diff --git a/src/rosjava_actionlib/launch/test.launch b/src/rosjava_actionlib/launch/test.launch
new file mode 100644
index 0000000000000000000000000000000000000000..909715b71be0405eb87b473f9837ef15cf9f7685
--- /dev/null
+++ b/src/rosjava_actionlib/launch/test.launch
@@ -0,0 +1,4 @@
+<launch>
+<node pkg="actionlib_tutorials" type="fibonacci_server" name="fibonacci_server"/>
+<test pkg="rosjava_actionlib" type="execute" test-name="rosjava_actionlib" args="com.github.ekumen.rosjava_actionlib.TestClient"/>
+</launch>
diff --git a/src/rosjava_actionlib/rosjava_actionlib/build.gradle b/src/rosjava_actionlib/rosjava_actionlib/build.gradle
index 89829f89c0419a500f24f5770f60afe1125eda7d..5fbba5269834d55988109f5bf781dcf5753da57e 100644
--- a/src/rosjava_actionlib/rosjava_actionlib/build.gradle
+++ b/src/rosjava_actionlib/rosjava_actionlib/build.gradle
@@ -37,3 +37,15 @@ dependencies {
compile 'org.ros.rosjava_messages:actionlib_tutorials:[0.1,)'
}
+
+task deployApp(dependsOn: 'installApp') << {
+ File binDir = new File(project.projectDir, '/bin')
+ if (! binDir.isDirectory()) {
+ println "Creating $binDir directory"
+ binDir.mkdirs()
+ }
+ File link = new File(binDir,"execute")
+ File target = new File(project.projectDir, "build/install/$project.name/bin/$project.name")
+ println "Creating symlink from $link.absolutePath to $target.absolutePath"
+ ant.symlink(link: link.absolutePath, resource: target.absolutePath)
+}
diff --git a/src/rosjava_actionlib/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/ActionClient.java b/src/rosjava_actionlib/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/ActionClient.java
index e198ddfd37505a77ba5e42ac387abfa642c78831..c4f00974c6ebe0400768b77c3bf1a42929ea6267 100644
--- a/src/rosjava_actionlib/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/ActionClient.java
+++ b/src/rosjava_actionlib/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/ActionClient.java
@@ -7,37 +7,86 @@ import org.ros.node.ConnectedNode;
import org.ros.node.topic.Subscriber;
import org.ros.node.topic.Publisher;
import org.ros.message.MessageListener;
-import org.ros.message.Message;
+import org.ros.internal.message.Message;
+import java.util.concurrent.TimeUnit;
+
+public class ActionClient<T_ACTION_GOAL extends Message,
+ T_ACTION_FEEDBACK extends Message,
+ T_ACTION_RESULT extends Message> {
+
+ T_ACTION_GOAL actionGoal;
+ String actionGoalType;
+ String actionResultType;
+ String actionFeedbackType;
+ Publisher<T_ACTION_GOAL> goalPublisher = null;
+ //Publisher<actionlib_msgs.cancel> clientCancel;
+ //Suscriber<actionlib_msgs.status> serverStatus;
+ Subscriber<T_ACTION_RESULT> serverResult = null;
+ Subscriber<T_ACTION_FEEDBACK> serverFeedback = null;
+ ConnectedNode node = null;
+ String actionName;
+ ActionClientListener callbackTarget = null;
+
+ ActionClient (ConnectedNode node, String actionName, String actionGoalType,
+ String actionFeedbackType, String actionResultType) {
+ this.node = node;
+ this.actionName = actionName;
+ this.actionGoalType = actionGoalType;
+ this.actionFeedbackType = actionFeedbackType;
+ this.actionResultType = actionResultType;
-public class ActionClient extends AbstractNodeMain {
+ connect(node);
+ }
- private string actionName = "fibonacci";
+ public void attachListener(ActionClientListener target) {
+ callbackTarget = target;
+ }
- //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;
+ public void sendGoal(T_ACTION_GOAL goal) {
+ goalPublisher.publish(goal);
+ }
void ActionClient(string actionName) {
this.actionName = actionName;
}
private void publishClient(ConnectedNode node) {
- clientGoal = node.newPublisher(actionName + "/goal",
