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Commit 0e9a8b7d authored by Sebastian Ebert's avatar Sebastian Ebert
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current state with guava error

parent 91ddd251
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buildscript { buildscript {
repositories.jcenter()
repositories {
maven {
url "https://git-st.inf.tu-dresden.de/api/v4/projects/1106/packages/maven"
}
maven {
url 'https://git-st.inf.tu-dresden.de/api/v4/projects/1108/packages/maven'
}
}
dependencies { dependencies {
classpath 'org.jastadd:jastaddgradle:1.13.3' classpath 'org.jastadd:jastaddgradle:1.13.3'
} }
...@@ -13,16 +22,17 @@ plugins { ...@@ -13,16 +22,17 @@ plugins {
apply plugin: 'jastadd' apply plugin: 'jastadd'
mainClassName = 'de.tudresden.inf.st.mrc.MinimalMain'
repositories { repositories {
jcenter()
maven { maven {
name "gitlab-maven" url "https://git-st.inf.tu-dresden.de/api/v4/projects/1106/packages/maven"
url "https://gitlab.example.com/api/v4/groups/jastadd/-/packages/maven" }
maven {
url 'https://git-st.inf.tu-dresden.de/api/v4/projects/1108/packages/maven'
} }
} }
mainClassName = 'de.tudresden.inf.st.mrc.MinimalMain'
apply plugin: 'jastadd' apply plugin: 'jastadd'
configurations { configurations {
...@@ -30,6 +40,11 @@ configurations { ...@@ -30,6 +40,11 @@ configurations {
ragconnectClasspath ragconnectClasspath
} }
compileJava {
sourceCompatibility = '1.8'
targetCompatibility = '1.8'
}
run { run {
standardInput = System.in standardInput = System.in
} }
...@@ -40,10 +55,44 @@ idea.module.generatedSourceDirs += genSrc ...@@ -40,10 +55,44 @@ idea.module.generatedSourceDirs += genSrc
dependencies { dependencies {
implementation fileTree(include: ['dumpAst2uml.jar'], dir: 'libs') implementation fileTree(include: ['dumpAst2uml.jar'], dir: 'libs')
ragconnectClasspath fileTree(include: ['ragconnect-0.3.2-alpha.jar'], dir: 'libs')
implementation group: 'org.fusesource.mqtt-client', name: 'mqtt-client', version: '1.15' implementation group: 'org.fusesource.mqtt-client', name: 'mqtt-client', version: '1.15'
implementation group: 'org.apache.logging.log4j', name: 'log4j-api', version: '2.11.2' implementation group: 'org.apache.logging.log4j', name: 'log4j-api', version: '2.11.2'
implementation group: 'org.apache.logging.log4j', name: 'log4j-core', version: '2.11.2' implementation group: 'org.apache.logging.log4j', name: 'log4j-core', version: '2.11.2'
ragconnectClasspath group: 'de.tudresden.inf.st', name: 'ragconnect.base', version: '0.2.3'
compile 'org.ros.rosjava_core:rosjava:0.3.9'
implementation 'org.ros.rosjava_bootstrap:message_generation:0.3.3'
/* implementation 'org.ros.rosjava_core:apache_xmlrpc_server:0.3.8'
implementation 'org.ros.rosjava_core:apache_xmlrpc_common:0.3.8'
implementation 'org.ros.rosjava_core:apache_xmlrpc_client:0.3.8'
implementation 'org.ros.rosjava_core:rosjava_helpers:0.3.8'*/
compile fileTree(include: ['std_msgs-0.5.11.jar'], dir: './libs')
compile fileTree(include: ['rosgraph_msgs-1.10.12.jar'], dir: './libs')
/* // google guava
implementation("com.google.guava:guava:31.0.1-jre")
// https://mvnrepository.com/artifact/org.jboss.netty/netty
implementation group: 'org.jboss.netty', name: 'netty', version: '3.2.10.Final'
// https://mvnrepository.com/artifact/commons-codec/commons-codec
implementation group: 'commons-codec', name: 'commons-codec', version: '1.15'
// https://mvnrepository.com/artifact/commons-pool/commons-pool
implementation group: 'commons-pool', name: 'commons-pool', version: '1.6'
// https://mvnrepository.com/artifact/commons-httpclient/commons-httpclient
implementation group: 'commons-httpclient', name: 'commons-httpclient', version: '3.1'
// https://mvnrepository.com/artifact/org.apache.ws.commons.util/ws-commons-util
