|
if [ -r "$BASE_DIR/.mvn/wrapper/maven-wrapper.jar" ]; then
|
||||||
|
if [ "$MVNW_VERBOSE" = true ]; then
|
||||||
|
echo "Found .mvn/wrapper/maven-wrapper.jar"
|
||||||
|
fi
|
||||||
|
else
|
||||||
|
if [ "$MVNW_VERBOSE" = true ]; then
|
||||||
|
echo "Couldn't find .mvn/wrapper/maven-wrapper.jar, downloading it ..."
|
||||||
|
fi
|
||||||
|
if [ -n "$MVNW_REPOURL" ]; then
|
||||||
|
jarUrl="$MVNW_REPOURL/org/apache/maven/wrapper/maven-wrapper/3.1.0/maven-wrapper-3.1.0.jar"
|
||||||
|
else
|
||||||
|
jarUrl="https://repo.maven.apache.org/maven2/org/apache/maven/wrapper/maven-wrapper/3.1.0/maven-wrapper-3.1.0.jar"
|
||||||
|
fi
|
||||||
|
while IFS="=" read key value; do
|
||||||
|
case "$key" in (wrapperUrl) jarUrl="$value"; break ;;
|
||||||
|
esac
|
||||||
|
done < "$BASE_DIR/.mvn/wrapper/maven-wrapper.properties"
|
||||||
|
if [ "$MVNW_VERBOSE" = true ]; then
|
||||||
|
echo "Downloading from: $jarUrl"
|
||||||
|
fi
|
||||||
|
wrapperJarPath="$BASE_DIR/.mvn/wrapper/maven-wrapper.jar"
|
||||||
|
if $cygwin; then
|
||||||
|
wrapperJarPath=`cygpath --path --windows "$wrapperJarPath"`
|
||||||
|
fi
|
||||||
|
|
||||||
|
if command -v wget > /dev/null; then
|
||||||
|
if [ "$MVNW_VERBOSE" = true ]; then
|
||||||
|
echo "Found wget ... using wget"
|
||||||
|
fi
|
||||||
|
if [ -z "$MVNW_USERNAME" ] || [ -z "$MVNW_PASSWORD" ]; then
|
||||||
|
wget "$jarUrl" -O "$wrapperJarPath" || rm -f "$wrapperJarPath"
|
||||||
|
else
|
||||||
|
wget --http-user=$MVNW_USERNAME --http-password=$MVNW_PASSWORD "$jarUrl" -O "$wrapperJarPath" || rm -f "$wrapperJarPath"
|
||||||
|
fi
|
||||||
|
elif command -v curl > /dev/null; then
|
||||||
|
if [ "$MVNW_VERBOSE" = true ]; then
|
||||||
|
echo "Found curl ... using curl"
|
||||||
|
fi
|
||||||
|
if [ -z "$MVNW_USERNAME" ] || [ -z "$MVNW_PASSWORD" ]; then
|
||||||
|
curl -o "$wrapperJarPath" "$jarUrl" -f
|
||||||
|
else
|
||||||
|
curl --user $MVNW_USERNAME:$MVNW_PASSWORD -o "$wrapperJarPath" "$jarUrl" -f
|
||||||
|
fi
|
||||||
|
|
||||||
|
else
|
||||||
|
if [ "$MVNW_VERBOSE" = true ]; then
|
||||||
|
echo "Falling back to using Java to download"
|
||||||
|
fi
|
||||||
|
javaClass="$BASE_DIR/.mvn/wrapper/MavenWrapperDownloader.java"
|
||||||
|
# For Cygwin, switch paths to Windows format before running javac
|
||||||
|
if $cygwin; then
|
||||||
|
javaClass=`cygpath --path --windows "$javaClass"`
|
||||||
|
fi
|
||||||
|
if [ -e "$javaClass" ]; then
|
||||||
|
if [ ! -e "$BASE_DIR/.mvn/wrapper/MavenWrapperDownloader.class" ]; then
|
||||||
|
if [ "$MVNW_VERBOSE" = true ]; then
|
||||||
|
echo " - Compiling MavenWrapperDownloader.java ..."
|
||||||
|
fi
|
||||||
|
# Compiling the Java class
|
||||||
|
("$JAVA_HOME/bin/javac" "$javaClass")
|
||||||
|
fi
|
||||||
|
if [ -e "$BASE_DIR/.mvn/wrapper/MavenWrapperDownloader.class" ]; then
|
||||||
|
# Running the downloader
|
||||||
|
if [ "$MVNW_VERBOSE" = true ]; then
|
||||||
|
echo " - Running MavenWrapperDownloader.java ..."
|
||||||
|
fi
|
||||||
|
("$JAVA_HOME/bin/java" -cp .mvn/wrapper MavenWrapperDownloader "$MAVEN_PROJECTBASEDIR")
|
||||||
|
fi
|
||||||
|
fi
|
||||||
|
fi
|
||||||
|
fi
|
||||||
|
##########################################################################################
|
||||||
|
# End of extension
|
||||||
|
##########################################################################################
|
||||||
|
|
||||||
|
export MAVEN_PROJECTBASEDIR=${MAVEN_BASEDIR:-"$BASE_DIR"}
|
||||||
|
if [ "$MVNW_VERBOSE" = true ]; then
|
||||||
|
echo $MAVEN_PROJECTBASEDIR
|
||||||
|
fi
|
||||||
|
MAVEN_OPTS="$(concat_lines "$MAVEN_PROJECTBASEDIR/.mvn/jvm.config") $MAVEN_OPTS"
|
||||||
|
|
||||||
|
# For Cygwin, switch paths to Windows format before running java
|
||||||
|
if $cygwin; then
|
||||||
|
[ -n "$M2_HOME" ] &&
|
||||||
|
M2_HOME=`cygpath --path --windows "$M2_HOME"`
|
||||||
|
[ -n "$JAVA_HOME" ] &&
|
||||||
|
JAVA_HOME=`cygpath --path --windows "$JAVA_HOME"`
|
||||||
|
[ -n "$CLASSPATH" ] &&
|
||||||
|
CLASSPATH=`cygpath --path --windows "$CLASSPATH"`
|
||||||
|
[ -n "$MAVEN_PROJECTBASEDIR" ] &&
|
||||||
|
MAVEN_PROJECTBASEDIR=`cygpath --path --windows "$MAVEN_PROJECTBASEDIR"`
|
||||||
|
fi
|
||||||
|
|
||||||
|
# Provide a "standardized" way to retrieve the CLI args that will
|
||||||
|
# work with both Windows and non-Windows executions.
|
||||||
|
MAVEN_CMD_LINE_ARGS="$MAVEN_CONFIG $@"
|
||||||
|
export MAVEN_CMD_LINE_ARGS
|
||||||
|
|
||||||
|
WRAPPER_LAUNCHER=org.apache.maven.wrapper.MavenWrapperMain
|
||||||
|
|
||||||
|
exec "$JAVACMD" \
|
||||||
|
$MAVEN_OPTS \
|
||||||
|
$MAVEN_DEBUG_OPTS \
|
||||||
|
-classpath "$MAVEN_PROJECTBASEDIR/.mvn/wrapper/maven-wrapper.jar" \
|
||||||
|
"-Dmaven.home=${M2_HOME}" \
|
||||||
|
"-Dmaven.multiModuleProjectDirectory=${MAVEN_PROJECTBASEDIR}" \
|
||||||
|
${WRAPPER_LAUNCHER} $MAVEN_CONFIG "$@"
|
||||||
@ -0,0 +1,188 @@
|
|||||||
|
@REM ----------------------------------------------------------------------------
|
||||||
|
@REM Licensed to the Apache Software Foundation (ASF) under one
|
||||||
|
@REM or more contributor license agreements. See the NOTICE file
|
||||||
|
@REM distributed with this work for additional information
|
||||||
|
@REM regarding copyright ownership. The ASF licenses this file
|
||||||
|
@REM to you under the Apache License, Version 2.0 (the
|
||||||
|
@REM "License"); you may not use this file except in compliance
|
||||||
|
@REM with the License. You may obtain a copy of the License at
|
||||||
|
@REM
|
||||||
|
@REM https://www.apache.org/licenses/LICENSE-2.0
|
||||||
|
@REM
|
||||||
|
@REM Unless required by applicable law or agreed to in writing,
|
||||||
|
@REM software distributed under the License is distributed on an
|
||||||
|
@REM "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY
|
||||||
|
@REM KIND, either express or implied. See the License for the
|
||||||
|
@REM specific language governing permissions and limitations
|
||||||
|
@REM under the License.
|
||||||
|
@REM ----------------------------------------------------------------------------
|
||||||
|
|
||||||
|
@REM ----------------------------------------------------------------------------
|
||||||
|
@REM Maven Start Up Batch script
|
||||||
|
@REM
|
||||||
|
@REM Required ENV vars:
|
||||||
|
@REM JAVA_HOME - location of a JDK home dir
|
||||||
|
@REM
|
||||||
|
@REM Optional ENV vars
|
||||||
|
@REM M2_HOME - location of maven2's installed home dir
|
||||||
|
@REM MAVEN_BATCH_ECHO - set to 'on' to enable the echoing of the batch commands
|
||||||
|
@REM MAVEN_BATCH_PAUSE - set to 'on' to wait for a keystroke before ending
|
||||||
|
@REM MAVEN_OPTS - parameters passed to the Java VM when running Maven
|
||||||
|
@REM e.g. to debug Maven itself, use
|
||||||
|
@REM set MAVEN_OPTS=-Xdebug -Xrunjdwp:transport=dt_socket,server=y,suspend=y,address=8000
|
||||||
|
@REM MAVEN_SKIP_RC - flag to disable loading of mavenrc files
|
||||||
|
@REM ----------------------------------------------------------------------------
|
||||||
|
|
||||||
|
@REM Begin all REM lines with '@' in case MAVEN_BATCH_ECHO is 'on'
|
||||||
|
@echo off
|
||||||
|
@REM set title of command window
|
||||||
|
title %0
|
||||||
|
@REM enable echoing by setting MAVEN_BATCH_ECHO to 'on'
|
||||||
|
@if "%MAVEN_BATCH_ECHO%" == "on" echo %MAVEN_BATCH_ECHO%
|
||||||
|
|
||||||
|
@REM set %HOME% to equivalent of $HOME
|
||||||
|
if "%HOME%" == "" (set "HOME=%HOMEDRIVE%%HOMEPATH%")
|
||||||
|
|
||||||
|
@REM Execute a user defined script before this one
|
||||||
|
if not "%MAVEN_SKIP_RC%" == "" goto skipRcPre
|
||||||
|
@REM check for pre script, once with legacy .bat ending and once with .cmd ending
|
||||||
|
if exist "%USERPROFILE%\mavenrc_pre.bat" call "%USERPROFILE%\mavenrc_pre.bat" %*
|
||||||
|
if exist "%USERPROFILE%\mavenrc_pre.cmd" call "%USERPROFILE%\mavenrc_pre.cmd" %*
|
||||||
|
:skipRcPre
|
||||||
|
|
||||||
|
@setlocal
|
||||||
|
|
||||||
|
set ERROR_CODE=0
|
||||||
|
|
||||||
|
@REM To isolate internal variables from possible post scripts, we use another setlocal
|
||||||
|
@setlocal
|
||||||
|
|
||||||
|
@REM ==== START VALIDATION ====
|
||||||
|
if not "%JAVA_HOME%" == "" goto OkJHome
|
||||||
|
|
||||||
|
echo.
|
||||||
|
echo Error: JAVA_HOME not found in your environment. >&2
|
||||||
|
echo Please set the JAVA_HOME variable in your environment to match the >&2
|
||||||
|
echo location of your Java installation. >&2
|
||||||
|
echo.
|
||||||
|
goto error
|
||||||
|
|
||||||
|
:OkJHome
|
||||||
|
if exist "%JAVA_HOME%\bin\java.exe" goto init
|
||||||
|
|
||||||
|
echo.
|
||||||
|
echo Error: JAVA_HOME is set to an invalid directory. >&2
|
||||||
|
echo JAVA_HOME = "%JAVA_HOME%" >&2
|
||||||
|
echo Please set the JAVA_HOME variable in your environment to match the >&2
|
||||||
|
echo location of your Java installation. >&2
|
||||||
|
echo.
|
||||||
|
goto error
|
||||||
|
|
||||||
|
@REM ==== END VALIDATION ====
|
||||||
|
|
||||||
|
:init
|
||||||
|
|
||||||
|
@REM Find the project base dir, i.e. the directory that contains the folder ".mvn".
|
||||||
|
@REM Fallback to current working directory if not found.
|
||||||
|
|
||||||
|
set MAVEN_PROJECTBASEDIR=%MAVEN_BASEDIR%
|
||||||
|
IF NOT "%MAVEN_PROJECTBASEDIR%"=="" goto endDetectBaseDir
|
||||||
|
|
||||||
|
set EXEC_DIR=%CD%
|
||||||
|
set WDIR=%EXEC_DIR%
|
||||||
|
:findBaseDir
|
||||||
|
IF EXIST "%WDIR%"\.mvn goto baseDirFound
|
||||||
|
cd ..
|
||||||
|
IF "%WDIR%"=="%CD%" goto baseDirNotFound
|
||||||
|
set WDIR=%CD%
|
||||||
|
goto findBaseDir
|
||||||
|
|
||||||
|
:baseDirFound
|
||||||
|
set MAVEN_PROJECTBASEDIR=%WDIR%
|
||||||
|
cd "%EXEC_DIR%"
|
||||||
|
goto endDetectBaseDir
|
||||||
|
|
||||||
|
:baseDirNotFound
|
||||||
|
set MAVEN_PROJECTBASEDIR=%EXEC_DIR%
|
||||||
|
cd "%EXEC_DIR%"
|
||||||
|
|
||||||
|
:endDetectBaseDir
|
||||||
|
|
||||||
|
IF NOT EXIST "%MAVEN_PROJECTBASEDIR%\.mvn\jvm.config" goto endReadAdditionalConfig
|
||||||
|
|
||||||
|
@setlocal EnableExtensions EnableDelayedExpansion
|
||||||
|
for /F "usebackq delims=" %%a in ("%MAVEN_PROJECTBASEDIR%\.mvn\jvm.config") do set JVM_CONFIG_MAVEN_PROPS=!JVM_CONFIG_MAVEN_PROPS! %%a
|
||||||
|
@endlocal & set JVM_CONFIG_MAVEN_PROPS=%JVM_CONFIG_MAVEN_PROPS%
|
||||||
|
|
||||||
|
:endReadAdditionalConfig
|
||||||
|
|
||||||
|
SET MAVEN_JAVA_EXE="%JAVA_HOME%\bin\java.exe"
|
||||||
|
set WRAPPER_JAR="%MAVEN_PROJECTBASEDIR%\.mvn\wrapper\maven-wrapper.jar"
|
||||||
|
set WRAPPER_LAUNCHER=org.apache.maven.wrapper.MavenWrapperMain
|
||||||
|
|
||||||
|
set DOWNLOAD_URL="https://repo.maven.apache.org/maven2/org/apache/maven/wrapper/maven-wrapper/3.1.0/maven-wrapper-3.1.0.jar"
|
||||||
|
|
||||||
|
FOR /F "usebackq tokens=1,2 delims==" %%A IN ("%MAVEN_PROJECTBASEDIR%\.mvn\wrapper\maven-wrapper.properties") DO (
|
||||||
|
IF "%%A"=="wrapperUrl" SET DOWNLOAD_URL=%%B
|
||||||
|
)
|
||||||
|
|
||||||
|
@REM Extension to allow automatically downloading the maven-wrapper.jar from Maven-central
|
||||||
|
@REM This allows using the maven wrapper in projects that prohibit checking in binary data.
