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Commit cb83e71d authored by Sebastian Ebert's avatar Sebastian Ebert
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fixed talker / listener

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/* /*
* Copyright (C) 2014 Sebastian Ebert. * Copyright (C) 2011 Google Inc.
* *
* Licensed under the Apache License, Version 2.0 (the "License"); you may not * 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 * use this file except in compliance with the License. You may obtain a copy of
...@@ -14,12 +14,8 @@ ...@@ -14,12 +14,8 @@
* the License. * the License.
*/ */
package com.github.rosjava.rosjava_catkin_package_a.my_pub_sub_tutorial; package org.ros.rosjava_tutorial_pubsub;
import de.tudresden.inf.st.pnml.jastadd.model.JavaHandler;
import de.tudresden.inf.st.pnml.jastadd.model.Marking;
import de.tudresden.inf.st.service.PetriNetInitService;
import de.tudresden.inf.st.service.PetriNetLoggingService;
import org.apache.commons.logging.Log; import org.apache.commons.logging.Log;
import org.ros.message.MessageListener; import org.ros.message.MessageListener;
import org.ros.namespace.GraphName; import org.ros.namespace.GraphName;
...@@ -27,52 +23,21 @@ import org.ros.node.AbstractNodeMain; ...@@ -27,52 +23,21 @@ import org.ros.node.AbstractNodeMain;
import org.ros.node.ConnectedNode; import org.ros.node.ConnectedNode;
import org.ros.node.NodeMain; import org.ros.node.NodeMain;
import org.ros.node.topic.Subscriber; import org.ros.node.topic.Subscriber;
//import rosjava_custom_srv.sample;
import java.util.List;
/**
* A simple {@link Subscriber} {@link NodeMain}.
*/
/*public class Listener extends AbstractNodeMain {
@Override
public GraphName getDefaultNodeName() {
return GraphName.of("rosjava/listener");
}
@Override
public void onStart(ConnectedNode connectedNode) {
final Log log = connectedNode.getLog();
Subscriber<rosjava_custom_srv.sample> subscriber = connectedNode.newSubscriber("chatter", rosjava_custom_srv.sample._TYPE);
subscriber.addMessageListener(new MessageListener<rosjava_custom_srv.sample>() {
@Override
public void onNewMessage(rosjava_custom_srv.sample message) {
log.info("I heard: \"" + message.getData() + "\"");
}
});
}
}*/
/** /**
* A simple {@link Subscriber} {@link NodeMain}. * A simple {@link Subscriber} {@link NodeMain}.
*
* @author damonkohler@google.com (Damon Kohler)
*/ */
public class Listener extends AbstractNodeMain { public class Listener extends AbstractNodeMain {
@Override @Override
public GraphName getDefaultNodeName() { public GraphName getDefaultNodeName() {
return GraphName.of("rosjava/listener"); return GraphName.of("rosjava_tutorial_pubsub/listener");
} }
@Override @Override
public void onStart(ConnectedNode connectedNode) { public void onStart(ConnectedNode connectedNode) {
JavaHandler javaHandler = JavaHandler.getInstance();
List<Marking> markedGraphs = PetriNetInitService.initMarkedGraphs("src/rosjava_catkin_package_a/my_pub_sub_tutorial/src/main/resources/minimal.pnml");
PetriNetLoggingService.printInputSignals(markedGraphs.get(0));
PetriNetLoggingService.printOutputSignals(markedGraphs.get(0));
markedGraphs.get(0).print();
final Log log = connectedNode.getLog(); final Log log = connectedNode.getLog();
Subscriber<std_msgs.String> subscriber = connectedNode.newSubscriber("chatter", std_msgs.String._TYPE); Subscriber<std_msgs.String> subscriber = connectedNode.newSubscriber("chatter", std_msgs.String._TYPE);
subscriber.addMessageListener(new MessageListener<std_msgs.String>() { subscriber.addMessageListener(new MessageListener<std_msgs.String>() {
......
/* /*
* Copyright (C) 2014 Sebastian Ebert. * Copyright (C) 2011 Google Inc.
* *
* Licensed under the Apache License, Version 2.0 (the "License"); you may not * 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 * use this file except in compliance with the License. You may obtain a copy of
...@@ -14,7 +14,7 @@ ...@@ -14,7 +14,7 @@
* the License. * the License.
*/ */
package com.github.rosjava.rosjava_catkin_package_a.my_pub_sub_tutorial; package org.ros.rosjava_tutorial_pubsub;
import org.ros.concurrent.CancellableLoop; import org.ros.concurrent.CancellableLoop;
import org.ros.namespace.GraphName; import org.ros.namespace.GraphName;
...@@ -22,61 +22,33 @@ import org.ros.node.AbstractNodeMain; ...@@ -22,61 +22,33 @@ import org.ros.node.AbstractNodeMain;
import org.ros.node.ConnectedNode; import org.ros.node.ConnectedNode;
import org.ros.node.NodeMain; import org.ros.node.NodeMain;
import org.ros.node.topic.Publisher; import org.ros.node.topic.Publisher;
//import rosjava_custom_srv.sample;
/** /**
* A simple {@link Publisher} {@link NodeMain}. * A simple {@link Publisher} {@link NodeMain}.
*
* @author damonkohler@google.com (Damon Kohler)
*/ */
/*public class Talker extends AbstractNodeMain { public class Talker extends AbstractNodeMain {
private String topic_name;
@Override
public GraphName getDefaultNodeName() {
return GraphName.of("rosjava/talker");
}
@Override
public void onStart(final ConnectedNode connectedNode) {
final Publisher<rosjava_custom_srv.sample> publisher =
connectedNode.newPublisher("chatter", rosjava_custom_srv.sample._TYPE);
// This CancellableLoop will be canceled automatically when the node shuts
// down.
connectedNode.executeCancellableLoop(new CancellableLoop() {
private String sendedString;
@Override public Talker() {
protected void setup() { topic_name = "chatter";
sendedString = "Hello World!";
} }
@Override public Talker(String topic)
protected void loop() throws InterruptedException { {
rosjava_custom_srv.sample str = publisher.newMessage(); topic_name = topic;
str.setData(sendedString);
publisher.publish(str);
// sequenceNumber++;
Thread.sleep(1000);
}
});
} }
}*/
/**
* A simple {@link Publisher} {@link NodeMain}.
*/
public class Talker extends AbstractNodeMain {
@Override @Override
public GraphName getDefaultNodeName() { public GraphName getDefaultNodeName() {
return GraphName.of("rosjava/talker"); return GraphName.of("rosjava_tutorial_pubsub/talker");
} }
@Override @Override
public void onStart(final ConnectedNode connectedNode) { public void onStart(final ConnectedNode connectedNode) {
final Publisher<std_msgs.String> publisher = final Publisher<std_msgs.String> publisher =
connectedNode.newPublisher("chatter", std_msgs.String._TYPE); connectedNode.newPublisher(topic_name, std_msgs.String._TYPE);
// This CancellableLoop will be canceled automatically when the node shuts // This CancellableLoop will be canceled automatically when the node shuts
// down. // down.
connectedNode.executeCancellableLoop(new CancellableLoop() { connectedNode.executeCancellableLoop(new CancellableLoop() {
......
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