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Commit b907b490 authored by Damon Kohler's avatar Damon Kohler
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Fix build.gradle to include latest Guava. 

Change services to create named request and response messages (previously anonymous).
parent 36e49711
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with 71 additions and 77 deletions
rosjava/src/test/java/org/ros/node/service/ServiceIntegrationTest.java
+ 18
− 18
View file @ b907b490
......@@ -43,7 +43,7 @@ public class ServiceIntegrationTest extends RosTest {
@Test
public void testPesistentServiceConnection() throws Exception {
final CountDownServiceServerListener<test_ros.AddTwoInts.Request, test_ros.AddTwoInts.Response> countDownServiceServerListener =
final CountDownServiceServerListener<test_ros.AddTwoIntsRequest, test_ros.AddTwoIntsResponse> countDownServiceServerListener =
CountDownServiceServerListener.newDefault();
nodeMainExecutor.execute(new AbstractNodeMain() {
@Override
......@@ -53,15 +53,15 @@ public class ServiceIntegrationTest extends RosTest {
@Override
public void onStart(final ConnectedNode connectedNode) {
ServiceServer<test_ros.AddTwoInts.Request, test_ros.AddTwoInts.Response> serviceServer =
ServiceServer<test_ros.AddTwoIntsRequest, test_ros.AddTwoIntsResponse> serviceServer =
connectedNode
.newServiceServer(
SERVICE_NAME,
test_ros.AddTwoInts._TYPE,
new ServiceResponseBuilder<test_ros.AddTwoInts.Request, test_ros.AddTwoInts.Response>() {
new ServiceResponseBuilder<test_ros.AddTwoIntsRequest, test_ros.AddTwoIntsResponse>() {
@Override
public void build(test_ros.AddTwoInts.Request request,
test_ros.AddTwoInts.Response response) {
public void build(test_ros.AddTwoIntsRequest request,
test_ros.AddTwoIntsResponse response) {
response.setSum(request.getA() + request.getB());
}
});
......@@ -86,7 +86,7 @@ public class ServiceIntegrationTest extends RosTest {
@Override
public void onStart(ConnectedNode connectedNode) {
ServiceClient<test_ros.AddTwoInts.Request, test_ros.AddTwoInts.Response> serviceClient;
ServiceClient<test_ros.AddTwoIntsRequest, test_ros.AddTwoIntsResponse> serviceClient;
try {
serviceClient = connectedNode.newServiceClient(SERVICE_NAME, test_ros.AddTwoInts._TYPE);
// Test that requesting another client for the same service returns
......@@ -97,12 +97,12 @@ public class ServiceIntegrationTest extends RosTest {
} catch (ServiceNotFoundException e) {
throw new RosRuntimeException(e);
}
test_ros.AddTwoInts.Request request = serviceClient.newMessage();
test_ros.AddTwoIntsRequest request = serviceClient.newMessage();
request.setA(2);
request.setB(2);
serviceClient.call(request, new ServiceResponseListener<test_ros.AddTwoInts.Response>() {
serviceClient.call(request, new ServiceResponseListener<test_ros.AddTwoIntsResponse>() {
@Override
public void onSuccess(test_ros.AddTwoInts.Response response) {
public void onSuccess(test_ros.AddTwoIntsResponse response) {
assertEquals(response.getSum(), 4);
latch.countDown();
}
......@@ -121,7 +121,7 @@ public class ServiceIntegrationTest extends RosTest {
@Test
public void testRequestFailure() throws Exception {
final String errorMessage = "Error!";
final CountDownServiceServerListener<test_ros.AddTwoInts.Request, test_ros.AddTwoInts.Response> countDownServiceServerListener =
final CountDownServiceServerListener<test_ros.AddTwoIntsRequest, test_ros.AddTwoIntsResponse> countDownServiceServerListener =
CountDownServiceServerListener.newDefault();
nodeMainExecutor.execute(new AbstractNodeMain() {
@Override
......@@ -131,15 +131,15 @@ public class ServiceIntegrationTest extends RosTest {
@Override