|
||||||
|
if exist %WRAPPER_JAR% (
|
||||||
|
if "%MVNW_VERBOSE%" == "true" (
|
||||||
|
echo Found %WRAPPER_JAR%
|
||||||
|
)
|
||||||
|
) else (
|
||||||
|
if not "%MVNW_REPOURL%" == "" (
|
||||||
|
SET DOWNLOAD_URL="%MVNW_REPOURL%/org/apache/maven/wrapper/maven-wrapper/3.1.0/maven-wrapper-3.1.0.jar"
|
||||||
|
)
|
||||||
|
if "%MVNW_VERBOSE%" == "true" (
|
||||||
|
echo Couldn't find %WRAPPER_JAR%, downloading it ...
|
||||||
|
echo Downloading from: %DOWNLOAD_URL%
|
||||||
|
)
|
||||||
|
|
||||||
|
powershell -Command "&{"^
|
||||||
|
"$webclient = new-object System.Net.WebClient;"^
|
||||||
|
"if (-not ([string]::IsNullOrEmpty('%MVNW_USERNAME%') -and [string]::IsNullOrEmpty('%MVNW_PASSWORD%'))) {"^
|
||||||
|
"$webclient.Credentials = new-object System.Net.NetworkCredential('%MVNW_USERNAME%', '%MVNW_PASSWORD%');"^
|
||||||
|
"}"^
|
||||||
|
"[Net.ServicePointManager]::SecurityProtocol = [Net.SecurityProtocolType]::Tls12; $webclient.DownloadFile('%DOWNLOAD_URL%', '%WRAPPER_JAR%')"^
|
||||||
|
"}"
|
||||||
|
if "%MVNW_VERBOSE%" == "true" (
|
||||||
|
echo Finished downloading %WRAPPER_JAR%
|
||||||
|
)
|
||||||
|
)
|
||||||
|
@REM End of extension
|
||||||
|
|
||||||
|
@REM Provide a "standardized" way to retrieve the CLI args that will
|
||||||
|
@REM work with both Windows and non-Windows executions.
|
||||||
|
set MAVEN_CMD_LINE_ARGS=%*
|
||||||
|
|
||||||
|
%MAVEN_JAVA_EXE% ^
|
||||||
|
%JVM_CONFIG_MAVEN_PROPS% ^
|
||||||
|
%MAVEN_OPTS% ^
|
||||||
|
%MAVEN_DEBUG_OPTS% ^
|
||||||
|
-classpath %WRAPPER_JAR% ^
|
||||||
|
"-Dmaven.multiModuleProjectDirectory=%MAVEN_PROJECTBASEDIR%" ^
|
||||||
|
%WRAPPER_LAUNCHER% %MAVEN_CONFIG% %*
|
||||||
|
if ERRORLEVEL 1 goto error
|
||||||
|
goto end
|
||||||
|
|
||||||
|
:error
|
||||||
|
set ERROR_CODE=1
|
||||||
|
|
||||||
|
:end
|
||||||
|
@endlocal & set ERROR_CODE=%ERROR_CODE%
|
||||||
|
|
||||||
|
if not "%MAVEN_SKIP_RC%"=="" goto skipRcPost
|
||||||
|
@REM check for post script, once with legacy .bat ending and once with .cmd ending
|
||||||
|
if exist "%USERPROFILE%\mavenrc_post.bat" call "%USERPROFILE%\mavenrc_post.bat"
|
||||||
|
if exist "%USERPROFILE%\mavenrc_post.cmd" call "%USERPROFILE%\mavenrc_post.cmd"
|
||||||
|
:skipRcPost
|
||||||
|
|
||||||
|
@REM pause the script if MAVEN_BATCH_PAUSE is set to 'on'
|
||||||
|
if "%MAVEN_BATCH_PAUSE%"=="on" pause
|
||||||
|
|
||||||
|
if "%MAVEN_TERMINATE_CMD%"=="on" exit %ERROR_CODE%
|
||||||
|
|
||||||
|
cmd /C exit /B %ERROR_CODE%
|
||||||
@ -0,0 +1,80 @@
|
|||||||
|
<?xml version="1.0" encoding="UTF-8"?>
|
||||||
|
<project xmlns="http://maven.apache.org/POM/4.0.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
|
||||||
|
xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 https://maven.apache.org/xsd/maven-4.0.0.xsd">
|
||||||
|
<modelVersion>4.0.0</modelVersion>
|
||||||
|
<parent>
|
||||||
|
<groupId>org.springframework.boot</groupId>
|
||||||
|
<artifactId>spring-boot-starter-parent</artifactId>
|
||||||
|
<version>2.5.4</version>
|
||||||
|
<relativePath/> <!-- lookup parent from repository -->
|
||||||
|
</parent>
|
||||||
|
<groupId>com.example</groupId>
|
||||||
|
<artifactId>testdemo</artifactId>
|
||||||
|
<version>0.0.1-SNAPSHOT</version>
|
||||||
|
<name>testdemo</name>
|
||||||
|
<description>testdemo</description>
|
||||||
|
<properties>
|
||||||
|
<java.version>1.8</java.version>
|
||||||
|
</properties>
|
||||||
|
<dependencies>
|
||||||
|
<dependency>
|
||||||
|
<groupId>org.springframework.boot</groupId>
|
||||||
|
<artifactId>spring-boot-starter-websocket</artifactId>
|
||||||
|
</dependency>
|
||||||
|
|
||||||
|
<dependency>
|
||||||
|
<groupId>org.springframework.boot</groupId>
|
||||||
|
<artifactId>spring-boot-starter-test</artifactId>
|
||||||
|
<scope>test</scope>
|
||||||
|
</dependency>
|
||||||
|
<dependency>
|
||||||
|
<groupId>org.projectlombok</groupId>
|
||||||
|
<artifactId>lombok</artifactId>
|
||||||
|
</dependency>
|
||||||
|
|
||||||
|
<dependency>
|
||||||
|
<groupId>com.alibaba</groupId>
|
||||||
|
<artifactId>fastjson</artifactId>
|
||||||
|
<version>1.2.73</version>
|
||||||
|
</dependency>
|
||||||
|
<dependency>
|
||||||
|
<groupId>org.seleniumhq.selenium</groupId>
|
||||||
|
<artifactId>selenium-java</artifactId>
|
||||||
|
<version>3.141.59</version>
|
||||||
|
</dependency>
|
||||||
|
|
||||||
|
</dependencies>
|
||||||
|
<profiles>
|
||||||
|
<profile>
|
||||||
|
<id>sonar</id>
|
||||||
|
<activation>
|
||||||
|
<activeByDefault>true</activeByDefault>
|
||||||
|
</activation>
|
||||||
|
<properties>
|
||||||
|
<sonar.host.url>http://127.0.0.1:9000/</sonar.host.url>
|
||||||
|
</properties>
|
||||||
|
</profile>
|
||||||
|
</profiles>
|
||||||
|
<build>
|
||||||
|
<plugins>
|
||||||
|
<plugin>
|
||||||
|
<groupId>org.springframework.boot</groupId>
|
||||||
|
<artifactId>spring-boot-maven-plugin</artifactId>
|
||||||
|
</plugin>
|
||||||
|
<plugin>
|
||||||
|
<groupId>org.sonarsource.scanner.maven</groupId>
|
||||||
|
<artifactId>sonar-maven-plugin</artifactId>
|
||||||
|
<version>3.6.0.1398</version>
|
||||||
|
</plugin>
|
||||||
|
<plugin>
|
||||||
|
<groupId>org.apache.maven.plugins</groupId>
|
||||||
|
<artifactId>maven-compiler-plugin</artifactId>
|
||||||
|
<configuration>
|
||||||
|
<source>7</source>
|
||||||
|
<target>7</target>
|
||||||
|
</configuration>
|
||||||
|
</plugin>
|
||||||
|
</plugins>
|
||||||
|
</build>
|
||||||
|
|
||||||
|
</project>
|
||||||
@ -0,0 +1,42 @@
|
|||||||
|
package com.example.testdemo;
|
||||||
|
|
||||||
|
import com.alibaba.fastjson.JSON;
|
||||||
|
import com.alibaba.fastjson.JSONObject;
|
||||||
|
import com.sun.javafx.webkit.EventLoopImpl;
|
||||||
|
import org.openqa.selenium.*;
|
||||||
|
import org.openqa.selenium.chrome.ChromeDriver;
|
||||||
|
import org.openqa.selenium.chrome.ChromeOptions;
|
||||||
|
import org.springframework.boot.SpringApplication;
|
||||||
|
import org.springframework.boot.autoconfigure.SpringBootApplication;
|
||||||
|
import org.springframework.scheduling.annotation.EnableScheduling;
|
||||||
|
import org.springframework.scheduling.annotation.Scheduled;
|
||||||
|
import org.springframework.stereotype.Controller;
|
||||||
|
import org.springframework.web.bind.annotation.GetMapping;
|
||||||
|
import org.springframework.web.bind.annotation.RestController;
|
||||||
|
|
||||||
|
import javax.script.ScriptEngine;
|
||||||
|
import javax.script.ScriptEngineManager;
|
||||||
|
import javax.script.ScriptException;
|
||||||
|
import java.io.BufferedReader;
|
||||||
|
import java.io.File;
|
||||||
|
import java.io.FileNotFoundException;
|
||||||
|
import java.io.FileReader;
|
||||||
|
import java.sql.Driver;
|
||||||
|
import java.util.Arrays;
|
||||||
|
import java.util.List;
|
||||||
|
import java.util.Random;
|
||||||
|
import java.util.concurrent.ConcurrentLinkedQueue;
|
||||||
|
|
||||||
|
|
||||||
|
@SpringBootApplication
|
||||||
|
public class TestdemoApplication {
|
||||||
|
|
||||||
|
public static void main(String[] args) {
|
||||||
|
|
||||||
|
SpringApplication.run(TestdemoApplication.class, args);
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
@ -0,0 +1,17 @@
|
|||||||
|
package com.example.testdemo.config;
|
||||||
|
|
||||||
|
import org.springframework.context.annotation.Bean;
|
||||||
|
import org.springframework.context.annotation.Configuration;
|
||||||
|
import org.springframework.web.socket.server.standard.ServerEndpointExporter;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @Description : websocket配置 //描述
|
||||||
|
*/
|
||||||
|
@Configuration
|
||||||
|
public class WebSocketConfig {
|
||||||
|
|
||||||
|
@Bean
|
||||||
|
public ServerEndpointExporter serverEndpointExporter(){
|
||||||
|
return new ServerEndpointExporter();
|
||||||
|
}
|
||||||
|
}
|
||||||
@ -0,0 +1,26 @@
|
|||||||
|
/**
|
||||||
|
* Copyright (c) 2014 example.testdemo Systems, Inc.
|
||||||
|
*
|
||||||
|
* This file is part of the Java ROSBridge Client.
|
||||||
|
*
|
||||||
|
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
|
||||||
|
* it under the terms of the GNU General Public License as published by
|
||||||
|
* the Free Software Foundation, either version 3 of the License, or
|
||||||
|
* (at your option) any later version.
|
||||||
|
*
|
||||||
|
* The Java ROSBridge Client is distributed in the hope that it will be useful,
|
||||||
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
|
* GNU General Public License for more details.
|
||||||
|
*
|
||||||
|
* You should have received a copy of the GNU General Public License
|
||||||
|
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
package com.example.testdemo.ros;
|
||||||
|
|
||||||
|
import com.example.testdemo.ros.message.Message;
|
||||||
|
|
||||||
|
public interface MessageHandler<T extends Message> {
|
||||||
|
public void onMessage(T message);
|
||||||
|
}
|
||||||
@ -0,0 +1,9 @@
|
|||||||
|
package com.example.testdemo.ros.message;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Created by xxhong on 16-11-17.
|
||||||
|
*/
|
||||||
|
@MessageType(string = "std_msgs/Int16MultiArray")
|
||||||
|
public class AudioMsg extends Message {
|
||||||
|
public short[] data;
|
||||||
|
}
|
||||||
@ -0,0 +1,25 @@
|
|||||||
|
/**
|
||||||
|
* Copyright (c) 2014 example.testdemo Systems, Inc.
|
||||||
|
*
|
||||||
|
* This file is part of the Java ROSBridge Client.
|
||||||
|
*
|
||||||
|
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
|
||||||
|
* it under the terms of the GNU General Public License as published by
|
||||||
|
* the Free Software Foundation, either version 3 of the License, or
|
||||||
|
* (at your option) any later version.
|
||||||
|
*
|
||||||
|
* The Java ROSBridge Client is distributed in the hope that it will be useful,
|
||||||
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
|
* GNU General Public License for more details.
|
||||||
|
*
|
||||||
|
* You should have received a copy of the GNU General Public License
|
||||||
|
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
package com.example.testdemo.ros.message;
|
||||||
|
|
||||||
|
@MessageType(string = "rosgraph_msgs/Clock")
|
||||||
|
public class Clock extends Message {
|
||||||
|
public TimePrimitive clock;
|
||||||
|
}
|
||||||
@ -0,0 +1,24 @@
|
|||||||
|
/**
|
||||||
|
* Copyright (c) 2014 example.testdemo Systems, Inc.
|
||||||
|
*
|
||||||
|
* This file is part of the Java ROSBridge Client.
|
||||||
|
*
|
||||||
|
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
|
||||||
|
* it under the terms of the GNU General Public License as published by
|
||||||
|
* the Free Software Foundation, either version 3 of the License, or
|
||||||
|
* (at your option) any later version.
|
||||||
|
*
|
||||||
|
* The Java ROSBridge Client is distributed in the hope that it will be useful,
|
||||||
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
|
* GNU General Public License for more details.
|
||||||
|
*
|
||||||
|
* You should have received a copy of the GNU General Public License
|
||||||
|
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
package com.example.testdemo.ros.message;
|
||||||
|
|
||||||
|
@MessageType(string = "std_msgs/Duration")
|
||||||
|
public class Duration extends DurationPrimitive {
|
||||||
|
}
|
||||||
@ -0,0 +1,25 @@
|
|||||||
|
/**
|
||||||
|
* Copyright (c) 2014 example.testdemo Systems, Inc.
|
||||||
|
*
|
||||||
|
* This file is part of the Java ROSBridge Client.
|
||||||
|
*
|
||||||
|
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
|
||||||
|
* it under the terms of the GNU General Public License as published by
|
||||||
|
* the Free Software Foundation, either version 3 of the License, or
|
||||||
|
* (at your option) any later version.
|
||||||
|
*
|
||||||
|
* The Java ROSBridge Client is distributed in the hope that it will be useful,
|
||||||
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
|
* GNU General Public License for more details.
|
||||||
|
*
|
||||||
|
* You should have received a copy of the GNU General Public License
|
||||||
|
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
package com.example.testdemo.ros.message;
|
||||||
|
|
||||||
|
@MessageType(string = "duration")
|
||||||
|
public class DurationPrimitive extends TimePrimitive {
|
||||||
|
|
||||||
|
}
|
||||||
@ -0,0 +1,24 @@
|
|||||||
|
/**
|
||||||
|
* Copyright (c) 2014 example.testdemo Systems, Inc.
|
||||||
|
*
|
||||||
|
* This file is part of the Java ROSBridge Client.
|
||||||
|
*
|
||||||
|
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
|
||||||
|
* it under the terms of the GNU General Public License as published by
|
||||||
|
* the Free Software Foundation, either version 3 of the License, or
|
||||||
|
* (at your option) any later version.
|
||||||
|
*
|
||||||
|
* The Java ROSBridge Client is distributed in the hope that it will be useful,
|
||||||
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
|
* GNU General Public License for more details.
|
||||||
|
*
|
||||||
|
* You should have received a copy of the GNU General Public License
|
||||||
|
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
package com.example.testdemo.ros.message;
|
||||||
|
|
||||||
|
@MessageType(string = "std_srvs/Empty")
|
||||||
|
public class Empty extends Message {
|
||||||
|
}
|
||||||
@ -0,0 +1,27 @@
|
|||||||
|
/**
|
||||||
|
* Copyright (c) 2014 example.testdemo Systems, Inc.
