First tests of the client.

Publishing a goal and suscribing to the result using the Fibonacci example.

src/rosjava_actionlib/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/ActionClient.java

 
-public class ActionClient {
-  private void publishClient() {
+package com.github.ekumen.rosjava_actionlib;
 
+import org.ros.namespace.GraphName;
+import org.ros.node.AbstractNodeMain;
+import org.ros.node.ConnectedNode;
+import org.ros.node.topic.Subscriber;
+import org.ros.node.topic.Publisher;
+import org.ros.message.MessageListener;
+
+public class ActionClient extends AbstractNodeMain {
+  //actionlib_tutorials.FibonacciActionGoal actionGoal;
+  Publisher<actionlib_tutorials.FibonacciActionGoal> clientGoal;
+  //Publisher<actionlib_msgs.cancel> clientCancel;
+  //Suscriber<actionlib_msgs.status> serverStatus;
+  Subscriber<actionlib_tutorials.FibonacciActionResult> serverResult;
+  //Suscriber<actionlib_tutorials.FibonacciActionFeedback> serverFeedback;
+
+  private void publishClient(ConnectedNode node) {
+    clientGoal = node.newPublisher("fibonacci/goal",
+      actionlib_tutorials.FibonacciActionGoal._TYPE);
+    //clientCancel = connectedNode.newPublisher("fibonacci/cancel",
+    //  actionlib_msgs.cancel._TYPE);
   }
 
-  private void suscribeServer() {
+  private void suscribeServer(ConnectedNode node) {
+    serverResult = node.newSubscriber("fibonacci/result",
+      actionlib_tutorials.FibonacciActionResult._TYPE);
 
+    serverResult.addMessageListener(new MessageListener<actionlib_tutorials.FibonacciActionResult>() {
+      @Override
+      public void onNewMessage(actionlib_tutorials.FibonacciActionResult message) {
+        gotResult(message);
+      }
+    });
+
+    /*serverStatus = node.newSubscriber("fibonacci/status",
+      actionlib_msgs.status._TYPE);
+    serverFeedback = node.newSubscriber("fibonacci/feedback",
+      actionlib_tutorials.FibonacciActionFeedback._TYPE);*/
+  }
+
+  public void gotResult(actionlib_tutorials.FibonacciActionResult message) {
+    actionlib_tutorials.FibonacciResult result = message.getResult();
+    int[] sequence = result.getSequence();
+    int i;
+
+    System.out.print("Got Fibonacci result sequence! ");
+    for (i=0; i<sequence.length; i++)
+      System.out.print(Integer.toString(sequence[i]) + " ");
+    System.out.print("\n");
   }
 
 /**
  * Publishes the client's topics and suscribes to the server's topics.
  */
-  public void connect() {
-    publishClient();
-    suscribeServer();
+  public void connect(ConnectedNode node) {
+    publishClient(node);
+    //suscribeServer(node);
+  }
+
+  @Override
+  public GraphName getDefaultNodeName() {
+      return GraphName.of("fibonacci_client");
+    }
+
+    @Override
+    public void onStart(ConnectedNode node) {
+      connect(node);
+
+      suscribeServer(node);
+
+      // publish a goal message
+      actionlib_tutorials.FibonacciActionGoal goalMessage = clientGoal.newMessage();
+      actionlib_tutorials.FibonacciGoal fibonacciGoal = goalMessage.getGoal();
+      // set Fibonacci parameter
+      fibonacciGoal.setOrder(6);
+      goalMessage.setGoal(fibonacciGoal);
+
+      while (true) {
+        clientGoal.publish(goalMessage);
+        try {
+          Thread.sleep(10000);
+        }
+        catch (InterruptedException ex) {
+          ;
+        }
+      }
     }
 }