public void onStart(ConnectedNode connectedNode) {
ServiceServer<test_ros.AddTwoInts.Request, test_ros.AddTwoInts.Response> serviceServer =
ServiceServer<test_ros.AddTwoIntsRequest, test_ros.AddTwoIntsResponse> serviceServer =
connectedNode
.newServiceServer(
SERVICE_NAME,
test_ros.AddTwoInts._TYPE,
new ServiceResponseBuilder<test_ros.AddTwoInts.Request, test_ros.AddTwoInts.Response>() {
new ServiceResponseBuilder<test_ros.AddTwoIntsRequest, test_ros.AddTwoIntsResponse>() {
@Override
public void build(test_ros.AddTwoInts.Request request,
test_ros.AddTwoInts.Response response) throws ServiceException {
public void build(test_ros.AddTwoIntsRequest request,
test_ros.AddTwoIntsResponse response) throws ServiceException {
throw new ServiceException(errorMessage);
}
});
......@@ -158,16 +158,16 @@ public class ServiceIntegrationTest extends RosTest {
@Override
public void onStart(ConnectedNode connectedNode) {
ServiceClient<test_ros.AddTwoInts.Request, test_ros.AddTwoInts.Response> serviceClient;
ServiceClient<test_ros.AddTwoIntsRequest, test_ros.AddTwoIntsResponse> serviceClient;
try {
serviceClient = connectedNode.newServiceClient(SERVICE_NAME, test_ros.AddTwoInts._TYPE);
} catch (ServiceNotFoundException e) {
throw new RosRuntimeException(e);
}
test_ros.AddTwoInts.Request request = serviceClient.newMessage();
serviceClient.call(request, new ServiceResponseListener<test_ros.AddTwoInts.Response>() {
test_ros.AddTwoIntsRequest request = serviceClient.newMessage();
serviceClient.call(request, new ServiceResponseListener<test_ros.AddTwoIntsResponse>() {
@Override
public void onSuccess(test_ros.AddTwoInts.Response message) {
public void onSuccess(test_ros.AddTwoIntsResponse message) {
fail();
}
......
rosjava_bootstrap/build.gradle
+ 1
− 1
View file @ b907b490
......@@ -18,7 +18,7 @@ dependencies {
compile 'org.apache.commons:com.springsource.org.apache.commons.codec:1.3.0'
compile 'org.apache.commons:com.springsource.org.apache.commons.lang:2.4.0'
compile 'org.apache.commons:com.springsource.org.apache.commons.io:1.4.0'
compile 'com.google.guava:guava:r07'
compile 'com.google.guava:guava:12.0'
testCompile 'junit:junit:4.8.2'
}
......
rosjava_bootstrap/src/main/java/org/ros/internal/message/GenerateInterfaces.java
+ 27
− 47
View file @ b907b490
......@@ -76,21 +76,7 @@ public class GenerateInterfaces {
for (MessageIdentifier topicType : topicTypes) {
String definition = messageDefinitionProviderChain.get(topicType.getType());
MessageDeclaration messageDeclaration = new MessageDeclaration(topicType, definition);
MessageInterfaceBuilder builder = new MessageInterfaceBuilder();
builder.setMessageDeclaration(messageDeclaration);
builder.setPackageName(messageDeclaration.getPackage());
builder.setInterfaceName(messageDeclaration.getName());
builder.setAddConstantsAndMethods(true);
String content;
try {
content = builder.build(messageFactory);
} catch (Exception e) {
System.out.println(String.format("Failed to generate interface for %s: %s",
topicType.getType(), e.getMessage()));
continue;
}
File file = new File(outputDirectory, topicType.getType() + ".java");
FileUtils.writeStringToFile(file, content);
writeInterface(messageDeclaration, outputDirectory, true);
}
}
......@@ -117,40 +103,34 @@ public class GenerateInterfaces {
}
for (MessageIdentifier serviceType : serviceTypes) {
String definition = messageDefinitionProviderChain.get(serviceType.getType());
MessageInterfaceBuilder builder = new MessageInterfaceBuilder();
builder.setMessageDeclaration(new MessageDeclaration(serviceType, definition));
builder.setPackageName(serviceType.getPackage());
builder.setInterfaceName(serviceType.getName());
builder.setAddConstantsAndMethods(false);