|
||||||
|
*
|
||||||
|
* This file is part of the Java ROSBridge Client.
|
||||||
|
*
|
||||||
|
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
|
||||||
|
* it under the terms of the GNU General Public License as published by
|
||||||
|
* the Free Software Foundation, either version 3 of the License, or
|
||||||
|
* (at your option) any later version.
|
||||||
|
*
|
||||||
|
* The Java ROSBridge Client is distributed in the hope that it will be useful,
|
||||||
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
|
* GNU General Public License for more details.
|
||||||
|
*
|
||||||
|
* You should have received a copy of the GNU General Public License
|
||||||
|
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
package com.example.testdemo.ros.message;
|
||||||
|
|
||||||
|
@MessageType(string = "std_msgs/Header")
|
||||||
|
public class Header extends Message {
|
||||||
|
public long seq;
|
||||||
|
public TimePrimitive stamp;
|
||||||
|
public String frame_id;
|
||||||
|
}
|
||||||
@ -0,0 +1,32 @@
|
|||||||
|
/**
|
||||||
|
* Copyright (c) 2014 example.testdemo Systems, Inc.
|
||||||
|
*
|
||||||
|
* This file is part of the Java ROSBridge Client.
|
||||||
|
*
|
||||||
|
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
|
||||||
|
* it under the terms of the GNU General Public License as published by
|
||||||
|
* the Free Software Foundation, either version 3 of the License, or
|
||||||
|
* (at your option) any later version.
|
||||||
|
*
|
||||||
|
* The Java ROSBridge Client is distributed in the hope that it will be useful,
|
||||||
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
|
* GNU General Public License for more details.
|
||||||
|
*
|
||||||
|
* You should have received a copy of the GNU General Public License
|
||||||
|
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
package com.example.testdemo.ros.message;
|
||||||
|
|
||||||
|
@MessageType(string = "rosgraph_msgs/Log")
|
||||||
|
public class Log extends Message {
|
||||||
|
public Header header;
|
||||||
|
public byte level;
|
||||||
|
public String name;
|
||||||
|
public String msg;
|
||||||
|
public String file;
|
||||||
|
public String function;
|
||||||
|
public long line;
|
||||||
|
public String[] topics;
|
||||||
|
}
|
||||||
@ -0,0 +1,202 @@
|
|||||||
|
/**
|
||||||
|
* Copyright (c) 2014 example.testdemo Systems, Inc.
|
||||||
|
*
|
||||||
|
* This file is part of the Java ROSBridge Client.
|
||||||
|
*
|
||||||
|
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
|
||||||
|
* it under the terms of the GNU General Public License as published by
|
||||||
|
* the Free Software Foundation, either version 3 of the License, or
|
||||||
|
* (at your option) any later version.
|
||||||
|
*
|
||||||
|
* The Java ROSBridge Client is distributed in the hope that it will be useful,
|
||||||
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
|
* GNU General Public License for more details.
|
||||||
|
*
|
||||||
|
* You should have received a copy of the GNU General Public License
|
||||||
|
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
package com.example.testdemo.ros.message;
|
||||||
|
|
||||||
|
import java.lang.reflect.Array;
|
||||||
|
import java.lang.reflect.Field;
|
||||||
|
import java.util.Map;
|
||||||
|
|
||||||
|
|
||||||
|
@MessageType(string = "message")
|
||||||
|
public abstract class Message {
|
||||||
|
|
||||||
|
// Some requirements about message types:
|
||||||
|
// - It must have a MessageType declaration to be recognized on inbound messages
|
||||||
|
// - Every field must be explicitly designated as public
|
||||||
|
// - Every field that is not a primitive or near-primitive must be another Message class
|
||||||
|
// - If there is a non-empty constructor, you must also have an empty constructor
|
||||||
|
// - If it is set up as an inner class, it needs an explicit nullary constructor
|
||||||
|
// (note: I have seen an inner class otherwise fail, I have not tested it with the explicit constructor)
|
||||||
|
|
||||||
|
public static void register(Class c, Map<String, Class> messageClasses) {
|
||||||
|
try {
|
||||||
|
typecheck(c);
|
||||||
|
|
||||||
|
// Must register the class and not have duplicate
|
||||||
|
// This is not recursive because only the top level message class
|
||||||
|
// needs to be determined from the string - others are top-down.
|
||||||
|
String messageString = getMessageType(c);
|
||||||
|
Class existingClass = messageClasses.get(messageString);
|
||||||
|
if (existingClass != null && !existingClass.equals(c))
|
||||||
|
throw new MessageException("Message String \'" + messageString +
|
||||||
|
"\' is assigned to two different classes (" +
|
||||||
|
c.getName() + " and " + existingClass.getName() + ")");
|
||||||
|
messageClasses.put(messageString, c);
|
||||||
|
}
|
||||||
|
catch (MessageException ex) {
|
||||||
|
// should be changed to be a hooked method to give library user control
|
||||||
|
System.out.println(ex.getMessage());
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
public static String getMessageType(Class c) {
|
||||||
|
return ((MessageType) c.getAnnotation(MessageType.class)).string();
|
||||||
|
}
|
||||||
|
|
||||||
|
// this has never been used or tested but kind of belongs here
|
||||||
|
// commented out because it uses ReflectiveOperationException which is not available on Android
|
||||||
|
/*
|
||||||
|
public static Message newInstance(String className) {
|
||||||
|
try {
|
||||||
|
Class messageClass = Class.forName(className);
|
||||||
|
if (Message.class.isAssignableFrom(messageClass))
|
||||||
|
return (Message) messageClass.newInstance();
|
||||||
|
else throw new ClassCastException();
|
||||||
|
}
|
||||||
|
catch (ReflectiveOperationException ex) {
|
||||||
|
throw new RuntimeException("Unable to create message of class \'" + className + "\'.", ex);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
*/
|
||||||
|
|
||||||
|
// Could probably do more checking here, but not sure what right now
|
||||||
|
private static void typecheck(Class c) throws MessageException {
|
||||||
|
|
||||||
|
// Must inherit from Message
|
||||||
|
if (!Message.class.isAssignableFrom(c))
|
||||||
|
throw new MessageException("Class \'" + c.getName() +
|
||||||
|
"\' does not extend Message");
|
||||||
|
|
||||||
|
// Must have the MessageType annotation
|
||||||
|
if (getMessageType(c) == null)
|
||||||
|
throw new MessageException("Class \'" + c.getName() +
|
||||||
|
"\' is missing the MessageType annotation");
|
||||||
|
|
||||||
|
// All fields must also be valid Message classes
|
||||||
|
// Note that this also serves to force-load all the message classes
|
||||||
|
// so that they get registered
|
||||||
|
for (Field f : c.getFields()) {
|
||||||
|
Class fc = f.getType();
|
||||||
|
if (fc.isArray()) {
|
||||||
|
Class ac = fc.getComponentType();
|
||||||
|
if (!isPrimitive(ac))
|
||||||
|
typecheck(ac);
|
||||||
|
}
|
||||||
|
else if (!isPrimitive(fc))
|
||||||
|
typecheck(fc);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
public void print() {
|
||||||
|
printMessage(this, "");
|
||||||
|
}
|
||||||
|
|
||||||
|
private static void printMessage(Object o, String indent) {
|
||||||
|
for (Field f : o.getClass().getFields()) {
|
||||||
|
Class c = f.getType();
|
||||||
|
Object fieldObject = getFieldObject(f, o);
|
||||||
|
if (fieldObject != null) {
|
||||||
|
if (isPrimitive(c))
|
||||||
|
System.out.println(indent + f.getName() + ": " + fieldObject);
|
||||||
|
else if (c.isArray()) {
|
||||||
|
System.out.println(indent + f.getName() + ": [");
|
||||||
|
printArray(fieldObject, indent + " ");
|
||||||
|
System.out.println(indent + "]");
|
||||||
|
}
|
||||||
|
else {
|
||||||
|
System.out.println(indent + f.getName() + ":");
|
||||||
|
printMessage(fieldObject, indent + " ");
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
private static void printArray(Object array, String indent) {
|
||||||
|
Class arrayClass = array.getClass().getComponentType();
|
||||||
|
for (int i = 0; i < Array.getLength(array); i++) {
|
||||||
|
Object elementObject = Array.get(array, i);
|
||||||
|
if (elementObject != null) {
|
||||||
|
if (isPrimitive(arrayClass))
|
||||||
|
System.out.println(indent + i + ": " + elementObject);
|
||||||
|
else if (arrayClass.isArray()) { // this is not actually allowed in ROS
|
||||||
|
System.out.println(indent + i + ": [");
|
||||||
|
printArray(elementObject, indent + " ");
|
||||||
|
System.out.println(indent + "]");
|
||||||
|
}
|
||||||
|
else {
|
||||||
|
System.out.println(indent + i + ":");
|
||||||
|
printMessage(elementObject, indent + " ");
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
// remember to print array indices
|
||||||
|
}
|
||||||
|
|
||||||
|
public static boolean isPrimitive(Class c) {
|
||||||
|
return (c.isPrimitive() ||
|
||||||
|
c.equals(String.class) ||
|
||||||
|
Number.class.isAssignableFrom(c) ||
|
||||||
|
c.equals(Boolean.class));
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
// Copied from com.example.testdemo.ros.rosbridge.JSON
|
||||||
|
private static Object getFieldObject(Field f, Object o) {
|
||||||
|
Object fo = null;
|
||||||
|
try {
|
||||||
|
fo = f.get(o);
|
||||||
|
}
|
||||||
|
catch (IllegalAccessException ex) {
|
||||||
|
ex.printStackTrace();
|
||||||
|
}
|
||||||
|
return fo;
|
||||||
|
}
|
||||||
|
|
||||||
|
public void copyFrom(Message source) {
|
||||||
|
try {
|
||||||
|
if (source.getClass() != getClass())
|
||||||
|
throw new RuntimeException("Attempt to copy non-matching classes");
|
||||||
|
for (Field f : getClass().getFields()) {
|
||||||
|
Class fc = f.getType();
|
||||||
|
if (fc.isArray())
|
||||||
|
throw new RuntimeException("copyFrom - array types not implemented");
|
||||||
|
else if (!isPrimitive(fc))
|
||||||
|
((Message) f.get(this)).copyFrom((Message) f.get(source));
|
||||||
|
else {
|
||||||
|
Object value = f.get(source);
|
||||||
|
f.set(this, value);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
catch (IllegalAccessException ex) {
|
||||||
|
throw new RuntimeException("copyFrom error", ex);
|
||||||
|
}
|
||||||
|
catch (ClassCastException ex) {
|
||||||
|
throw new RuntimeException("copyFrom error", ex);
|
||||||
|
}
|
||||||
|
// ReflectiveOperationException is not available on Android (Java 1.6)
|
||||||
|
/*
|
||||||
|
catch (ReflectiveOperationException ex) {
|
||||||
|
throw new RuntimeException ("copyFrom error", ex);
|
||||||
|
}
|
||||||
|
*/
|
||||||
|
}
|
||||||
|
|
||||||
|
}
|
||||||
@ -0,0 +1,32 @@
|
|||||||
|
/**
|
||||||
|
* Copyright (c) 2014 example.testdemo Systems, Inc.
|
||||||
|
*
|
||||||
|
* This file is part of the Java ROSBridge Client.
|
||||||
|
*
|
||||||
|
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
|
||||||
|
* it under the terms of the GNU General Public License as published by
|
||||||
|
* the Free Software Foundation, either version 3 of the License, or
|
||||||
|
* (at your option) any later version.
|
||||||
|
*
|
||||||
|
* The Java ROSBridge Client is distributed in the hope that it will be useful,
|
||||||
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
|
* GNU General Public License for more details.
|
||||||
|
*
|
||||||
|
* You should have received a copy of the GNU General Public License
|
||||||
|
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
package com.example.testdemo.ros.message;
|
||||||
|
|
||||||
|
public class MessageException extends Exception {
|
||||||
|
|
||||||
|
public MessageException(String message) {
|
||||||
|
super(message);
|
||||||
|
}
|
||||||
|
|
||||||
|
public MessageException(String message, Throwable cause) {
|
||||||
|
super(message, cause);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
@ -0,0 +1,32 @@
|
|||||||
|
/**
|
||||||
|
* Copyright (c) 2014 example.testdemo Systems, Inc.
|
||||||
|
*
|
||||||
|
* This file is part of the Java ROSBridge Client.
|
||||||
|
*
|
||||||
|
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
|
||||||
|
* it under the terms of the GNU General Public License as published by
|
||||||
|
* the Free Software Foundation, either version 3 of the License, or
|
||||||
|
* (at your option) any later version.
|
||||||
|
*
|
||||||
|
* The Java ROSBridge Client is distributed in the hope that it will be useful,
|
||||||
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
|
* GNU General Public License for more details.
|
||||||
|
*
|
||||||
|
* You should have received a copy of the GNU General Public License
|
||||||
|
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
package com.example.testdemo.ros.message;
|
||||||
|
|
||||||
|
import java.lang.annotation.ElementType;
|
||||||
|
import java.lang.annotation.Retention;
|
||||||
|
import java.lang.annotation.RetentionPolicy;
|
||||||
|
import java.lang.annotation.Target;
|
||||||
|
|
||||||
|
@Retention(RetentionPolicy.RUNTIME)
|
||||||
|
@Target(ElementType.TYPE)
|
||||||
|
public @interface MessageType {
|
||||||
|
String string() default "";
|
||||||
|
}
|
||||||
|
|
||||||
@ -0,0 +1,13 @@
|
|||||||
|
package com.example.testdemo.ros.message;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Created by xxhong on 16-11-17.
|
||||||
|
*/
|
||||||
|
@MessageType(string = "std_msgs/String")
|
||||||
|
public class SemanticRequest extends Message {
|
||||||
|
public SemanticRequest(String args) {
|
||||||
|
jsonStr = args;
|
||||||
|
}
|
||||||
|
|
||||||
|
public String jsonStr;
|
||||||
|
}
|
||||||
@ -0,0 +1,9 @@
|
|||||||
|
package com.example.testdemo.ros.message;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Created by xxhong on 16-11-17.
|
||||||
|
*/
|
||||||
|
@MessageType(string = "std_msgs/String")
|
||||||
|
public class SemanticResponse extends Message {
|
||||||
|
public String result;
|
||||||
|
}
|
||||||
@ -0,0 +1,9 @@
|
|||||||
|
package com.example.testdemo.ros.message;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Created by xxhong on 16-11-17.
|
||||||
|
*/
|
||||||
|
@MessageType(string = "std_msgs/String")
|
||||||
|
public class StdMsg extends Message {
|
||||||
|
public String data;
|
||||||
|
}
|
||||||
@ -0,0 +1,24 @@
|
|||||||
|
/**
|
||||||
|
* Copyright (c) 2014 example.testdemo Systems, Inc.
|
||||||
|
*
|
||||||
|
* This file is part of the Java ROSBridge Client.
|
||||||
|
*
|
||||||
|
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
|
||||||
|
* it under the terms of the GNU General Public License as published by
|
||||||
|
* the Free Software Foundation, either version 3 of the License, or
|
||||||
|
* (at your option) any later version.
|
||||||
|
*
|
||||||
|
* The Java ROSBridge Client is distributed in the hope that it will be useful,
|
||||||
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
|
* GNU General Public License for more details.
|
||||||
|
*
|
||||||
|
* You should have received a copy of the GNU General Public License
|
||||||
|
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
package com.example.testdemo.ros.message;
|
||||||
|
|
||||||
|
@MessageType(string = "std_msgs/Time")
|
||||||
|
public class Time extends TimePrimitive {
|
||||||
|
}
|
||||||
@ -0,0 +1,26 @@
|
|||||||
|
/**
|
||||||
|
* Copyright (c) 2014 example.testdemo Systems, Inc.