implementation group: 'org.apache.ws.commons.util', name: 'ws-commons-util', version: '1.0.2'
// https://mvnrepository.com/artifact/dnsjava/dnsjava
implementation group: 'dnsjava', name: 'dnsjava', version: '2.1.1'
*/
// ragconnectClasspath group: 'de.tudresden.inf.st', name: 'ragconnect.base', version: '0.3.2-alpha'
jastadd2 "org.jastadd:jastadd:2.3.4" jastadd2 "org.jastadd:jastadd:2.3.4"
} }
...@@ -62,7 +111,8 @@ task ragConnect(type: JavaExec) { ...@@ -62,7 +111,8 @@ task ragConnect(type: JavaExec) {
'--o=src/gen/jastadd', '--o=src/gen/jastadd',
'src/main/jastadd/MinimalModel.relast', 'src/main/jastadd/MinimalModel.relast',
'src/main/jastadd/MinimalModel.connect', 'src/main/jastadd/MinimalModel.connect',
'--rootNode=A' '--rootNode=A',
'--protocols=ros'
]) ])
} }
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...@@ -2,9 +2,13 @@ package de.tudresden.inf.st.mrc; ...@@ -2,9 +2,13 @@ package de.tudresden.inf.st.mrc;
import de.tudresden.inf.st.mrc.ast.A; import de.tudresden.inf.st.mrc.ast.A;
import de.tudresden.inf.st.mrc.ast.B; import de.tudresden.inf.st.mrc.ast.B;
import de.tudresden.inf.st.mrc.ast.RosHandler;
//import de.tudresden.inf.st.mrc.ast.JavaHandler;
import java.io.IOException; import java.io.IOException;
import java.net.URI;
import java.util.Scanner; import java.util.Scanner;
import java.util.function.BiConsumer;
/** /**
* Minimal main. * Minimal main.
...@@ -12,7 +16,21 @@ import java.util.Scanner; ...@@ -12,7 +16,21 @@ import java.util.Scanner;
* @author rschoene - Initial contribution * @author rschoene - Initial contribution
*/ */
public class MinimalMain { public class MinimalMain {
public static void main(String[] args) throws IOException {
/*public void addListener(String topic, BiConsumer<String, byte[]> callback){
System.out.println("Adding listener");
Subscriber<std_msgs.String> sub = null;
sub.addMessageListener(message -> callback.accept(topic, null));
}*/
public static void main(String[] args) throws IOException, InterruptedException {
// JavaHandler jh = JavaHandler.getInstance();
RosHandler rh = RosHandler.getInstance();
// jh.registerCallback("/a/out", (String, bytes) -> { System.out.println("TEST CALLBACK 1");});
A a = new A(); A a = new A();
// set some default value for input // set some default value for input
a.setInput(""); a.setInput("");
...@@ -28,14 +46,36 @@ public class MinimalMain { ...@@ -28,14 +46,36 @@ public class MinimalMain {
// b2.OutputOnB -> a.Input // b2.OutputOnB -> a.Input
b2.addDependencyB(a); b2.addDependencyB(a);
a.connectInput("mqtt://localhost/topic/for/input"); a.connectInput("ros://topic/for/input");
a.connectOutputOnA("mqtt://localhost/a/out", true); a.connectOutputOnA("ros://a/out", true);
b1.connectOutputOnB("mqtt://localhost/b1/out", true); b1.connectOutputOnB("ros://b1/out", true);
b2.connectOutputOnB("mqtt://localhost/b2/out", false); b2.connectOutputOnB("ros://b2/out", true);
rh.newSubscriber(URI.create("ros://a/out"), (String, bytes) -> {
System.out.println("TEST CALLBACK 1");
});
/*a.connectInput("java://localhost/topic/for/input");
a.connectOutputOnA("java://localhost/a/out", true);
b1.connectOutputOnB("java://localhost/b1/out", true);
b2.connectOutputOnB("java://localhost/b2/out", true);
jh.registerCallback("/a/out", (String, bytes) -> { System.out.println("TEST CALLBACK 2");});
jh.push("/topic/for/input", " Hello World!".getBytes());
a.disconnectOutputOnA("java://localhost/a/out");
*/
while (true) {
Thread.sleep(1000);
System.out.println("Input:" + a.getInput());
}
// System.out.println("[Enter] to exit");
// while (true) {} // Scanner scanner = new Scanner(System.in);
System.out.println("[Enter] to exit"); // scanner.nextLine();
Scanner scanner = new Scanner(System.in);
scanner.nextLine();
} }
} }
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