MessageDeclaration serviceDeclaration =
MessageDeclaration.of(serviceType.getType(), definition);
writeInterface(serviceDeclaration, outputDirectory, false);
List<String> requestAndResponse = MessageDefinitionTupleParser.parse(definition, 2);
MessageDeclaration request = new MessageDeclaration(serviceType, requestAndResponse.get(0));
MessageDeclaration response = new MessageDeclaration(serviceType, requestAndResponse.get(1));
MessageInterfaceBuilder requestBuilder = new MessageInterfaceBuilder();
requestBuilder.setMessageDeclaration(request);
requestBuilder.setInterfaceName("Request");
requestBuilder.setAddConstantsAndMethods(true);
MessageInterfaceBuilder responseBuilder = new MessageInterfaceBuilder();
responseBuilder.setMessageDeclaration(response);
responseBuilder.setInterfaceName("Response");
responseBuilder.setAddConstantsAndMethods(true);
MessageDeclaration requestDeclaration =
MessageDeclaration.of(serviceType.getType() + "Request", requestAndResponse.get(0));
MessageDeclaration responseDeclaration =
MessageDeclaration.of(serviceType.getType() + "Response", requestAndResponse.get(1));
writeInterface(requestDeclaration, outputDirectory, true);
writeInterface(responseDeclaration, outputDirectory, true);
}
}
String nestedContent;
private void writeInterface(MessageDeclaration messageDeclaration, File outputDirectory,
boolean addConstantsAndMethods) {
MessageInterfaceBuilder builder = new MessageInterfaceBuilder();
builder.setPackageName(messageDeclaration.getPackage());
builder.setInterfaceName(messageDeclaration.getName());
builder.setMessageDeclaration(messageDeclaration);
builder.setAddConstantsAndMethods(addConstantsAndMethods);
try {
nestedContent =
requestBuilder.build(messageFactory) + "\n" + responseBuilder.build(messageFactory);
String content;
content = builder.build(messageFactory);
File file = new File(outputDirectory, messageDeclaration.getType() + ".java");
FileUtils.writeStringToFile(file, content);
} catch (Exception e) {
System.err.println(String.format("Failed to generate interface for %s: %s",
serviceType.getType(), e.getMessage()));
continue;
}
builder.setNestedContent(nestedContent);
File file = new File(outputDirectory, serviceType.getType() + ".java");
// TODO(damonkohler): Passing in null here is confusing.
FileUtils.writeStringToFile(file, builder.build(null));
System.out.println(String.format("Failed to generate interface for %s: %s",
messageDeclaration.getType(), e.getMessage()));
}
}
......
rosjava_bootstrap/src/main/java/org/ros/internal/message/service/ServiceDescription.java
+ 12
− 0
View file @ b907b490
......@@ -29,7 +29,9 @@ import java.util.List;
*/
public class ServiceDescription extends MessageDeclaration {
private final String requestType;
private final String requestDefinition;
private final String responseType;
private final String responseDefinition;
private final String md5Checksum;
......@@ -37,6 +39,8 @@ public class ServiceDescription extends MessageDeclaration {
super(MessageIdentifier.of(type), definition);
this.md5Checksum = md5Checksum;
List<String> requestAndResponse = MessageDefinitionTupleParser.parse(definition, 2);
requestType = type + "Request";
responseType = type + "Response";
requestDefinition = requestAndResponse.get(0);
responseDefinition = requestAndResponse.get(1);
}
......@@ -45,10 +49,18 @@ public class ServiceDescription extends MessageDeclaration {
return md5Checksum;
}
public String getRequestType() {
return requestType;
}
public String getRequestDefinition() {
return requestDefinition;
}
public String getResponseType() {
return responseType;
}
public String getResponseDefinition() {
return responseDefinition;
}
......