|
||||||
|
*
|
||||||
|
* This file is part of the Java ROSBridge Client.
|
||||||
|
*
|
||||||
|
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
|
||||||
|
* it under the terms of the GNU General Public License as published by
|
||||||
|
* the Free Software Foundation, either version 3 of the License, or
|
||||||
|
* (at your option) any later version.
|
||||||
|
*
|
||||||
|
* The Java ROSBridge Client is distributed in the hope that it will be useful,
|
||||||
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
|
* GNU General Public License for more details.
|
||||||
|
*
|
||||||
|
* You should have received a copy of the GNU General Public License
|
||||||
|
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
package com.example.testdemo.ros.message;
|
||||||
|
|
||||||
|
@MessageType(string = "time")
|
||||||
|
public class TimePrimitive extends Message {
|
||||||
|
public int secs; // when requesting this format from ROSbridge, it uses 'sec' (no 's')
|
||||||
|
public int nsecs; // when requesting this format from ROSbridge, it uses 'nsec'
|
||||||
|
}
|
||||||
@ -0,0 +1,27 @@
|
|||||||
|
/**
|
||||||
|
* Copyright (c) 2014 example.testdemo Systems, Inc.
|
||||||
|
*
|
||||||
|
* This file is part of the Java ROSBridge Client.
|
||||||
|
*
|
||||||
|
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
|
||||||
|
* it under the terms of the GNU General Public License as published by
|
||||||
|
* the Free Software Foundation, either version 3 of the License, or
|
||||||
|
* (at your option) any later version.
|
||||||
|
*
|
||||||
|
* The Java ROSBridge Client is distributed in the hope that it will be useful,
|
||||||
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
|
* GNU General Public License for more details.
|
||||||
|
*
|
||||||
|
* You should have received a copy of the GNU General Public License
|
||||||
|
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
package com.example.testdemo.ros.rosapi.message;
|
||||||
|
|
||||||
|
import com.example.testdemo.ros.message.Message;
|
||||||
|
import com.example.testdemo.ros.message.MessageType;
|
||||||
|
|
||||||
|
@MessageType(string = "std_msgs/Empty")
|
||||||
|
public class Empty extends Message {
|
||||||
|
}
|
||||||
@ -0,0 +1,30 @@
|
|||||||
|
/**
|
||||||
|
* Copyright (c) 2014 example.testdemo Systems, Inc.
|
||||||
|
*
|
||||||
|
* This file is part of the Java ROSBridge Client.
|
||||||
|
*
|
||||||
|
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
|
||||||
|
* it under the terms of the GNU General Public License as published by
|
||||||
|
* the Free Software Foundation, either version 3 of the License, or
|
||||||
|
* (at your option) any later version.
|
||||||
|
*
|
||||||
|
* The Java ROSBridge Client is distributed in the hope that it will be useful,
|
||||||
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
|
* GNU General Public License for more details.
|
||||||
|
*
|
||||||
|
* You should have received a copy of the GNU General Public License
|
||||||
|
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
package com.example.testdemo.ros.rosapi.message;
|
||||||
|
|
||||||
|
import com.example.testdemo.ros.message.Message;
|
||||||
|
import com.example.testdemo.ros.message.MessageType;
|
||||||
|
import com.example.testdemo.ros.message.TimePrimitive;
|
||||||
|
|
||||||
|
|
||||||
|
@MessageType(string = "rosapi/GetTimeResponse")
|
||||||
|
public class GetTime extends Message {
|
||||||
|
public TimePrimitive time;
|
||||||
|
}
|
||||||
@ -0,0 +1,28 @@
|
|||||||
|
/**
|
||||||
|
* Copyright (c) 2014 example.testdemo Systems, Inc.
|
||||||
|
*
|
||||||
|
* This file is part of the Java ROSBridge Client.
|
||||||
|
*
|
||||||
|
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
|
||||||
|
* it under the terms of the GNU General Public License as published by
|
||||||
|
* the Free Software Foundation, either version 3 of the License, or
|
||||||
|
* (at your option) any later version.
|
||||||
|
*
|
||||||
|
* The Java ROSBridge Client is distributed in the hope that it will be useful,
|
||||||
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
|
* GNU General Public License for more details.
|
||||||
|
*
|
||||||
|
* You should have received a copy of the GNU General Public License
|
||||||
|
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
package com.example.testdemo.ros.rosapi.message;
|
||||||
|
|
||||||
|
import com.example.testdemo.ros.message.Message;
|
||||||
|
import com.example.testdemo.ros.message.MessageType;
|
||||||
|
|
||||||
|
@MessageType(string = "rosapi/MessageDetails")
|
||||||
|
public class MessageDetails extends Message {
|
||||||
|
public TypeDef[] typedefs;
|
||||||
|
}
|
||||||
@ -0,0 +1,28 @@
|
|||||||
|
/**
|
||||||
|
* Copyright (c) 2014 example.testdemo Systems, Inc.
|
||||||
|
*
|
||||||
|
* This file is part of the Java ROSBridge Client.
|
||||||
|
*
|
||||||
|
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
|
||||||
|
* it under the terms of the GNU General Public License as published by
|
||||||
|
* the Free Software Foundation, either version 3 of the License, or
|
||||||
|
* (at your option) any later version.
|
||||||
|
*
|
||||||
|
* The Java ROSBridge Client is distributed in the hope that it will be useful,
|
||||||
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
|
* GNU General Public License for more details.
|
||||||
|
*
|
||||||
|
* You should have received a copy of the GNU General Public License
|
||||||
|
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
package com.example.testdemo.ros.rosapi.message;
|
||||||
|
|
||||||
|
import com.example.testdemo.ros.message.Message;
|
||||||
|
import com.example.testdemo.ros.message.MessageType;
|
||||||
|
|
||||||
|
@MessageType(string = "rosapi/Nodes")
|
||||||
|
public class Nodes extends Message {
|
||||||
|
public String[] nodes;
|
||||||
|
}
|
||||||
@ -0,0 +1,34 @@
|
|||||||
|
/**
|
||||||
|
* Copyright (c) 2014 example.testdemo Systems, Inc.
|
||||||
|
*
|
||||||
|
* This file is part of the Java ROSBridge Client.
|
||||||
|
*
|
||||||
|
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
|
||||||
|
* it under the terms of the GNU General Public License as published by
|
||||||
|
* the Free Software Foundation, either version 3 of the License, or
|
||||||
|
* (at your option) any later version.
|
||||||
|
*
|
||||||
|
* The Java ROSBridge Client is distributed in the hope that it will be useful,
|
||||||
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
|
* GNU General Public License for more details.
|
||||||
|
*
|
||||||
|
* You should have received a copy of the GNU General Public License
|
||||||
|
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
package com.example.testdemo.ros.rosapi.message;
|
||||||
|
|
||||||
|
import com.example.testdemo.ros.message.Message;
|
||||||
|
import com.example.testdemo.ros.message.MessageType;
|
||||||
|
|
||||||
|
@MessageType(string = "rosapi/Service")
|
||||||
|
public class Service extends Message {
|
||||||
|
public String service;
|
||||||
|
|
||||||
|
public Service() {}
|
||||||
|
|
||||||
|
public Service(String service) {
|
||||||
|
this.service = service;
|
||||||
|
}
|
||||||
|
}
|
||||||
@ -0,0 +1,28 @@
|
|||||||
|
/**
|
||||||
|
* Copyright (c) 2014 example.testdemo Systems, Inc.
|
||||||
|
*
|
||||||
|
* This file is part of the Java ROSBridge Client.
|
||||||
|
*
|
||||||
|
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
|
||||||
|
* it under the terms of the GNU General Public License as published by
|
||||||
|
* the Free Software Foundation, either version 3 of the License, or
|
||||||
|
* (at your option) any later version.
|
||||||
|
*
|
||||||
|
* The Java ROSBridge Client is distributed in the hope that it will be useful,
|
||||||
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
|
* GNU General Public License for more details.
|
||||||
|
*
|
||||||
|
* You should have received a copy of the GNU General Public License
|
||||||
|
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
package com.example.testdemo.ros.rosapi.message;
|
||||||
|
|
||||||
|
import com.example.testdemo.ros.message.Message;
|
||||||
|
import com.example.testdemo.ros.message.MessageType;
|
||||||
|
|
||||||
|
@MessageType(string = "rosapi/Services")
|
||||||
|
public class Services extends Message {
|
||||||
|
public String[] services;
|
||||||
|
}
|
||||||
@ -0,0 +1,34 @@
|
|||||||
|
/**
|
||||||
|
* Copyright (c) 2014 example.testdemo Systems, Inc.
|
||||||
|
*
|
||||||
|
* This file is part of the Java ROSBridge Client.
|
||||||
|
*
|
||||||
|
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
|
||||||
|
* it under the terms of the GNU General Public License as published by
|
||||||
|
* the Free Software Foundation, either version 3 of the License, or
|
||||||
|
* (at your option) any later version.
|
||||||
|
*
|
||||||
|
* The Java ROSBridge Client is distributed in the hope that it will be useful,
|
||||||
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
|
* GNU General Public License for more details.
|
||||||
|
*
|
||||||
|
* You should have received a copy of the GNU General Public License
|
||||||
|
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
package com.example.testdemo.ros.rosapi.message;
|
||||||
|
|
||||||
|
import com.example.testdemo.ros.message.Message;
|
||||||
|
import com.example.testdemo.ros.message.MessageType;
|
||||||
|
|
||||||
|
@MessageType(string = "rosapi/Topic")
|
||||||
|
public class Topic extends Message {
|
||||||
|
public String topic;
|
||||||
|
|
||||||
|
public Topic() {}
|
||||||
|
|
||||||
|
public Topic(String topic) {
|
||||||
|
this.topic = topic;
|
||||||
|
}
|
||||||
|
}
|
||||||
@ -0,0 +1,28 @@
|
|||||||
|
/**
|
||||||
|
* Copyright (c) 2014 example.testdemo Systems, Inc.
|
||||||
|
*
|
||||||
|
* This file is part of the Java ROSBridge Client.
|
||||||
|
*
|
||||||
|
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
|
||||||
|
* it under the terms of the GNU General Public License as published by
|
||||||
|
* the Free Software Foundation, either version 3 of the License, or
|
||||||
|
* (at your option) any later version.
|
||||||
|
*
|
||||||
|
* The Java ROSBridge Client is distributed in the hope that it will be useful,
|
||||||
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
|
* GNU General Public License for more details.
|
||||||
|
*
|
||||||
|
* You should have received a copy of the GNU General Public License
|
||||||
|
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
package com.example.testdemo.ros.rosapi.message;
|
||||||
|
|
||||||
|
import com.example.testdemo.ros.message.Message;
|
||||||
|
import com.example.testdemo.ros.message.MessageType;
|
||||||
|
|
||||||
|
@MessageType(string = "rosapi/Topics")
|
||||||
|
public class Topics extends Message {
|
||||||
|
public String[] topics;
|
||||||
|
}
|
||||||
@ -0,0 +1,34 @@
|
|||||||
|
/**
|
||||||
|
* Copyright (c) 2014 example.testdemo Systems, Inc.
|
||||||
|
*
|
||||||
|
* This file is part of the Java ROSBridge Client.
|
||||||
|
*
|
||||||
|
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
|
||||||
|
* it under the terms of the GNU General Public License as published by
|
||||||
|
* the Free Software Foundation, either version 3 of the License, or
|
||||||
|
* (at your option) any later version.
|
||||||
|
*
|
||||||
|
* The Java ROSBridge Client is distributed in the hope that it will be useful,
|
||||||
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
|
* GNU General Public License for more details.
|
||||||
|
*
|
||||||
|
* You should have received a copy of the GNU General Public License
|
||||||
|
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
package com.example.testdemo.ros.rosapi.message;
|
||||||
|
|
||||||
|
import com.example.testdemo.ros.message.Message;
|
||||||
|
import com.example.testdemo.ros.message.MessageType;
|
||||||
|
|
||||||
|
@MessageType(string = "rosapi/Type")
|
||||||
|
public class Type extends Message {
|
||||||
|
public String type;
|
||||||
|
|
||||||
|
public Type() {}
|
||||||
|
|
||||||
|
public Type(String type) {
|
||||||
|
this.type = type;
|
||||||
|
}
|
||||||
|
}
|
||||||
@ -0,0 +1,55 @@
|
|||||||
|
/**
|
||||||
|
* Copyright (c) 2014 example.testdemo Systems, Inc.
|
||||||
|
*
|
||||||
|
* This file is part of the Java ROSBridge Client.
|
||||||
|
*
|
||||||
|
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
|
||||||
|
* it under the terms of the GNU General Public License as published by
|
||||||
|
* the Free Software Foundation, either version 3 of the License, or
|
||||||
|
* (at your option) any later version.
|
||||||
|
*
|
||||||
|
* The Java ROSBridge Client is distributed in the hope that it will be useful,
|
||||||
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
|
* GNU General Public License for more details.
|
||||||
|
*
|
||||||
|
* You should have received a copy of the GNU General Public License
|
||||||
|
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
package com.example.testdemo.ros.rosapi.message;
|
||||||
|
|
||||||
|
import com.example.testdemo.ros.message.Message;
|
||||||
|
import com.example.testdemo.ros.message.MessageType;
|
||||||
|
|
||||||
|
@MessageType(string = "rosapi/TypeDef")
|
||||||
|
public class TypeDef extends Message {
|
||||||
|
public String type;
|
||||||
|
public String[] fieldnames;
|
||||||
|
public String[] fieldtypes;
|
||||||
|
public int[] fieldarraylen;
|
||||||
|
public String[] examples;
|
||||||
|
|
||||||
|
public static boolean match(String type, Class c) {
|
||||||
|
boolean result = false;
|
||||||
|
if (
|
||||||
|
(type.equals("bool") && ((boolean.class.equals(c)) || (Boolean.class.equals(c)))) ||
|
||||||
|
(type.equals("int8") && ((byte.class.equals(c)) || (Byte.class.equals(c)))) ||
|
||||||
|
(type.equals("byte") && ((byte.class.equals(c)) || (Byte.class.equals(c)))) || // deprecated
|
||||||
|
(type.equals("uint8") && ((short.class.equals(c)) || (Short.class.equals(c)))) ||
|
||||||
|
(type.equals("char") && ((short.class.equals(c)) || (Short.class.equals(c)))) || // deprecated
|
||||||
|
(type.equals("int16") && ((short.class.equals(c)) || (Short.class.equals(c)))) ||
|
||||||
|
(type.equals("uint16") && ((int.class.equals(c)) || (Integer.class.equals(c)))) ||
|
||||||
|
(type.equals("int32") && ((int.class.equals(c)) || (Integer.class.equals(c)))) ||
|
||||||
|
(type.equals("uint32") && ((long.class.equals(c)) || (Long.class.equals(c)))) ||
|
||||||
|
(type.equals("int64") && ((long.class.equals(c)) || (Long.class.equals(c)))) ||
|
||||||
|
(type.equals("float32") && ((float.class.equals(c)) || (Float.class.equals(c)))) ||
|
||||||
|
(type.equals("float64") && ((double.class.equals(c)) || (Double.class.equals(c)))) ||
|
||||||
|
(type.equals("uint64") && (java.math.BigInteger.class.equals(c))) ||
|
||||||
|
(type.equals("string") && (String.class.equals(c)))
|
||||||
|
)
|
||||||
|
result = true;
|
||||||
|
|
||||||
|
return result;
|
||||||
|
}
|
||||||
|
}
|
||||||
@ -0,0 +1,26 @@
|
|||||||
|
/**
|
||||||
|
* Copyright (c) 2014 example.testdemo Systems, Inc.
|
||||||
|
*
|
||||||
|
* This file is part of the Java ROSBridge Client.
|
||||||
|
*
|
||||||
|
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
|
||||||
|
* it under the terms of the GNU General Public License as published by
|
||||||
|
* the Free Software Foundation, either version 3 of the License, or
|
||||||
|
* (at your option) any later version.