- actionlib_tutorials.FibonacciActionGoal._TYPE);
+ goalPublisher = node.newPublisher(actionName + "/goal", actionGoalType);
//clientCancel = connectedNode.newPublisher("fibonacci/cancel",
// actionlib_msgs.cancel._TYPE);
}
- private void suscribeToServer(ConnectedNode node) {
- serverResult = node.newSubscriber(actionName + "/result",
- actionlib_tutorials.FibonacciActionResult._TYPE);
+ private void unpublishClient() {
+ if (goalPublisher != null) {
+ goalPublisher.shutdown(5, TimeUnit.SECONDS);
+ }
+ }
+
+ public T_ACTION_GOAL newGoalMessage() {
+ return goalPublisher.newMessage();
+ }
- serverResult.addMessageListener(new MessageListener<actionlib_tutorials.FibonacciActionResult>() {
+ private void subscribeToServer(ConnectedNode node) {
+ serverResult = node.newSubscriber(actionName + "/result", actionResultType);
+ serverFeedback = node.newSubscriber(actionName + "/feedback", actionFeedbackType);
+
+ serverFeedback.addMessageListener(new MessageListener<T_ACTION_FEEDBACK>() {
@Override
- public void onNewMessage(actionlib_tutorials.FibonacciActionResult message) {
+ public void onNewMessage(T_ACTION_FEEDBACK message) {
+ gotFeedback(message);
+ }
+ });
+
+ serverResult.addMessageListener(new MessageListener<T_ACTION_RESULT>() {
+ @Override
+ public void onNewMessage(T_ACTION_RESULT message) {
+ gotResult(message);
+ }
+ });
+
+ serverResult.addMessageListener(new MessageListener<T_ACTION_RESULT>() {
+ @Override
+ public void onNewMessage(T_ACTION_RESULT message) {
gotResult(message);
}
});
@@ -48,51 +97,43 @@ public class ActionClient extends AbstractNodeMain {
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");
+ private void unsubscribeToServer() {
+ if (serverFeedback != null) {
+ serverFeedback.shutdown(5, TimeUnit.SECONDS);
+ }
+ if (serverResult != null) {
+ serverResult.shutdown(5, TimeUnit.SECONDS);
+ }
}
-/**
- * Publishes the client's topics and suscribes to the server's topics.
- */
- public void connect(ConnectedNode node) {
- publishClient(node);
- //suscribeServer(node);
+ public void gotResult(T_ACTION_RESULT message) {
+ // Propagate the callback
+ if (callbackTarget != null) {
+ callbackTarget.resultReceived(message);
+ }
}
- @Override
- public GraphName getDefaultNodeName() {
- return GraphName.of("fibonacci_client");
+ public void gotFeedback(T_ACTION_FEEDBACK message) {
+ // Propagate the callback
+ if (callbackTarget != null) {
+ callbackTarget.feedbackReceived(message);
}
+ }
- @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);
+ /**
+ * Publishes the client's topics and suscribes to the server's topics.
+ */
+ private void connect(ConnectedNode node) {
+ publishClient(node);
+ subscribeToServer(node);
+ }
- while (true) {
- clientGoal.publish(goalMessage);
- try {
- Thread.sleep(10000);
- }
- catch (InterruptedException ex) {
- ;
- }
- }
+ /**
+ * Finish the action client. Unregister publishers and listeners.
+ */
+ public void finish() {
+ callbackTarget = null;
+ unpublishClient();
+ unsubscribeToServer();
}
}
diff --git a/src/rosjava_actionlib/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/ActionClientListener.java b/src/rosjava_actionlib/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/ActionClientListener.java
index c3453a811896c4c90785b2f9326cd6aa1f34edb1..680c731ddcecaa5fbeff3963e632f7976a8d19ee 100644
--- a/src/rosjava_actionlib/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/ActionClientListener.java
+++ b/src/rosjava_actionlib/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/ActionClientListener.java
@@ -4,9 +4,11 @@ import org.ros.internal.message.Message;
/**
* Listener interface to receive the incoming messages from the ActionLib server.
