Add tutorial project for services.

Small improvements to debugging output and javadoc.

rosjava/src/main/java/org/ros/internal/node/service/DefaultServiceServer.java

@@ -219,4 +219,9 @@ public class DefaultServiceServer<T, S> implements ServiceServer<T, S> {
   public void removeListener(ServiceServerListener<T, S> listener) {
     listenerCollection.remove(listener);
   }
+
+  @Override
+  public String toString() {
+    return "ServiceServer<" + getDeclaration() + ">";
+  }
 }

rosjava_tutorial_pubsub/src/main/java/org/ros/rosjava_tutorial_pubsub/Listener.java

@@ -24,8 +24,7 @@ import org.ros.node.NodeMain;
 import org.ros.node.topic.Subscriber;
 
 /**
- * This is a simple rosjava {@link Subscriber} {@link Node}. It assumes an
- * external roscore is already running.
+ * A simple {@link Subscriber} {@link NodeMain}.
  * 
  * @author damonkohler@google.com (Damon Kohler)
  */

rosjava_tutorial_pubsub/src/main/java/org/ros/rosjava_tutorial_pubsub/Talker.java

@@ -23,7 +23,7 @@ import org.ros.node.NodeMain;
 import org.ros.node.topic.Publisher;
 
 /**
- * A simple {@link Publisher} {@link Node}.
+ * A simple {@link Publisher} {@link NodeMain}.
  * 
  * @author damonkohler@google.com (Damon Kohler)
  */

rosjava_tutorial_services/build.gradle

+/*
+ * Copyright (C) 2011 Google Inc.
+ *
+ * Licensed 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
+ *
+ * http://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.
+ */
+
+apply plugin: 'application'
+
+mainClassName = 'org.ros.RosRun'
+
+dependencies {
+  compile project(':rosjava')
+}

rosjava_tutorial_services/mainpage.dox

+/**
+\mainpage
+\htmlinclude manifest.html
+
+\b rosjava_tutorial_services is ... 
+
+<!-- 
+Provide an overview of your package.
+-->
+
+
+\section codeapi Code API
+
+<!--
+Provide links to specific auto-generated API documentation within your
+package that is of particular interest to a reader. Doxygen will
+document pretty much every part of your code, so do your best here to
+point the reader to the actual API.
+
+If your codebase is fairly large or has different sets of APIs, you
+should use the doxygen 'group' tag to keep these APIs together. For
+example, the roscpp documentation has 'libros' group.
+-->
+
+
+*/

rosjava_tutorial_services/manifest.xml

+<package>
+  <description brief="rosjava_tutorial_services">
+     rosjava_tutorial_services is a simple example project.
+  </description>
+  <author>Damon Kohler</author>
+  <license>Apache 2.0</license>
+  <review status="unreviewed" notes="" />
+  <url>http://ros.org/wiki/rosjava_tutorial_services</url>
+</package>

rosjava_tutorial_services/src/main/java/org/ros/rosjava_tutorial_services/Client.java

+/*
+ * Copyright (C) 2011 Google Inc.
+ * 
+ * Licensed 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
+ * 
+ * http://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.
+ */
+
+package org.ros.rosjava_tutorial_services;
+
+import org.ros.exception.RemoteException;
+import org.ros.exception.RosRuntimeException;
+import org.ros.exception.ServiceNotFoundException;
+import org.ros.namespace.GraphName;
+import org.ros.node.Node;
+import org.ros.node.NodeMain;
+import org.ros.node.service.ServiceClient;
+import org.ros.node.service.ServiceResponseListener;
+import test_ros.AddTwoInts.Response;
+
+/**
+ * A simple {@link ServiceClient} {@link NodeMain}.
+ * 
+ * @author damonkohler@google.com (Damon Kohler)
+ */
+public class Client implements NodeMain {
+
+  @Override
+  public GraphName getDefaultNodeName() {
+    return new GraphName("rosjava_tutorial_services/client");
+  }
+
+  @Override
+  public void onStart(final Node node) {
+    ServiceClient<test_ros.AddTwoInts.Request, test_ros.AddTwoInts.Response> serviceClient;
+    try {
+      serviceClient = node.newServiceClient("add_two_ints", test_ros.AddTwoInts._TYPE);
+    } catch (ServiceNotFoundException e) {
+      throw new RosRuntimeException(e);
+    }
+    final test_ros.AddTwoInts.Request request = serviceClient.newMessage();
+    request.setA(2);
+    request.setB(2);
+    serviceClient.call(request, new ServiceResponseListener<test_ros.AddTwoInts.Response>() {
+      @Override
+      public void onSuccess(Response response) {
+        node.getLog().info(
+            String.format("%d + %d = %d", request.getA(), request.getB(), response.getSum()));
+      }
+
+      @Override
+      public void onFailure(RemoteException e) {
+        throw new RosRuntimeException(e);
+      }
+    });
+  }
+
+  @Override
+  public void onShutdown(Node node) {
+  }
+
+  @Override
+  public void onShutdownComplete(Node node) {
+  }
+}

rosjava_tutorial_services/src/main/java/org/ros/rosjava_tutorial_services/Server.java

+/*
+ * Copyright (C) 2011 Google Inc.
+ * 
+ * Licensed 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
+ * 
+ * http://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.
+ */
+
+package org.ros.rosjava_tutorial_services;
+
+import org.ros.internal.node.service.ServiceException;
+import org.ros.internal.node.service.ServiceResponseBuilder;
+import org.ros.namespace.GraphName;
+import org.ros.node.Node;
+import org.ros.node.NodeMain;
+import org.ros.node.service.ServiceServer;
+import test_ros.AddTwoInts.Request;
+import test_ros.AddTwoInts.Response;
+
+/**
+ * This is a simple {@link ServiceServer} {@link NodeMain}.
+ * 
+ * @author damonkohler@google.com (Damon Kohler)
+ */
+public class Server implements NodeMain {
+
+  @Override
+  public GraphName getDefaultNodeName() {
+    return new GraphName("rosjava_tutorial_services/server");
+  }
+
+  @Override
+  public void onStart(Node node) {
+    node.newServiceServer("add_two_ints", test_ros.AddTwoInts._TYPE,
+        new ServiceResponseBuilder<test_ros.AddTwoInts.Request, test_ros.AddTwoInts.Response>() {
+          @Override
+          public void build(Request request, Response response) throws ServiceException {
+            response.setSum(request.getA() + request.getB());
+          }
+        });
+  }
+
+  @Override
+  public void onShutdown(Node node) {
+  }
+
+  @Override
+  public void onShutdownComplete(Node node) {
+  }
+}

settings.gradle

@@ -16,6 +16,7 @@
 
 include 'rosjava_bootstrap', 'rosjava_messages', 'apache_xmlrpc_common',
         'apache_xmlrpc_client', 'apache_xmlrpc_server', 'rosjava',
-        'rosjava_geometry', 'rosjava_tutorial_pubsub', 'docs'
+        'rosjava_geometry', 'rosjava_tutorial_pubsub',
+        'rosjava_tutorial_services', 'docs'
         // TODO(damonkohler): Enable these once actionlib is working again.
         // 'rosjava_actionlib', 'rosjava_actionlib_tutorial'