|
||||||
|
*
|
||||||
|
* The Java ROSBridge Client is distributed in the hope that it will be useful,
|
||||||
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
|
* GNU General Public License for more details.
|
||||||
|
*
|
||||||
|
* You should have received a copy of the GNU General Public License
|
||||||
|
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
package com.example.testdemo.ros.rosbridge;
|
||||||
|
|
||||||
|
import com.example.testdemo.ros.message.Message;
|
||||||
|
|
||||||
|
public interface FullMessageHandler<T extends Message> {
|
||||||
|
public void onMessage(String id, T message);
|
||||||
|
}
|
||||||
@ -0,0 +1,575 @@
|
|||||||
|
package com.example.testdemo.ros.rosbridge.implementation;
|
||||||
|
|
||||||
|
import java.util.Arrays;
|
||||||
|
|
||||||
|
/** A very fast and memory efficient class to encode and decode to and from BASE64 in full accordance
|
||||||
|
* with RFC 2045.<br><br>
|
||||||
|
* On Windows XP sp1 with 1.4.2_04 and later ;), this encoder and decoder is about 10 times faster
|
||||||
|
* on small arrays (10 - 1000 bytes) and 2-3 times as fast on larger arrays (10000 - 1000000 bytes)
|
||||||
|
* compared to <code>sun.misc.Encoder()/Decoder()</code>.<br><br>
|
||||||
|
*
|
||||||
|
* On byte arrays the encoder is about 20% faster than Jakarta Commons Base64 Codec for encode and
|
||||||
|
* about 50% faster for decoding large arrays. This implementation is about twice as fast on very small
|
||||||
|
* arrays (< 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;
|
||||||
|
}
|
||||||
|
}
|
||||||
@ -0,0 +1,335 @@
|
|||||||
|
/**
|
||||||
|
* Copyright (c) 2014 example.testdemo Systems, Inc.
|
||||||
|
*
|
||||||
|
* This file is part of the Java ROSBridge Client.
|
||||||
|
*
|
||||||
|
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
|
||||||
|
* it under the terms of the GNU General Public License as published by
|
||||||
|
* the Free Software Foundation, either version 3 of the License, or
|
||||||
|
* (at your option) any later version.
|
||||||
|
*
|
||||||
|
* The Java ROSBridge Client is distributed in the hope that it will be useful,
|
||||||
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
|
* GNU General Public License for more details.
|
||||||
|
*
|
||||||
|
* You should have received a copy of the GNU General Public License
|
||||||
|
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
package com.example.testdemo.ros.rosbridge.implementation;
|
||||||
|
|
||||||
|
import com.alibaba.fastjson.JSONArray;
|
||||||
|
import com.alibaba.fastjson.JSONObject;
|
||||||
|
import com.example.testdemo.ros.message.Message;
|
||||||
|
import com.example.testdemo.ros.rosbridge.indication.Indication;
|
||||||
|
import com.example.testdemo.ros.rosbridge.operation.Wrapper;
|
||||||
|
import jdk.nashorn.internal.parser.JSONParser;
|
||||||
|
|
||||||
|
|
||||||
|
import java.io.StringReader;
|
||||||
|
import java.lang.reflect.Array;
|
||||||
|
import java.lang.reflect.Field;
|
||||||
|
|
||||||
|
|
||||||
|
// The slightly crazy abstractions here are designed to isolate knowledge of
|
||||||
|
// the JSON library and data types from the Operation details of rosbridge.
|
||||||
|
// Why is this important? A few reasons I can see. First, we might want
|
||||||
|
// to change JSON libraries and this encapsulates all use of JSON-simple.
|
||||||
|
// Second, as much as possible I would like the semantics of the rosbridge
|
||||||
|
// protocol to be encapsulated in the Operation and its subclasses rather
|
||||||
|
// than in a module that is essentially about serialization.
|
||||||
|
//
|
||||||
|
// Unfortunately the hierarchical Message abstraction is a bit broken
|
||||||
|
// at the top level. Beginning at the actual operation (e.g., Publish), the
|
||||||
|
// types of the fields are determined either by the fields themselves or by
|
||||||
|
// an indicator. However, the type of the operation itself is not determined
|
||||||
|
// this way, because the indicator is in the object itself, which means it
|
||||||
|
// would have to be created before its type is known. Rather than build in
|
||||||
|
// exceptions, I elected to create a "Wrapper" operation type that simply
|
||||||
|
// wraps the concrete operation and copies its "op" field.
|
||||||
|
//
|
||||||
|
|
||||||
|
public class JSON {
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Translates a Message recursively into JSON. Normally the Message is also an
|
||||||
|
* Operation, but it does not have to be. The caller constructs a complete
|
||||||
|
* message using @Operation and @Message types. This includes situations
|
||||||
|
* where one or more fields are marked to be turned into arrays, using @AsArray.
|
||||||
|
* @param m the @Message object to be recursively translated.
|
||||||
|
* @return the complete JSON string.
|
||||||
|
*/
|
||||||
|
public static String toJSON(Message m) {
|
||||||
|
JSONObject jo = convertObjectToJSONObject(m); // Object to JSON-Simple
|
||||||
|
return jo.toJSONString(); // JSON-Simple to string
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Translates JSON into a hierarchical Operation/Message structure.
|
||||||
|
* This includes handling fields that are @Indicated and @AsArray. If the
|
||||||
|
* @Class parameter is a @Wrapper, this is a special case whereby the
|
||||||
|
* object is wrapped to create a consistent hierarchy.
|
||||||
|
* @param json the source JSON string
|
||||||
|
* @param c the top level class of the JSON. Normally @Wrapper
|
||||||
|
* @param r the @Registry containing topic registrations
|
||||||
|
* @return the fully instantiated message hierarchy represented
|
||||||
|
* by the JSON string.
|
||||||
|
*/
|
||||||
|
public static Message toMessage(String json, Class c, Registry<Class> r) {
|
||||||
|
JSONObject joUnwrapped = convertStringToJSONObject(json); // String to JSON-Simple
|
||||||
|
JSONObject jo = joUnwrapped;
|
||||||
|
if (Wrapper.class.isAssignableFrom(c))
|
||||||
|
jo = wrap(joUnwrapped, c); // wrap: a hack to make the hierarchy homogeneous
|
||||||
|
return convertJSONObjectToMessage(jo, c, r); // JSON-Simple to Message
|
||||||
|
}
|
||||||
|
|
||||||
|
// *** Create JSON from Messages *** //
|
||||||
|
|
||||||
|
// Translate the object into a JSON-Simple object, field-by-field,
|
||||||
|
// recursively via convertElementToJSON.
|
||||||
|
// except for the case where AsArray is indicated
|
||||||
|
private static JSONObject convertObjectToJSONObject(Object o) {
|
||||||
|
JSONObject result = new JSONObject();
|
||||||
|
for (Field f : o.getClass().getFields()) {
|
||||||
|
Object fieldObject = getFieldObject(f, o);
|
||||||
|
if (fieldObject != null) {
|
||||||
|
Object resultObject;
|
||||||
|
if (Indication.isBase64Encoded(f))
|
||||||
|
resultObject = convertByteArrayToBase64JSONString(fieldObject);
|
||||||
|
else if (Indication.asArray(f))
|
||||||
|
resultObject = convertObjectToJSONArray(fieldObject);
|
||||||
|
else resultObject = convertElementToJSON(fieldObject);
|
||||||
|
result.put(f.getName(), resultObject);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
return result;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Convert an array type to a JSON-Simple array, element-by-element,
|
||||||
|
// recursively via convertElementToJSON.
|
||||||
|
private static JSONArray convertArrayToJSONArray(Object array) {
|
||||||
|
JSONArray result = new JSONArray();
|
||||||
|
for (int i = 0; i < Array.getLength(array); i++) {
|
||||||
|
Object elementObject = Array.get(array, i);
|
||||||
|
if (elementObject != null) {
|
||||||
|
Object resultObject = convertElementToJSON(elementObject);
|
||||||
|
result.add(resultObject);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
return result;
|
||||||
|
}
|
||||||
|
|
||||||
|
// For AsArray objects, convert the object to a JSON-Simple array
|
||||||
|
// NOTE: This relies on later versions of the JDK providing
|
||||||
|
// the fields in order.
|
||||||
|
private static JSONArray convertObjectToJSONArray(Object o) {
|
||||||
|
JSONArray result = new JSONArray();
|
||||||
|
for (Field f : o.getClass().getFields()) {
|
||||||
|
Object fieldObject = getFieldObject(f, o);
|
||||||
|
if (fieldObject != null) {
|
||||||
|
Object resultObject = convertElementToJSON(fieldObject);
|
||||||
|
result.add(resultObject);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
return result;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Convert the individual field or array element items recursively
|
||||||
|
private static Object convertElementToJSON(Object elementObject) {
|
||||||
|
Class elementClass = elementObject.getClass();
|
||||||
|
Object resultObject;
|
||||||
|
if (Message.isPrimitive(elementClass))
|
||||||
|
resultObject = elementObject;
|
||||||
|
else if (elementClass.isArray())
|
||||||
|
resultObject = convertArrayToJSONArray(elementObject);
|
||||||
|
else
|
||||||
|
resultObject = convertObjectToJSONObject(elementObject);
|
||||||
|
return resultObject;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Special case for Base 64-encoded fields
|
||||||
|
private static Object convertByteArrayToBase64JSONString(Object fieldObject) {
|
||||||
|
return Base64.encodeToString((byte[]) fieldObject, false);
|
||||||
|
}
|
||||||
|
|
||||||
|
// This is just to buffer the code from the exception. Better error
|
||||||
|
// handling needed here.
|
||||||
|
private static Object getFieldObject(Field f, Object o) {
|
||||||
|
Object fo = null;
|
||||||
|
try {
|
||||||
|
fo = f.get(o);
|
||||||
|
}
|
||||||
|
catch (IllegalAccessException ex) {
|
||||||
|
ex.printStackTrace();
|
||||||
|
}
|
||||||
|
return fo;
|
||||||
|
}
|
||||||
|
|
||||||
|
// *** Create Messages from JSON *** //
|
||||||
|
|
||||||
|
// Use the JSON-simple parser to create the JSON-Simple object
|
||||||
|
private static JSONObject convertStringToJSONObject(String json) {
|
||||||
|
JSONObject result = null;
|
||||||
|
StringReader r = new StringReader(json);
|
||||||
|
//JSONParser jp = new JSONParser();
|
||||||
|
try {
|
||||||
|
//result = (JSONObject) jp.parse(r);
|
||||||
|
}
|
||||||
|
catch (Throwable t) {
|
||||||
|
System.out.println(t.getMessage());
|
||||||
|
}
|
||||||
|
r.close();
|
||||||
|
return result;
|
||||||
|
}
|
||||||
|
|
||||||
|
// A bit of a hack to create a consistent hierarchy with jsonbridge operations
|
||||||
|
// At least it does not depend on any specific field names, it just copies the
|
||||||
|
// Indicator and Indicated fields.
|
||||||
|
private static JSONObject wrap(JSONObject jo, Class c) {
|
||||||
|
JSONObject result = new JSONObject();
|
||||||
|
String indicatorName = Indication.getIndicatorName(c);
|
||||||
|
String indicatedName = Indication.getIndicatedName(c);
|
||||||
|
result.put(indicatorName, jo.get(indicatorName));
|
||||||
|
result.put(indicatedName, jo);
|
||||||
|
return result;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Convert the JSON-Simple object to the indicated message, field-by-field
|
||||||
|
// recursively via convertElementToField.
|
||||||
|
private static Message convertJSONObjectToMessage(JSONObject jo, Class c, Registry<Class> r) {
|
||||||
|
//System.out.println("JSON.convertJSONObjectToMessage: " + jo.toJSONString());
|
||||||
|
try {
|
||||||
|
Message result = (Message) c.newInstance();
|
||||||
|
for (Field f : c.getFields()) {
|
||||||
|
Class fc = getFieldClass(result, jo, f, r);
|
||||||
|
Object lookup = jo.get(f.getName());
|
||||||
|
if (lookup != null) {
|
||||||
|
Object value = convertElementToField(lookup, fc, f, r);
|
||||||
|
f.set(result, value);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
return result;
|
||||||
|
}
|
||||||
|
catch (Exception ex) {
|
||||||
|
//ex.printStackTrace();
|
||||||
|
return null;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
// Convert the JSON-Simple array to the indicated message, element-by-element
|
||||||
|
// recursively via convertElementToField.
|
||||||
|
private static Object convertJSONArrayToArray(JSONArray ja, Class c, Registry<Class> r) {
|
||||||
|
Object result = Array.newInstance(c, ja.size());
|
||||||
|
for (int i = 0; i < ja.size(); i++) {
|
||||||
|
Object lookup = ja.get(i);
|
||||||
|
Object value = null;
|
||||||
|
if (lookup != null) {
|
||||||
|
if (lookup.getClass().equals(JSONObject.class))
|
||||||
|
value = convertJSONObjectToMessage((JSONObject) lookup, c, r);
|
||||||
|
else if (lookup.getClass().equals(JSONArray.class)) // this is not actually allowed in ROS
|
||||||
|
value = convertJSONArrayToArray((JSONArray) lookup, c.getComponentType(), r);
|
||||||
|
else
|
||||||
|
value = convertJSONPrimitiveToPrimitive(lookup, c);
|
||||||
|
Array.set(result, i, value);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
return result;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Convert a JSON-Simple array to a Message, field-by-field of the Message,
|
||||||
|
// element-by-element of the array, recursively via convertElementToField.
|
||||||
|
// NOTE: This relies on later versions of the JDK providing
|
||||||
|
// the fields in order.
|
||||||
|
private static Message convertJSONArrayToMessage(JSONArray ja, Class c, Registry<Class> r) {
|
||||||
|
try {
|
||||||
|
Message result = (Message) c.newInstance();
|
||||||
|
int arrayIndex = 0;
|
||||||
|
for (Field f : c.getFields()) {
|
||||||
|
Class fc = getFieldClass(result, null, f, r);
|
||||||
|
Object lookup = ja.get(arrayIndex++); // yes we are assuming that the fields are delivered in order
|
||||||
|
if (lookup != null) {
|
||||||
|
Object value = convertElementToField(lookup, fc, f, r);
|
||||||
|
f.set(result, value);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
return result;
|
||||||
|
}
|
||||||
|
catch (Exception ex) {
|
||||||
|
ex.printStackTrace();
|
||||||
|
return null;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
// Convert an individual array or object element to a field in the Message,
|
||||||
|
// recursively, and applying AsArray if needed.
