Commit 06a3ec6c authored by René Schöne's avatar René Schöne
Browse files

Streamline receiver.

parent 47b8af00
...@@ -7,6 +7,7 @@ import config.Robotconfig.RobotConfig; ...@@ -7,6 +7,7 @@ import config.Robotconfig.RobotConfig;
import de.tudresden.inf.st.ros2rag.starter.ast.MqttUpdater; import de.tudresden.inf.st.ros2rag.starter.ast.MqttUpdater;
import de.tudresden.inf.st.ros2rag.starter.data.DataConfiguration; import de.tudresden.inf.st.ros2rag.starter.data.DataConfiguration;
import de.tudresden.inf.st.ros2rag.starter.data.DataJoint; import de.tudresden.inf.st.ros2rag.starter.data.DataJoint;
import org.apache.logging.log4j.Level;
import org.apache.logging.log4j.LogManager; import org.apache.logging.log4j.LogManager;
import org.apache.logging.log4j.Logger; import org.apache.logging.log4j.Logger;
import panda.Linkstate.PandaLinkState; import panda.Linkstate.PandaLinkState;
...@@ -19,6 +20,7 @@ import java.util.concurrent.TimeUnit; ...@@ -19,6 +20,7 @@ import java.util.concurrent.TimeUnit;
public class Main { public class Main {
private static final Logger logger = LogManager.getLogger(Main.class); private static final Logger logger = LogManager.getLogger(Main.class);
private String topicPattern;
public static void main(String[] args) throws Exception { public static void main(String[] args) throws Exception {
Main main = new Main(); Main main = new Main();
...@@ -32,6 +34,7 @@ public class Main { ...@@ -32,6 +34,7 @@ public class Main {
private void run(DataConfiguration config) throws IOException, InterruptedException { private void run(DataConfiguration config) throws IOException, InterruptedException {
final CountDownLatch finish = new CountDownLatch(1); final CountDownLatch finish = new CountDownLatch(1);
int topicMaxLength = 0;
MqttUpdater receiver = new MqttUpdater("receiver stub"); MqttUpdater receiver = new MqttUpdater("receiver stub");
receiver.setHost(config.mqttHost); receiver.setHost(config.mqttHost);
receiver.waitUntilReady(2, TimeUnit.SECONDS); receiver.waitUntilReady(2, TimeUnit.SECONDS);
...@@ -39,7 +42,9 @@ public class Main { ...@@ -39,7 +42,9 @@ public class Main {
receiver.newConnection(config.dataConfigTopic, this::printDataConfig); receiver.newConnection(config.dataConfigTopic, this::printDataConfig);
for (DataJoint joint : config.joints) { for (DataJoint joint : config.joints) {
receiver.newConnection(joint.topic, this::printPandaLinkState); receiver.newConnection(joint.topic, this::printPandaLinkState);
topicMaxLength = Math.max(topicMaxLength, joint.topic.length());
} }
this.topicPattern = "%" + topicMaxLength + "s";
receiver.newConnection("components", bytes -> { receiver.newConnection("components", bytes -> {
String message = new String(bytes); String message = new String(bytes);
...@@ -70,8 +75,10 @@ public class Main { ...@@ -70,8 +75,10 @@ public class Main {
PandaLinkState.Orientation tmpOrientation = pls.getOrient(); PandaLinkState.Orientation tmpOrientation = pls.getOrient();
PandaLinkState.TwistLinear tmpTwistLinear = pls.getTl(); PandaLinkState.TwistLinear tmpTwistLinear = pls.getTl();
PandaLinkState.TwistAngular tmpTwistAngular = pls.getTa(); PandaLinkState.TwistAngular tmpTwistAngular = pls.getTa();
logger.info("{}: pos({},{},{}), orient({},{},{},{})," + // panda::panda_link0: pos(-3.0621333E-8,-1.5197388E-8,3.3411725E-5), orient(0.0,0.0,0.0,0.0), twist-linear(0.0,0.0,0.0), twist-angular(0.0,0.0,0.0)
" twist-linear({},{},{}), twist-angular({},{},{})",
logger.printf(Level.INFO,topicPattern + ": pos(% .5f,% .5f,% .5f), ori(%.1f,%.1f,%.1f,%.1f)," +
" twL(%.1f,%.1f,%.1f), twA(%.1f,%.1f,%.1f)",
pls.getName(), pls.getName(),
tmpPosition.getPositionX(), tmpPosition.getPositionX(),
tmpPosition.getPositionY(), tmpPosition.getPositionY(),
......
...@@ -6,7 +6,7 @@ ...@@ -6,7 +6,7 @@
</Console> </Console>
</Appenders> </Appenders>
<Loggers> <Loggers>
<Root level="debug"> <Root level="info">
<AppenderRef ref="Console"/> <AppenderRef ref="Console"/>
</Root> </Root>
</Loggers> </Loggers>
......
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