+ * A client should implement this interface if it wants to receive the callbacks
+ * with information from the server.
*/
-public interface ActionClientListener {
- void resultReceived(Message result);
- void feedbackReceived(Message feedback);
+public interface ActionClientListener<T_ACTION_FEEDBACK extends Message, T_ACTION_RESULT extends Message> {
+ void resultReceived(T_ACTION_RESULT result);
+ void feedbackReceived(T_ACTION_FEEDBACK feedback);
void statusReceived(Message status);
}
diff --git a/src/rosjava_actionlib/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/TestClient.java b/src/rosjava_actionlib/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/TestClient.java
new file mode 100644
index 0000000000000000000000000000000000000000..919ce66a9125bfebe08e402ba03935559ba3abf7
--- /dev/null
+++ b/src/rosjava_actionlib/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/TestClient.java
@@ -0,0 +1,99 @@
+package com.github.ekumen.rosjava_actionlib;
+
+import org.ros.namespace.GraphName;
+import org.ros.node.AbstractNodeMain;
+import org.ros.node.ConnectedNode;
+import org.ros.internal.message.Message;
+import actionlib_tutorials.FibonacciActionGoal;
+import actionlib_tutorials.FibonacciActionFeedback;
+import actionlib_tutorials.FibonacciActionResult;
+import actionlib_tutorials.FibonacciGoal;
+import actionlib_tutorials.FibonacciFeedback;
+import actionlib_tutorials.FibonacciResult;
+
+public class TestClient extends AbstractNodeMain implements ActionClientListener<FibonacciActionFeedback, FibonacciActionResult> {
+ ActionClient ac;
+ volatile private boolean responded = false;
+
+ @Override
+ public GraphName getDefaultNodeName() {
+ return GraphName.of("fibonacci_test_client");
+ }
+
+ @Override
+ public void onStart(ConnectedNode node) {
+ ac = new ActionClient<FibonacciActionGoal, FibonacciActionFeedback, FibonacciActionResult>(node, "/fibonacci", FibonacciActionGoal._TYPE, FibonacciActionFeedback._TYPE, FibonacciActionResult._TYPE);
+ int repeat = 3;
+
+ // Attach listener for the callbacks
+ ac.attachListener(this);
+
+ // publish a goal message
+ FibonacciActionGoal goalMessage = (FibonacciActionGoal)ac.newGoalMessage();
+ FibonacciGoal fibonacciGoal = goalMessage.getGoal();
+
+ // set Fibonacci parameter
+ fibonacciGoal.setOrder(6);
+ goalMessage.setGoal(fibonacciGoal);
+
+ while(repeat > 0) {
+ sleep(1000);
+ System.out.println("Sending goal #" + repeat + "...");
+ ac.sendGoal(goalMessage);
+ System.out.println("Goal sent.");
+ repeat--;
+ }
+
+ while (repeat > 0) {
+ responded = false;
+ ac.sendGoal(goalMessage);
+ while (!responded) {
+ }
+ repeat--;
+ }
+
+ System.out.println("Finishing node!!");
+ sleep(30000);
+ ac.finish();
+ node.shutdown();
+ }
+
+ @Override
+ public void resultReceived(FibonacciActionResult message) {
+ FibonacciResult result = message.getResult();
+ int[] sequence = result.getSequence();
+ int i;
+
+ responded = true;
+
+ 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");
+ }
+
+ @Override
+ public void feedbackReceived(FibonacciActionFeedback message) {
+ FibonacciFeedback result = message.getFeedback();
+ int[] sequence = result.getSequence();
+ int i;
+
+ System.out.print("Feedback from Fibonacci server: ");
+ for (i=0; i<sequence.length; i++)
+ System.out.print(Integer.toString(sequence[i]) + " ");
+ System.out.print("\n");
+ }
+
+ @Override
+ public void statusReceived(Message status) {
+
+ }
+
+ private void sleep(long msec) {
+ try {
+ Thread.sleep(msec);
+ }
+ catch (InterruptedException ex) {
+ }
+ }
+}