|
||||||
|
private static Object convertElementToField(Object element, Class fc, Field f, Registry<Class> r) {
|
||||||
|
//System.out.println("JSON.convertElementToField: " + f.getName() + " " + fc.getName());
|
||||||
|
Object value;
|
||||||
|
if (element.getClass().equals(JSONObject.class)) {
|
||||||
|
//System.out.println("JSON.convertElementToField: JSON Object " + ((JSONObject) element).toJSONString());
|
||||||
|
value = convertJSONObjectToMessage((JSONObject) element, fc, r);
|
||||||
|
}
|
||||||
|
else if (element.getClass().equals(JSONArray.class)) {
|
||||||
|
//System.out.println("JSON.convertElementToField: JSON Array " + ((JSONArray) element).toJSONString());
|
||||||
|
if (Indication.asArray(f))
|
||||||
|
value = convertJSONArrayToMessage((JSONArray) element, fc, r);
|
||||||
|
else value = convertJSONArrayToArray((JSONArray) element, fc, r);
|
||||||
|
}
|
||||||
|
else {
|
||||||
|
//System.out.println("JSON.convertElementToField: Primitive " + element);
|
||||||
|
if (Indication.isBase64Encoded(f))
|
||||||
|
value = convertBase64JSONStringToByteArray(element);
|
||||||
|
else value = convertJSONPrimitiveToPrimitive(element, fc);
|
||||||
|
}
|
||||||
|
|
||||||
|
return value;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Note that this is not checking ranges
|
||||||
|
public static Object convertJSONPrimitiveToPrimitive(Object o, Class c) {
|
||||||
|
Object result = o;
|
||||||
|
if (c.isPrimitive() || Number.class.isAssignableFrom(c)) {
|
||||||
|
if (c.equals(double.class) || c.equals(Double.class))
|
||||||
|
result = new Double(((Number) o).doubleValue());
|
||||||
|
else if (c.equals(float.class) || c.equals(Float.class))
|
||||||
|
result = new Float(((Number) o).floatValue());
|
||||||
|
else if (c.equals(long.class) || c.equals(Long.class))
|
||||||
|
result = new Long(((Number) o).longValue());
|
||||||
|
else if (int.class.equals(c) || c.equals(Integer.class))
|
||||||
|
result = new Integer(((Number) o).intValue());
|
||||||
|
else if (c.equals(short.class) || c.equals(Short.class))
|
||||||
|
result = new Short(((Number) o).shortValue());
|
||||||
|
else if (c.equals(byte.class) || c.equals(Byte.class))
|
||||||
|
result = new Byte(((Number) o).byteValue());
|
||||||
|
}
|
||||||
|
return result;
|
||||||
|
}
|
||||||
|
|
||||||
|
public static byte[] convertBase64JSONStringToByteArray(Object element) {
|
||||||
|
return Base64.decode((String) element);
|
||||||
|
}
|
||||||
|
|
||||||
|
// Determine the target class of a field in the object or array, based
|
||||||
|
// directly on the field's type, or using the Indicator if applicable,
|
||||||
|
// The Indicator field only provides the topic/service, so we have to look
|
||||||
|
// up the Class in the registry.
|
||||||
|
public static Class getFieldClass(Message parent, JSONObject jo, Field f, Registry<Class> r) {
|
||||||
|
Class fc;
|
||||||
|
fc = f.getType();
|
||||||
|
if (fc.isArray())
|
||||||
|
fc = f.getType().getComponentType();
|
||||||
|
if (Indication.isIndicated(f) && (jo != null)) {
|
||||||
|
//fc = Indication.getIndication(parent,
|
||||||
|
// (String) jo.get(Indication.getIndicatorName(parent.getClass())));
|
||||||
|
fc = r.lookup(parent.getClass(),
|
||||||
|
(String) jo.get(Indication.getIndicatorName(parent.getClass())));
|
||||||
|
//System.out.println("JSON.getFieldClass: parent class " + parent.getClass().getName() +
|
||||||
|
// " Indicator: " + Indication.getIndicatorName(parent.getClass()) +
|
||||||
|
// " result: " + fc.getName());
|
||||||
|
}
|
||||||
|
return fc;
|
||||||
|
}
|
||||||
|
}
|
||||||
@ -0,0 +1,24 @@
|
|||||||
|
package com.example.testdemo.ros.rosbridge.implementation;
|
||||||
|
|
||||||
|
import com.example.testdemo.ros.rosbridge.operation.Operation;
|
||||||
|
|
||||||
|
/**EventBus event entity,describe ros server response info
|
||||||
|
* Created by xxhong on 16-11-22.
|
||||||
|
*/
|
||||||
|
|
||||||
|
public class PublishEvent {
|
||||||
|
public String msg;
|
||||||
|
public String id;
|
||||||
|
public String name;
|
||||||
|
public String op;
|
||||||
|
|
||||||
|
|
||||||
|
public PublishEvent(Operation operation, String name, String content) {
|
||||||
|
if(operation != null) {
|
||||||
|
id = operation.id;
|
||||||
|
op = operation.op;
|
||||||
|
}
|
||||||
|
this.name = name;
|
||||||
|
msg = content;
|
||||||
|
}
|
||||||
|
}
|
||||||
@ -0,0 +1,49 @@
|
|||||||
|
/**
|
||||||
|
* Copyright (c) 2014 example.testdemo Systems, Inc.
|
||||||
|
*
|
||||||
|
* This file is part of the Java ROSBridge Client.
|
||||||
|
*
|
||||||
|
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
|
||||||
|
* it under the terms of the GNU General Public License as published by
|
||||||
|
* the Free Software Foundation, either version 3 of the License, or
|
||||||
|
* (at your option) any later version.
|
||||||
|
*
|
||||||
|
* The Java ROSBridge Client is distributed in the hope that it will be useful,
|
||||||
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
|
* GNU General Public License for more details.
|
||||||
|
*
|
||||||
|
* You should have received a copy of the GNU General Public License
|
||||||
|
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
package com.example.testdemo.ros.rosbridge.implementation;
|
||||||
|
|
||||||
|
import java.util.HashMap;
|
||||||
|
import java.util.Map;
|
||||||
|
|
||||||
|
public class Registry<T> extends HashMap<Class, Map<String, T>> {
|
||||||
|
|
||||||
|
public void register(Class c, String s, T t) {
|
||||||
|
Map<String, T> table = get(c);
|
||||||
|
if (table == null) {
|
||||||
|
table = new HashMap<String, T>();
|
||||||
|
put(c, table);
|
||||||
|
}
|
||||||
|
table.put(s, t);
|
||||||
|
}
|
||||||
|
|
||||||
|
public void unregister(Class c, String s) {
|
||||||
|
Map<String, T> table = get(c);
|
||||||
|
if (table != null)
|
||||||
|
table.remove(s);
|
||||||
|
}
|
||||||
|
|
||||||
|
public T lookup(Class c, String s) {
|
||||||
|
T result = null;
|
||||||
|
Map<String, T> table = get(c);
|
||||||
|
if (table != null)
|
||||||
|
result = table.get(s);
|
||||||
|
return result;
|
||||||
|
}
|
||||||
|
}
|
||||||
@ -0,0 +1,30 @@
|
|||||||
|
/**
|
||||||
|
* Copyright (c) 2014 example.testdemo Systems, Inc.
|
||||||
|
*
|
||||||
|
* This file is part of the Java ROSBridge Client.
|
||||||
|
*
|
||||||
|
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
|
||||||
|
* it under the terms of the GNU General Public License as published by
|
||||||
|
* the Free Software Foundation, either version 3 of the License, or
|
||||||
|
* (at your option) any later version.
|
||||||
|
*
|
||||||
|
* The Java ROSBridge Client is distributed in the hope that it will be useful,
|
||||||
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
|
* GNU General Public License for more details.
|
||||||
|
*
|
||||||
|
* You should have received a copy of the GNU General Public License
|
||||||
|
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
package com.example.testdemo.ros.rosbridge.indication;
|
||||||
|
|
||||||
|
import java.lang.annotation.ElementType;
|
||||||
|
import java.lang.annotation.Retention;
|
||||||
|
import java.lang.annotation.RetentionPolicy;
|
||||||
|
import java.lang.annotation.Target;
|
||||||
|
|
||||||
|
@Retention(RetentionPolicy.RUNTIME)
|
||||||
|
@Target(ElementType.FIELD)
|
||||||
|
public @interface AsArray {
|
||||||
|
}
|
||||||
@ -0,0 +1,30 @@
|
|||||||
|
/**
|
||||||
|
* Copyright (c) 2014 example.testdemo Systems, Inc.
|
||||||
|
*
|
||||||
|
* This file is part of the Java ROSBridge Client.
|
||||||
|
*
|
||||||
|
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
|
||||||
|
* it under the terms of the GNU General Public License as published by
|
||||||
|
* the Free Software Foundation, either version 3 of the License, or
|
||||||
|
* (at your option) any later version.
|
||||||
|
*
|
||||||
|
* The Java ROSBridge Client is distributed in the hope that it will be useful,
|
||||||
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
|
* GNU General Public License for more details.
|
||||||
|
*
|
||||||
|
* You should have received a copy of the GNU General Public License
|
||||||
|
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
package com.example.testdemo.ros.rosbridge.indication;
|
||||||
|
|
||||||
|
import java.lang.annotation.ElementType;
|
||||||
|
import java.lang.annotation.Retention;
|
||||||
|
import java.lang.annotation.RetentionPolicy;
|
||||||
|
import java.lang.annotation.Target;
|
||||||
|
|
||||||
|
@Retention(RetentionPolicy.RUNTIME)
|
||||||
|
@Target(ElementType.FIELD)
|
||||||
|
public @interface Base64Encoded {
|
||||||
|
}
|
||||||
@ -0,0 +1,31 @@
|
|||||||
|
/**
|
||||||
|
* Copyright (c) 2014 example.testdemo Systems, Inc.
|
||||||
|
*
|
||||||
|
* This file is part of the Java ROSBridge Client.
|
||||||
|
*
|
||||||
|
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
|
||||||
|
* it under the terms of the GNU General Public License as published by
|
||||||
|
* the Free Software Foundation, either version 3 of the License, or
|
||||||
|
* (at your option) any later version.
|
||||||
|
*
|
||||||
|
* The Java ROSBridge Client is distributed in the hope that it will be useful,
|
||||||
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
|
* GNU General Public License for more details.
|
||||||
|
*
|
||||||
|
* You should have received a copy of the GNU General Public License
|
||||||
|
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
package com.example.testdemo.ros.rosbridge.indication;
|
||||||
|
|
||||||
|
import java.lang.annotation.ElementType;
|
||||||
|
import java.lang.annotation.Retention;
|
||||||
|
import java.lang.annotation.RetentionPolicy;
|
||||||
|
import java.lang.annotation.Target;
|
||||||
|
|
||||||
|
@Retention(RetentionPolicy.RUNTIME)
|
||||||
|
@Target(ElementType.METHOD)
|
||||||
|
public @interface Indicate {
|
||||||
|
// if later we want multiple indicated fields, use an int here
|
||||||
|
}
|
||||||
@ -0,0 +1,31 @@
|
|||||||
|
/**
|
||||||
|
* Copyright (c) 2014 example.testdemo Systems, Inc.
|
||||||
|
*
|
||||||
|
* This file is part of the Java ROSBridge Client.
|
||||||
|
*
|
||||||
|
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
|
||||||
|
* it under the terms of the GNU General Public License as published by
|
||||||
|
* the Free Software Foundation, either version 3 of the License, or
|
||||||
|
* (at your option) any later version.
|
||||||
|
*
|
||||||
|
* The Java ROSBridge Client is distributed in the hope that it will be useful,
|
||||||
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
|
* GNU General Public License for more details.
|
||||||
|
*
|
||||||
|
* You should have received a copy of the GNU General Public License
|
||||||
|
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
package com.example.testdemo.ros.rosbridge.indication;
|
||||||
|
|
||||||
|
import java.lang.annotation.ElementType;
|
||||||
|
import java.lang.annotation.Retention;
|
||||||
|
import java.lang.annotation.RetentionPolicy;
|
||||||
|
import java.lang.annotation.Target;
|
||||||
|
|
||||||
|
@Retention(RetentionPolicy.RUNTIME)
|
||||||
|
@Target(ElementType.FIELD)
|
||||||
|
public @interface Indicated {
|
||||||
|
// if later we want multiple indicated fields, use an int here
|
||||||
|
}
|
||||||
@ -0,0 +1,83 @@
|
|||||||
|
/**
|
||||||
|
* Copyright (c) 2014 example.testdemo Systems, Inc.
|
||||||
|
*
|
||||||
|
* This file is part of the Java ROSBridge Client.
|
||||||
|
*
|
||||||
|
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
|
||||||
|
* it under the terms of the GNU General Public License as published by
|
||||||
|
* the Free Software Foundation, either version 3 of the License, or
|
||||||
|
* (at your option) any later version.
|
||||||
|
*
|
||||||
|
* The Java ROSBridge Client is distributed in the hope that it will be useful,
|
||||||
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
|
* GNU General Public License for more details.
|
||||||
|
*
|
||||||
|
* You should have received a copy of the GNU General Public License
|
||||||
|
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
package com.example.testdemo.ros.rosbridge.indication;
|
||||||
|
|
||||||
|
import java.lang.reflect.Field;
|
||||||
|
|
||||||
|
public class Indication {
|
||||||
|
public static boolean isIndicated(Field f) {
|
||||||
|
return (f.getAnnotation(Indicated.class) != null);
|
||||||
|
}
|
||||||
|
|
||||||
|
public static boolean asArray(Field f) {
|
||||||
|
return (f.getAnnotation(AsArray.class) != null);
|
||||||
|
}
|
||||||
|
|
||||||
|
public static boolean isBase64Encoded(Field f) {
|
||||||
|
return ((f.getAnnotation(Base64Encoded.class) != null) &&
|
||||||
|
f.getType().isArray() &&
|
||||||
|
f.getType().getComponentType().equals(byte.class));
|
||||||
|
}
|
||||||
|
|
||||||
|
public static String getIndicatorName(Class c) {
|
||||||
|
return getName(c, Indicator.class);
|
||||||
|
}
|
||||||
|
|
||||||
|
public static String getIndicatedName(Class c) {
|
||||||
|
return getName(c, Indicated.class);
|
||||||
|
}
|
||||||
|
|
||||||
|
private static String getName(Class c, Class annotation) {
|
||||||
|
String result = null;
|
||||||
|
for (Field f : c.getFields()) {
|
||||||
|
if (f.getAnnotation(annotation) != null) {
|
||||||
|
result = f.getName();
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
return result;
|
||||||
|
}
|
||||||
|
|
||||||
|
/*
|
||||||
|
public static Class getIndication(Object o, String s) {
|
||||||
|
Class c = o.getClass();
|
||||||
|
Class result = null;
|
||||||
|
try {
|
||||||
|
Method m = getIndicateMethod(c);
|
||||||
|
result = (Class) (m.invoke(o, s));
|
||||||
|
}
|
||||||
|
catch (ReflectiveOperationException ex) {
|
||||||
|
ex.printStackTrace();
|
||||||
|
}
|
||||||
|
return result;
|
||||||
|
}
|
||||||
|
|
||||||
|
private static Method getIndicateMethod(Class c) {
|
||||||
|
Method result = null;
|
||||||
|
for (Method m : c.getMethods()) {
|
||||||
|
if (m.getAnnotation(Indicate.class) != null) {
|
||||||
|
result = m;
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
return result;
|
||||||
|
}
|
||||||
|
*/
|
||||||
|
}
|
||||||
@ -0,0 +1,31 @@
|
|||||||
|
/**
|
||||||
|
* Copyright (c) 2014 example.testdemo Systems, Inc.
|
||||||
|
*
|
||||||
|
* This file is part of the Java ROSBridge Client.
|
||||||
|
*
|
||||||
|
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
|
||||||
|
* it under the terms of the GNU General Public License as published by
|
||||||
|
* the Free Software Foundation, either version 3 of the License, or
|
||||||
|
* (at your option) any later version.
|
||||||
|
*
|
||||||
|
* The Java ROSBridge Client is distributed in the hope that it will be useful,
|
||||||
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
|
* GNU General Public License for more details.
|
||||||
|
*
|
||||||
|
* You should have received a copy of the GNU General Public License
|
||||||
|
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
package com.example.testdemo.ros.rosbridge.indication;
|
||||||
|
|
||||||
|
import java.lang.annotation.ElementType;
|
||||||
|
import java.lang.annotation.Retention;
|
||||||
|
import java.lang.annotation.RetentionPolicy;
|
||||||
|
import java.lang.annotation.Target;
|
||||||
|
|
||||||
|
@Retention(RetentionPolicy.RUNTIME)
|
||||||
|
@Target(ElementType.FIELD)
|
||||||
|
public @interface Indicator {
|
||||||
|
// if later we want multiple indicated fields, use an int here
|
||||||
|
}
|
||||||
@ -0,0 +1,35 @@
|
|||||||
|
/**
|
||||||
|
* Copyright (c) 2014 example.testdemo Systems, Inc.