rosjava_bootstrap/src/main/java/org/ros/internal/message/service/ServiceRequestMessageFactory.java
+ 3
− 2
View file @ b907b490
......@@ -17,6 +17,7 @@
package org.ros.internal.message.service;
import org.ros.internal.message.DefaultMessageFactory;
import org.ros.internal.message.DefaultMessageInterfaceClassProvider;
import org.ros.internal.message.MessageProxyFactory;
import org.ros.message.MessageDefinitionProvider;
import org.ros.message.MessageFactory;
......@@ -34,13 +35,13 @@ public class ServiceRequestMessageFactory implements MessageFactory {
serviceDescriptionFactory = new ServiceDescriptionFactory(messageDefinitionProvider);
messageFactory = new DefaultMessageFactory(messageDefinitionProvider);
messageProxyFactory =
new MessageProxyFactory(new ServiceRequestMessageInterfaceClassProvider(), messageFactory);
new MessageProxyFactory(new DefaultMessageInterfaceClassProvider(), messageFactory);
}
@Override
public <T> T newFromType(String serviceType) {
ServiceDescription serviceDescription = serviceDescriptionFactory.newFromType(serviceType);
return messageProxyFactory.newMessageProxy(serviceType,
return messageProxyFactory.newMessageProxy(serviceDescription.getRequestType(),
serviceDescription.getRequestDefinition());
}
}
rosjava_bootstrap/src/main/java/org/ros/internal/message/service/ServiceResponseMessageFactory.java
+ 3
− 2
View file @ b907b490
......@@ -17,6 +17,7 @@
package org.ros.internal.message.service;
import org.ros.internal.message.DefaultMessageFactory;
import org.ros.internal.message.DefaultMessageInterfaceClassProvider;
import org.ros.internal.message.MessageProxyFactory;
import org.ros.message.MessageDefinitionProvider;
import org.ros.message.MessageFactory;
......@@ -34,13 +35,13 @@ public class ServiceResponseMessageFactory implements MessageFactory {
serviceDescriptionFactory = new ServiceDescriptionFactory(messageDefinitionProvider);
messageFactory = new DefaultMessageFactory(messageDefinitionProvider);
messageProxyFactory =
new MessageProxyFactory(new ServiceResponseMessageInterfaceClassProvider(), messageFactory);
new MessageProxyFactory(new DefaultMessageInterfaceClassProvider(), messageFactory);
}
@Override
public <T> T newFromType(String serviceType) {
ServiceDescription serviceDescription = serviceDescriptionFactory.newFromType(serviceType);
return messageProxyFactory.newMessageProxy(serviceType,
return messageProxyFactory.newMessageProxy(serviceDescription.getResponseType(),
serviceDescription.getResponseDefinition());
}
}
rosjava_tutorial_services/src/main/java/org/ros/rosjava_tutorial_services/Client.java
+ 4
− 4
View file @ b907b490
......@@ -40,18 +40,18 @@ public class Client extends AbstractNodeMain {
@Override
public void onStart(final ConnectedNode connectedNode) {
ServiceClient<test_ros.AddTwoInts.Request, test_ros.AddTwoInts.Response> serviceClient;
ServiceClient<test_ros.AddTwoIntsRequest, test_ros.AddTwoIntsResponse> serviceClient;
try {
serviceClient = connectedNode.newServiceClient("add_two_ints", test_ros.AddTwoInts._TYPE);
} catch (ServiceNotFoundException e) {
throw new RosRuntimeException(e);
}
final test_ros.AddTwoInts.Request request = serviceClient.newMessage();
final test_ros.AddTwoIntsRequest request = serviceClient.newMessage();
request.setA(2);
request.setB(2);
serviceClient.call(request, new ServiceResponseListener<test_ros.AddTwoInts.Response>() {
serviceClient.call(request, new ServiceResponseListener<test_ros.AddTwoIntsResponse>() {
@Override
public void onSuccess(test_ros.AddTwoInts.Response response) {
public void onSuccess(test_ros.AddTwoIntsResponse response) {
connectedNode.getLog().info(
String.format("%d + %d = %d", request.getA(), request.getB(), response.getSum()));
}
......
rosjava_tutorial_services/src/main/java/org/ros/rosjava_tutorial_services/Server.java
+ 3
− 3
View file @ b907b490
......@@ -38,10 +38,10 @@ public class Server extends AbstractNodeMain {
@Override
public void onStart(ConnectedNode connectedNode) {
connectedNode.newServiceServer("add_two_ints", test_ros.AddTwoInts._TYPE,
new ServiceResponseBuilder<test_ros.AddTwoInts.Request, test_ros.AddTwoInts.Response>() {
new ServiceResponseBuilder<test_ros.AddTwoIntsRequest, test_ros.AddTwoIntsResponse>() {
@Override
public void build(test_ros.AddTwoInts.Request request,
test_ros.AddTwoInts.Response response) {
public void
build(test_ros.AddTwoIntsRequest request, test_ros.AddTwoIntsResponse response) {
response.setSum(request.getA() + request.getB());
}
});
......
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