diff --git a/src/rosjava_actionlib/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/TestServer.java b/src/rosjava_actionlib/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/TestServer.java new file mode 100644 index 0000000000000000000000000000000000000000..71d8d6593f971ebf182671b9568836e7f22531c7 --- /dev/null +++ b/src/rosjava_actionlib/rosjava_actionlib/src/main/java/com/github/ekumen/rosjava_actionlib/TestServer.java @@ -0,0 +1,42 @@ +package com.github.ekumen.rosjava_actionlib; + +import java.util.List; +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; +import actionlib_msgs.GoalStatusArray; +import actionlib_msgs.GoalID; +import actionlib_msgs.GoalStatus; + +public class TestServer extends AbstractNodeMain implements ActionServerListener<FibonacciActionGoal> { + private ActionServer<FibonacciActionGoal, FibonacciActionFeedback, FibonacciActionResult> as = null; + + @Override + public GraphName getDefaultNodeName() { + return GraphName.of("fibonacci_test_server"); + } + + @Override + public void onStart(ConnectedNode node) { + as = new ActionServer<FibonacciActionGoal, FibonacciActionFeedback, + FibonacciActionResult>(node, "/fibonacci", FibonacciActionGoal._TYPE, + FibonacciActionFeedback._TYPE, FibonacciActionResult._TYPE); + } + + @Override + public void goalReceived(FibonacciActionGoal goal) { + System.out.println("Goal received."); + } + + @Override + public void cancelReceived(GoalID id) { + System.out.println("Cancel received."); + } +}