|
||||||
|
*
|
||||||
|
* This file is part of the Java ROSBridge Client.
|
||||||
|
*
|
||||||
|
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
|
||||||
|
* it under the terms of the GNU General Public License as published by
|
||||||
|
* the Free Software Foundation, either version 3 of the License, or
|
||||||
|
* (at your option) any later version.
|
||||||
|
*
|
||||||
|
* The Java ROSBridge Client is distributed in the hope that it will be useful,
|
||||||
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
|
* GNU General Public License for more details.
|
||||||
|
*
|
||||||
|
* You should have received a copy of the GNU General Public License
|
||||||
|
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
package com.example.testdemo.ros.rosbridge.operation;
|
||||||
|
|
||||||
|
import com.example.testdemo.ros.message.MessageType;
|
||||||
|
|
||||||
|
@MessageType(string = "advertise")
|
||||||
|
public class Advertise extends Operation {
|
||||||
|
public String topic;
|
||||||
|
public String type;
|
||||||
|
|
||||||
|
public Advertise() {}
|
||||||
|
|
||||||
|
public Advertise(String topic, String type) {
|
||||||
|
this.topic = topic;
|
||||||
|
this.type = type;
|
||||||
|
}
|
||||||
|
}
|
||||||
@ -0,0 +1,56 @@
|
|||||||
|
/**
|
||||||
|
* Copyright (c) 2014 example.testdemo Systems, Inc.
|
||||||
|
*
|
||||||
|
* This file is part of the Java ROSBridge Client.
|
||||||
|
*
|
||||||
|
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
|
||||||
|
* it under the terms of the GNU General Public License as published by
|
||||||
|
* the Free Software Foundation, either version 3 of the License, or
|
||||||
|
* (at your option) any later version.
|
||||||
|
*
|
||||||
|
* The Java ROSBridge Client is distributed in the hope that it will be useful,
|
||||||
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
|
* GNU General Public License for more details.
|
||||||
|
*
|
||||||
|
* You should have received a copy of the GNU General Public License
|
||||||
|
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
package com.example.testdemo.ros.rosbridge.operation;
|
||||||
|
|
||||||
|
import com.example.testdemo.ros.message.MessageType;
|
||||||
|
|
||||||
|
@MessageType(string = "auth")
|
||||||
|
public class Authenticate extends Operation {
|
||||||
|
public String mac;
|
||||||
|
public String client;
|
||||||
|
public String dest;
|
||||||
|
public String rand;
|
||||||
|
public int t;
|
||||||
|
public String level;
|
||||||
|
public int end;
|
||||||
|
|
||||||
|
public Authenticate() {}
|
||||||
|
|
||||||
|
public Authenticate(
|
||||||
|
String mac,
|
||||||
|
String client,
|
||||||
|
String dest,
|
||||||
|
String rand,
|
||||||
|
int t,
|
||||||
|
String level,
|
||||||
|
int end)
|
||||||
|
{
|
||||||
|
this.mac = mac;
|
||||||
|
this.client = client;
|
||||||
|
this.dest = dest;
|
||||||
|
this.rand = rand;
|
||||||
|
this.t = t;
|
||||||
|
this.level = level;
|
||||||
|
this.end = end;
|
||||||
|
|
||||||
|
this.id = null; // even though id is on EVERY OTHER operation type
|
||||||
|
}
|
||||||
|
|
||||||
|
}
|
||||||
@ -0,0 +1,41 @@
|
|||||||
|
/**
|
||||||
|
* Copyright (c) 2014 example.testdemo Systems, Inc.
|
||||||
|
*
|
||||||
|
* This file is part of the Java ROSBridge Client.
|
||||||
|
*
|
||||||
|
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
|
||||||
|
* it under the terms of the GNU General Public License as published by
|
||||||
|
* the Free Software Foundation, either version 3 of the License, or
|
||||||
|
* (at your option) any later version.
|
||||||
|
*
|
||||||
|
* The Java ROSBridge Client is distributed in the hope that it will be useful,
|
||||||
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
|
* GNU General Public License for more details.
|
||||||
|
*
|
||||||
|
* You should have received a copy of the GNU General Public License
|
||||||
|
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
package com.example.testdemo.ros.rosbridge.operation;
|
||||||
|
|
||||||
|
import com.example.testdemo.ros.message.Message;
|
||||||
|
import com.example.testdemo.ros.message.MessageType;
|
||||||
|
import com.example.testdemo.ros.rosbridge.indication.AsArray;
|
||||||
|
import com.example.testdemo.ros.rosbridge.indication.Indicated;
|
||||||
|
import com.example.testdemo.ros.rosbridge.indication.Indicator;
|
||||||
|
|
||||||
|
@MessageType(string = "call_service")
|
||||||
|
public class CallService extends Operation {
|
||||||
|
@Indicator public String service;
|
||||||
|
@Indicated @AsArray public Message args;
|
||||||
|
public Integer fragment_size; // use Integer for optional items
|
||||||
|
public String compression;
|
||||||
|
|
||||||
|
public CallService() {}
|
||||||
|
|
||||||
|
public CallService(String service, Message args) {
|
||||||
|
this.service = service;
|
||||||
|
this.args = args;
|
||||||
|
}
|
||||||
|
}
|
||||||
@ -0,0 +1,37 @@
|
|||||||
|
/**
|
||||||
|
* Copyright (c) 2014 example.testdemo Systems, Inc.
|
||||||
|
*
|
||||||
|
* This file is part of the Java ROSBridge Client.
|
||||||
|
*
|
||||||
|
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
|
||||||
|
* it under the terms of the GNU General Public License as published by
|
||||||
|
* the Free Software Foundation, either version 3 of the License, or
|
||||||
|
* (at your option) any later version.
|
||||||
|
*
|
||||||
|
* The Java ROSBridge Client is distributed in the hope that it will be useful,
|
||||||
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
|
* GNU General Public License for more details.
|
||||||
|
*
|
||||||
|
* You should have received a copy of the GNU General Public License
|
||||||
|
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
package com.example.testdemo.ros.rosbridge.operation;
|
||||||
|
|
||||||
|
import com.example.testdemo.ros.message.MessageType;
|
||||||
|
|
||||||
|
@MessageType(string = "fragment")
|
||||||
|
public class Fragment extends Operation {
|
||||||
|
public String data;
|
||||||
|
public int num;
|
||||||
|
public int total;
|
||||||
|
|
||||||
|
public Fragment() {}
|
||||||
|
|
||||||
|
public Fragment(String data, int num, int total) {
|
||||||
|
this.data = data;
|
||||||
|
this.num = num;
|
||||||
|
this.total = total;
|
||||||
|
}
|
||||||
|
}
|
||||||
@ -0,0 +1,77 @@
|
|||||||
|
/**
|
||||||
|
* Copyright (c) 2014 example.testdemo Systems, Inc.
|
||||||
|
*
|
||||||
|
* This file is part of the Java ROSBridge Client.
|
||||||
|
*
|
||||||
|
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
|
||||||
|
* it under the terms of the GNU General Public License as published by
|
||||||
|
* the Free Software Foundation, either version 3 of the License, or
|
||||||
|
* (at your option) any later version.
|
||||||
|
*
|
||||||
|
* The Java ROSBridge Client is distributed in the hope that it will be useful,
|
||||||
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
|
* GNU General Public License for more details.
|
||||||
|
*
|
||||||
|
* You should have received a copy of the GNU General Public License
|
||||||
|
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
package com.example.testdemo.ros.rosbridge.operation;
|
||||||
|
|
||||||
|
import com.example.testdemo.ros.message.Message;
|
||||||
|
import com.example.testdemo.ros.message.MessageType;
|
||||||
|
import com.example.testdemo.ros.rosbridge.implementation.JSON;
|
||||||
|
import com.example.testdemo.ros.rosbridge.implementation.Registry;
|
||||||
|
|
||||||
|
@MessageType(string = "operation")
|
||||||
|
public class Operation extends Message {
|
||||||
|
private static Long uid = 0L;
|
||||||
|
|
||||||
|
public String op;
|
||||||
|
public String id;
|
||||||
|
|
||||||
|
public Operation() {
|
||||||
|
this.op = getMessageType(getClass());
|
||||||
|
this.id = nextId();
|
||||||
|
}
|
||||||
|
|
||||||
|
private static synchronized String nextId() {
|
||||||
|
String result = uid.toString();
|
||||||
|
uid++;
|
||||||
|
return result;
|
||||||
|
}
|
||||||
|
|
||||||
|
public String toJSON() {
|
||||||
|
return JSON.toJSON(this);
|
||||||
|
}
|
||||||
|
|
||||||
|
public static Operation toOperation(String json, Registry<Class> registry) {
|
||||||
|
return ((Wrapper) JSON.toMessage(json, Wrapper.class, registry)).msg;
|
||||||
|
}
|
||||||
|
|
||||||
|
public static void initialize(Registry<Class> registry) {
|
||||||
|
initClass(registry, Advertise.class);
|
||||||
|
initClass(registry, Authenticate.class);
|
||||||
|
initClass(registry, CallService.class);
|
||||||
|
initClass(registry, Fragment.class);
|
||||||
|
initClass(registry, Operation.class);
|
||||||
|
initClass(registry, PNG.class);
|
||||||
|
initClass(registry, Publish.class);
|
||||||
|
initClass(registry, ServiceResponse.class);
|
||||||
|
initClass(registry, SetStatusLevel.class);
|
||||||
|
initClass(registry, Status.class);
|
||||||
|
initClass(registry, Subscribe.class);
|
||||||
|
initClass(registry, Unadvertise.class);
|
||||||
|
initClass(registry, Unsubscribe.class);
|
||||||
|
initClass(registry, Wrapper.class);
|
||||||
|
|
||||||
|
registry.register(Wrapper.class, Message.getMessageType(Publish.class), Publish.class);
|
||||||
|
registry.register(Wrapper.class, Message.getMessageType(CallService.class), CallService.class);
|
||||||
|
registry.register(Wrapper.class, Message.getMessageType(ServiceResponse.class), ServiceResponse.class);
|
||||||
|
}
|
||||||
|
|
||||||
|
private static void initClass(Registry<Class> registry, Class<? extends Message> c) {
|
||||||
|
registry.register(Message.class, Message.getMessageType(c), c);
|
||||||
|
}
|
||||||
|
}
|
||||||
@ -0,0 +1,41 @@
|
|||||||
|
/**
|
||||||
|
* Copyright (c) 2014 example.testdemo Systems, Inc.
|
||||||
|
*
|
||||||
|
* This file is part of the Java ROSBridge Client.
|
||||||
|
*
|
||||||
|
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
|
||||||
|
* it under the terms of the GNU General Public License as published by
|
||||||
|
* the Free Software Foundation, either version 3 of the License, or
|
||||||
|
* (at your option) any later version.
|
||||||
|
*
|
||||||
|
* The Java ROSBridge Client is distributed in the hope that it will be useful,
|
||||||
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
|
* GNU General Public License for more details.
|
||||||
|
*
|
||||||
|
* You should have received a copy of the GNU General Public License
|
||||||
|
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
package com.example.testdemo.ros.rosbridge.operation;
|
||||||
|
|
||||||
|
import com.example.testdemo.ros.message.MessageType;
|
||||||
|
|
||||||
|
@MessageType(string = "png")
|
||||||
|
public class PNG extends Operation {
|
||||||
|
public String data;
|
||||||
|
public Integer num; // use Integer for optional items
|
||||||
|
public Integer total; // use Integer for optional items
|
||||||
|
|
||||||
|
public PNG() {}
|
||||||
|
|
||||||
|
public PNG(String data) {
|
||||||
|
this.data = data;
|
||||||
|
}
|
||||||
|
|
||||||
|
public PNG(String data, int num, int total) {
|
||||||
|
this.data = data;
|
||||||
|
this.num = num;
|
||||||
|
this.total = total;
|
||||||
|
}
|
||||||
|
}
|
||||||
@ -0,0 +1,40 @@
|
|||||||
|
/**
|
||||||
|
* Copyright (c) 2014 example.testdemo Systems, Inc.
|
||||||
|
*
|
||||||
|
* This file is part of the Java ROSBridge Client.
|
||||||
|
*
|
||||||
|
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
|
||||||
|
* it under the terms of the GNU General Public License as published by
|
||||||
|
* the Free Software Foundation, either version 3 of the License, or
|
||||||
|
* (at your option) any later version.
|
||||||
|
*
|
||||||
|
* The Java ROSBridge Client is distributed in the hope that it will be useful,
|
||||||
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
|
* GNU General Public License for more details.
|
||||||
|
*
|
||||||
|
* You should have received a copy of the GNU General Public License
|
||||||
|
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
package com.example.testdemo.ros.rosbridge.operation;
|
||||||
|
|
||||||
|
import com.example.testdemo.ros.message.Message;
|
||||||
|
import com.example.testdemo.ros.message.MessageType;
|
||||||
|
import com.example.testdemo.ros.rosbridge.indication.Indicated;
|
||||||
|
import com.example.testdemo.ros.rosbridge.indication.Indicator;
|
||||||
|
|
||||||
|
@MessageType(string = "publish")
|
||||||
|
public class Publish extends Operation {
|
||||||
|
|
||||||
|
@Indicator public String topic;
|
||||||
|
@Indicated
|
||||||
|
public Message msg;
|
||||||
|
|
||||||
|
public Publish() {}
|
||||||
|
|
||||||
|
public Publish(String topic, Message msg) {
|
||||||
|
this.topic = topic;
|
||||||
|
this.msg = msg;
|
||||||
|
}
|
||||||
|
}
|
||||||
@ -0,0 +1,38 @@
|
|||||||
|
/**
|
||||||
|
* Copyright (c) 2014 example.testdemo Systems, Inc.
|
||||||
|
*
|
||||||
|
* This file is part of the Java ROSBridge Client.
|
||||||
|
*
|
||||||
|
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
|
||||||
|
* it under the terms of the GNU General Public License as published by
|
||||||
|
* the Free Software Foundation, either version 3 of the License, or
|
||||||
|
* (at your option) any later version.
|
||||||
|
*
|
||||||
|
* The Java ROSBridge Client is distributed in the hope that it will be useful,
|
||||||
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
|
* GNU General Public License for more details.
|
||||||
|
*
|
||||||
|
* You should have received a copy of the GNU General Public License
|
||||||
|
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
package com.example.testdemo.ros.rosbridge.operation;
|
||||||
|
|
||||||
|
import com.example.testdemo.ros.message.Message;
|
||||||
|
import com.example.testdemo.ros.message.MessageType;
|
||||||
|
import com.example.testdemo.ros.rosbridge.indication.Indicated;
|
||||||
|
import com.example.testdemo.ros.rosbridge.indication.Indicator;
|
||||||
|
|
||||||
|
@MessageType(string = "service_response")
|
||||||
|
public class ServiceResponse extends Operation {
|
||||||
|
@Indicator public String service;
|
||||||
|
public boolean result;
|
||||||
|
@Indicated public Message values;
|
||||||
|
|
||||||
|
public ServiceResponse() {}
|
||||||
|
|
||||||
|
public ServiceResponse(String service) {
|
||||||
|
this.service = service;
|
||||||
|
}
|
||||||
|
}
|
||||||
@ -0,0 +1,38 @@
|
|||||||
|
/**
|
||||||
|
* Copyright (c) 2014 example.testdemo Systems, Inc.
|
||||||
|
*
|
||||||
|
* This file is part of the Java ROSBridge Client.
|
||||||
|
*
|
||||||
|
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
|
||||||
|
* it under the terms of the GNU General Public License as published by
|
||||||
|
* the Free Software Foundation, either version 3 of the License, or
|
||||||
|
* (at your option) any later version.
|
||||||
|
*
|
||||||
|
* The Java ROSBridge Client is distributed in the hope that it will be useful,
|
||||||
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
|
* GNU General Public License for more details.
