From 2ff3e5b516b30d2ebc1b047abb74cfd1ac30990d Mon Sep 17 00:00:00 2001
From: SebastianEbert <sebastian.ebert@tu-dresden.de>
Date: Mon, 11 Jul 2022 09:47:52 +0200
Subject: [PATCH] added srv message lib
---
build.gradle | 1 +
libs/rosjava_srv-0.1.0.jar | Bin 0 -> 6475 bytes
.../inf/st/pnml/engine/ros/DiNeRosNode.java | 48 +++++++++++++++++-
3 files changed, 48 insertions(+), 1 deletion(-)
create mode 100644 libs/rosjava_srv-0.1.0.jar
diff --git a/build.gradle b/build.gradle
index 9bdec6d..5ef1f5c 100644
--- a/build.gradle
+++ b/build.gradle
@@ -100,6 +100,7 @@ dependencies {
// ros java messages
compile fileTree(include: ['std_msgs-0.5.11.jar'], dir: './libs')
+ compile fileTree(include: ['rosjava_srv-0.1.0.jar'], dir: './libs')
compile fileTree(include: ['rosgraph_msgs-1.10.12.jar'], dir: './libs')
// testing
diff --git a/libs/rosjava_srv-0.1.0.jar b/libs/rosjava_srv-0.1.0.jar
new file mode 100644
index 0000000000000000000000000000000000000000..bcbab7745004a18c14f524861dd1c343be0ec1ff
GIT binary patch
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diff --git a/src/main/java/de/tudresden/inf/st/pnml/engine/ros/DiNeRosNode.java b/src/main/java/de/tudresden/inf/st/pnml/engine/ros/DiNeRosNode.java
index d099274..68b915f 100644
--- a/src/main/java/de/tudresden/inf/st/pnml/engine/ros/DiNeRosNode.java
+++ b/src/main/java/de/tudresden/inf/st/pnml/engine/ros/DiNeRosNode.java
@@ -2,12 +2,18 @@ package de.tudresden.inf.st.pnml.engine.ros;
import de.tudresden.inf.st.pnml.base.constants.PnmlConstants;
import de.tudresden.inf.st.pnml.jastadd.model.*;
+import org.ros.concurrent.CancellableLoop;
import org.ros.namespace.GraphName;
import org.ros.node.AbstractNodeMain;
import org.ros.node.ConnectedNode;
+import org.ros.node.service.ServiceResponseBuilder;
+import org.ros.node.service.ServiceServer;
import org.ros.node.topic.Publisher;
import org.ros.node.topic.Subscriber;
import org.xml.sax.SAXException;
+import rosjava_srv.StringService;
+import rosjava_srv.StringServiceRequest;
+import rosjava_srv.StringServiceResponse;
import std_msgs.String;
import javax.xml.parsers.ParserConfigurationException;
@@ -25,6 +31,8 @@ public abstract class DiNeRosNode extends AbstractNodeMain {
private BalloonCallbackStorage callbackStorage;
private final Map<java.lang.String, DiNeRosSubscriber> dinerosSubscribers = new HashMap<>();
private final Map<InputSignalTransition, Publisher<std_msgs.String>> dinerosPublishers = new HashMap<>();
+ private final Map<InputSignalTransition, ServiceServer<StringServiceRequest, StringServiceResponse>> dinerosServiceServers = new HashMap<>();
+ private ConnectedNode connectedNode;
public DiNeRosNode(java.lang.String nodeName, PetriNet petriNet){
this.nodeName = nodeName;
@@ -44,6 +52,19 @@ public abstract class DiNeRosNode extends AbstractNodeMain {
this.callbackStorage = callbackStorage;
}
+ protected void nodeLoop(){
+
+ this.connectedNode.executeCancellableLoop(new CancellableLoop() {
+
+ @Override
+ protected void loop() throws InterruptedException {
+
+ System.out.println("No main loop specified for node " + nodeName + " Executing default...");
+ Thread.sleep(1000);
+ }
+ });
+ }
+
@Override
public GraphName getDefaultNodeName() {
return GraphName.of(nodeName);
@@ -64,6 +85,8 @@ public abstract class DiNeRosNode extends AbstractNodeMain {
@Override
public void onStart(final ConnectedNode connectedNode) {
+ this.connectedNode = connectedNode;
+
System.out.println("Initializing node: " + nodeName);
// setup publishers
@@ -89,7 +112,7 @@ public abstract class DiNeRosNode extends AbstractNodeMain {
subscriber.addMessageListener(message -> {
- System.out.println("I heard: \"" + message.getData() + "\"");
+ System.out.println("Subscriber Input: \"" + message.getData() + "\"");
for (Map.Entry<java.lang.String, DiNeRosSubscriber> entry : getDinerosSubscribers().entrySet()) {
if(entry.getKey().equals(t.asInputSignalTransition().getStaticTransitionInformation().getSubNet())){
@@ -115,6 +138,25 @@ public abstract class DiNeRosNode extends AbstractNodeMain {
}, t.asInputSignalTransition().getStaticTransitionInformation().getInputLimit());
}
}
+
+ // setup services
+ for(Transition t : petriNet.allTransitions()){
+
+ if(t.asInputSignalTransition().getStaticTransitionInformation().getType().equals(PnmlConstants.TRANSITION_TYPE_SERVICE_REQUEST_IN)){
+
+ connectedNode.newServiceServer(t.asInputSignalTransition().getStaticTransitionInformation().asServiceTransitionInformation().getServiceName(), StringService._TYPE,
+ (ServiceResponseBuilder<StringServiceRequest, StringServiceResponse>) (request, response) -> {
+
+ System.out.println("Service Input: \"" + request.getInput() + "\"");
+ response.setOutput("...");
+
+ });
+
+ }
+
+ }
+
+ this.nodeLoop();
}
public List<Transition> getSubnetTransitionsByIds(List<java.lang.String> ids, PetriNet petriNet){
@@ -140,6 +182,10 @@ public abstract class DiNeRosNode extends AbstractNodeMain {
return dinerosPublishers;
}
+ public Map<InputSignalTransition, ServiceServer<StringServiceRequest, StringServiceResponse>> getDinerosServiceServers() {
+ return dinerosServiceServers;
+ }
+
public BalloonMarking firePublisherTransition(InputSignalTransition transition){
java.lang.String msgString = this.marking.fireTopicPublisherTransition(transition, this.callbackStorage, true);
--
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