|
||||||
|
*
|
||||||
|
* You should have received a copy of the GNU General Public License
|
||||||
|
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
package com.example.testdemo.ros.rosbridge.operation;
|
||||||
|
|
||||||
|
import com.example.testdemo.ros.message.MessageType;
|
||||||
|
|
||||||
|
@MessageType(string = "set_level")
|
||||||
|
public class SetStatusLevel extends Operation {
|
||||||
|
public String level;
|
||||||
|
|
||||||
|
public SetStatusLevel() {}
|
||||||
|
|
||||||
|
public SetStatusLevel(String level) {
|
||||||
|
this.level = null;
|
||||||
|
if ("none".equals(level) ||
|
||||||
|
"warning".equals(level) ||
|
||||||
|
"error".equals(level) ||
|
||||||
|
"info".equals(level))
|
||||||
|
this.level = level;
|
||||||
|
}
|
||||||
|
}
|
||||||
@ -0,0 +1,35 @@
|
|||||||
|
/**
|
||||||
|
* Copyright (c) 2014 example.testdemo Systems, Inc.
|
||||||
|
*
|
||||||
|
* This file is part of the Java ROSBridge Client.
|
||||||
|
*
|
||||||
|
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
|
||||||
|
* it under the terms of the GNU General Public License as published by
|
||||||
|
* the Free Software Foundation, either version 3 of the License, or
|
||||||
|
* (at your option) any later version.
|
||||||
|
*
|
||||||
|
* The Java ROSBridge Client is distributed in the hope that it will be useful,
|
||||||
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
|
* GNU General Public License for more details.
|
||||||
|
*
|
||||||
|
* You should have received a copy of the GNU General Public License
|
||||||
|
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
package com.example.testdemo.ros.rosbridge.operation;
|
||||||
|
|
||||||
|
import com.example.testdemo.ros.message.MessageType;
|
||||||
|
|
||||||
|
@MessageType(string = "status")
|
||||||
|
public class Status extends Operation {
|
||||||
|
String level;
|
||||||
|
String msg;
|
||||||
|
|
||||||
|
public Status() {}
|
||||||
|
|
||||||
|
public Status(String level, String msg) {
|
||||||
|
this.level = level;
|
||||||
|
this.msg = msg;
|
||||||
|
}
|
||||||
|
}
|
||||||
@ -0,0 +1,39 @@
|
|||||||
|
/**
|
||||||
|
* Copyright (c) 2014 example.testdemo Systems, Inc.
|
||||||
|
*
|
||||||
|
* This file is part of the Java ROSBridge Client.
|
||||||
|
*
|
||||||
|
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
|
||||||
|
* it under the terms of the GNU General Public License as published by
|
||||||
|
* the Free Software Foundation, either version 3 of the License, or
|
||||||
|
* (at your option) any later version.
|
||||||
|
*
|
||||||
|
* The Java ROSBridge Client is distributed in the hope that it will be useful,
|
||||||
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
|
* GNU General Public License for more details.
|
||||||
|
*
|
||||||
|
* You should have received a copy of the GNU General Public License
|
||||||
|
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
package com.example.testdemo.ros.rosbridge.operation;
|
||||||
|
|
||||||
|
import com.example.testdemo.ros.message.MessageType;
|
||||||
|
|
||||||
|
@MessageType(string = "subscribe")
|
||||||
|
public class Subscribe extends Operation {
|
||||||
|
public String topic;
|
||||||
|
public String type;
|
||||||
|
public Integer throttle_rate; // use Integer for optional items
|
||||||
|
public Integer queue_length; // use Integer for optional items
|
||||||
|
public Integer fragment_size; // use Integer for optional items
|
||||||
|
public String compression;
|
||||||
|
|
||||||
|
public Subscribe() {}
|
||||||
|
|
||||||
|
public Subscribe(String topic, String type) {
|
||||||
|
this.topic = topic;
|
||||||
|
this.type = type;
|
||||||
|
}
|
||||||
|
}
|
||||||
@ -0,0 +1,33 @@
|
|||||||
|
/**
|
||||||
|
* Copyright (c) 2014 example.testdemo Systems, Inc.
|
||||||
|
*
|
||||||
|
* This file is part of the Java ROSBridge Client.
|
||||||
|
*
|
||||||
|
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
|
||||||
|
* it under the terms of the GNU General Public License as published by
|
||||||
|
* the Free Software Foundation, either version 3 of the License, or
|
||||||
|
* (at your option) any later version.
|
||||||
|
*
|
||||||
|
* The Java ROSBridge Client is distributed in the hope that it will be useful,
|
||||||
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
|
* GNU General Public License for more details.
|
||||||
|
*
|
||||||
|
* You should have received a copy of the GNU General Public License
|
||||||
|
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
package com.example.testdemo.ros.rosbridge.operation;
|
||||||
|
|
||||||
|
import com.example.testdemo.ros.message.MessageType;
|
||||||
|
|
||||||
|
@MessageType(string = "unadvertise")
|
||||||
|
public class Unadvertise extends Operation {
|
||||||
|
public String topic;
|
||||||
|
|
||||||
|
public Unadvertise() {}
|
||||||
|
|
||||||
|
public Unadvertise(String topic) {
|
||||||
|
this.topic = topic;
|
||||||
|
}
|
||||||
|
}
|
||||||
@ -0,0 +1,33 @@
|
|||||||
|
/**
|
||||||
|
* Copyright (c) 2014 example.testdemo Systems, Inc.
|
||||||
|
*
|
||||||
|
* This file is part of the Java ROSBridge Client.
|
||||||
|
*
|
||||||
|
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
|
||||||
|
* it under the terms of the GNU General Public License as published by
|
||||||
|
* the Free Software Foundation, either version 3 of the License, or
|
||||||
|
* (at your option) any later version.
|
||||||
|
*
|
||||||
|
* The Java ROSBridge Client is distributed in the hope that it will be useful,
|
||||||
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
|
* GNU General Public License for more details.
|
||||||
|
*
|
||||||
|
* You should have received a copy of the GNU General Public License
|
||||||
|
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
package com.example.testdemo.ros.rosbridge.operation;
|
||||||
|
|
||||||
|
import com.example.testdemo.ros.message.MessageType;
|
||||||
|
|
||||||
|
@MessageType(string = "unsubscribe")
|
||||||
|
public class Unsubscribe extends Operation {
|
||||||
|
public String topic;
|
||||||
|
|
||||||
|
public Unsubscribe() {}
|
||||||
|
|
||||||
|
public Unsubscribe(String topic) {
|
||||||
|
this.topic = topic;
|
||||||
|
}
|
||||||
|
}
|
||||||
@ -0,0 +1,33 @@
|
|||||||
|
/**
|
||||||
|
* Copyright (c) 2014 example.testdemo Systems, Inc.
|
||||||
|
*
|
||||||
|
* This file is part of the Java ROSBridge Client.
|
||||||
|
*
|
||||||
|
* The Java ROSBridge Client is free software: you can redistribute it and/or modify
|
||||||
|
* it under the terms of the GNU General Public License as published by
|
||||||
|
* the Free Software Foundation, either version 3 of the License, or
|
||||||
|
* (at your option) any later version.
|
||||||
|
*
|
||||||
|
* The Java ROSBridge Client is distributed in the hope that it will be useful,
|
||||||
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
|
* GNU General Public License for more details.
|
||||||
|
*
|
||||||
|
* You should have received a copy of the GNU General Public License
|
||||||
|
* along with the Java ROSBridge Client. If not, see http://www.gnu.org/licenses/.
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
package com.example.testdemo.ros.rosbridge.operation;
|
||||||
|
|
||||||
|
import com.example.testdemo.ros.message.MessageType;
|
||||||
|
import com.example.testdemo.ros.rosbridge.indication.Indicated;
|
||||||
|
import com.example.testdemo.ros.rosbridge.indication.Indicator;
|
||||||
|
|
||||||
|
@MessageType(string = "wrapper")
|
||||||
|
public class Wrapper extends Operation {
|
||||||
|
@Indicator public String op;
|
||||||
|
@Indicated
|
||||||
|
public Operation msg;
|
||||||
|
|
||||||
|
public Wrapper() {}
|
||||||
|
}
|
||||||
@ -0,0 +1 @@
|
|||||||
|
|
||||||
@ -0,0 +1,18 @@
|
|||||||
|
server:
|
||||||
|
port: 8080
|
||||||
|
servlet:
|
||||||
|
contest-path: /
|
||||||
|
spring:
|
||||||
|
application:
|
||||||
|
name: springboot websocket
|
||||||
|
mvc:
|
||||||
|
static-path-pattern: /**
|
||||||
|
thymeleaf:
|
||||||
|
mode: HTML5
|
||||||
|
suffix: .html
|
||||||
|
encoding: UTF-8
|
||||||
|
prefix:
|
||||||
|
classpath: /template
|
||||||
|
cache: false
|
||||||
|
|
||||||
|
|
||||||
File diff suppressed because one or more lines are too long
File diff suppressed because one or more lines are too long
@ -0,0 +1,59 @@
|
|||||||
|
<!DOCTYPE html>
|
||||||
|
<html>
|
||||||
|
<head>
|
||||||
|
<meta charset="utf-8" />
|
||||||
|
|
||||||
|
<script type="text/javascript" src="./em.js"></script>
|
||||||
|
<script type="text/javascript" src="./roslib.min.js"></script>
|
||||||
|
|
||||||
|
<script type="text/javascript" type="text/javascript">
|
||||||
|
// Connecting to ROS
|
||||||
|
// -----------------
|
||||||
|
|
||||||
|
var ros = new ROSLIB.Ros({
|
||||||
|
url : 'ws://192.168.43.20:9090'
|
||||||
|
});
|
||||||
|
|
||||||
|
ros.on('connection', function() {
|
||||||
|
console.log('Connected to websocket server.');
|
||||||
|
});
|
||||||
|
|
||||||
|
ros.on('error', function(error) {
|
||||||
|
console.log('Error connecting to websocket server: ', error);
|
||||||
|
});
|
||||||
|
|
||||||
|
ros.on('close', function() {
|
||||||
|
console.log('Connection to websocket server closed.');
|
||||||
|
});
|
||||||
|
|
||||||
|
// Publishing a Topic
|
||||||
|
// ------------------
|
||||||
|
|
||||||
|
var cmdVel = new ROSLIB.Topic({
|
||||||
|
ros : ros,
|
||||||
|
name : '/cmd_vel',
|
||||||
|
messageType : 'geometry_msgs/Twist'
|
||||||
|
});
|
||||||
|
|
||||||
|
var twist = new ROSLIB.Message({
|
||||||
|
linear : {
|
||||||
|
x : 0.1,
|
||||||
|
y : 0.2,
|
||||||
|
z : 0.3
|
||||||
|
},
|
||||||
|
angular : {
|
||||||
|
x : -0.1,
|
||||||
|
y : -0.2,
|
||||||
|
z : -0.3
|
||||||
|
}
|
||||||
|
});
|
||||||
|
cmdVel.publish(twist);
|
||||||
|
|
||||||
|
</script>
|
||||||
|
</head>
|
||||||
|
|
||||||
|
<body>
|
||||||
|
<h1>Simple roslib Example</h1>
|
||||||
|
<p>Check your Web Console for output.</p>
|
||||||
|
</body>
|
||||||
|
</html>
|
||||||
@ -0,0 +1,97 @@
|
|||||||
|
|
||||||
|
// document.write('<script type="text/javascript" src="http://cdn.robotwebtools.org/EventEmitter2/current/eventemitter2.min.js"></script>\n');
|
||||||
|
// document.write('<script type="text/javascript" src="http://cdn.robotwebtools.org/roslibjs/current/roslib.min.js"></script>\n');
|
||||||
|
|
||||||
|
var ros = new ROSLIB.Ros({
|
||||||
|
url : 'ws://192.168.43.20:9090'
|
||||||
|
});
|
||||||
|
|
||||||
|
ros.on('connection', function() {
|
||||||
|
console.log('Connected to websocket server.');
|
||||||
|
});
|
||||||
|
|
||||||
|
ros.on('error', function(error) {
|
||||||
|
console.log('Error connecting to websocket server: ', error);
|
||||||
|
});
|
||||||
|
|
||||||
|
ros.on('close', function() {
|
||||||
|
console.log('Connection to websocket server closed.');
|
||||||
|
});
|
||||||
|
var move_base= new ROSLIB.ActionClient({
|
||||||
|
ros : ros,
|
||||||
|
serverName : '/move_base',
|
||||||
|
actionName : 'move_base_msgs/MoveBaseAction'
|
||||||
|
});
|
||||||
|
|
||||||
|
var currentTime = new Date();
|
||||||
|
var secs = Math.floor(currentTime.getTime()/1000)
|
||||||
|
var nsecs = Math.round(1000000000*(currentTime.getTime()/1000-secs))
|
||||||
|
|
||||||
|
var goal = new ROSLIB.Goal({
|
||||||
|
actionClient: move_base,
|
||||||
|
goalMessage:{
|
||||||
|
target_pose:{
|
||||||
|
header:{
|
||||||
|
frame_id:'map',
|
||||||
|
stamp:{
|
||||||
|
secs: secs,
|
||||||
|
nsecs:nsecs
|
||||||
|
}
|
||||||
|
},
|
||||||
|
pose:{
|
||||||
|
position:{
|
||||||
|
x:-3.97, //-0.743 -0.0273 取件点
|
||||||
|
y:1.68, //3.00 -0.09
|
||||||
|
z:0.000
|
||||||
|
},
|
||||||
|
orientation:{
|
||||||
|
x:0.000,
|
||||||
|
y:0.000,
|
||||||
|
z:0.000,
|
||||||
|
w:1.000
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
});
|
||||||
|
goal.on('feedback', function(feedback) {
|
||||||
|
console.log('Feedback: ' + feedback.sequence);
|
||||||
|
});
|
||||||
|
|
||||||
|
goal.on('result', function(result) {
|
||||||
|
console.log('Final Result: ' + result.sequence);
|
||||||
|
});
|
||||||
|
|
||||||
|
ros.on('connection', function() {
|
||||||
|
console.log('Connected to websocket server.');
|
||||||
|
});
|
||||||
|
|
||||||
|
ros.on('error', function(error) {
|
||||||
|
console.log('Error connecting to websocket server: ', error);
|
||||||
|
});
|
||||||
|
|
||||||
|
ros.on('close', function() {
|
||||||
|
console.log('Connection to websocket server closed.');
|
||||||
|
});
|
||||||
|
|
||||||
|
//goal.send();
|
||||||
|
var cmdVel = new ROSLIB.Topic({
|
||||||
|
ros : ros,
|
||||||
|
name : '/cmd_vel',
|
||||||
|
messageType : 'geometry_msgs/Twist'
|
||||||
|
});
|
||||||
|
|
||||||
|
var twist = new ROSLIB.Message({
|
||||||
|
linear : {
|
||||||
|
x : 0.1,
|
||||||
|
y : 0.2,
|
||||||
|
z : 0.3
|
||||||
|
},
|
||||||
|
angular : {
|
||||||
|
x : -0.1,
|
||||||
|
y : -0.2,
|
||||||
|
z : -0.3
|
||||||
|
}
|
||||||
|
});
|
||||||
|
cmdVel.publish(twist);
|
||||||
|
|
||||||
@ -0,0 +1,13 @@
|
|||||||
|
package com.example.testdemo;
|
||||||
|
|
||||||
|
import org.junit.jupiter.api.Test;
|
||||||
|
import org.springframework.boot.test.context.SpringBootTest;
|
||||||
|
|
||||||
|
@SpringBootTest
|
||||||
|
class TestdemoApplicationTests {
|
||||||
|
|
||||||
|
@Test
|
||||||
|
void contextLoads() {
|
||||||
|
}
|
||||||
|
|
||||||
|
}
|
||||||
Loading…
Reference in new issue