From a966bb62072d3e3bd18010acde144cf770c21ce6 Mon Sep 17 00:00:00 2001
From: rschoene <rene.schoene@tu-dresden.de>
Date: Mon, 29 Jun 2020 14:51:59 +0200
Subject: [PATCH] Use retain for initial robot config.
- see #26
---
ros2rag.base/src/main/resources/MqttUpdater.jadd | 10 +++++++++-
.../tudresden/inf/st/ros2rag/starter/StarterMain.java | 2 +-
2 files changed, 10 insertions(+), 2 deletions(-)
diff --git a/ros2rag.base/src/main/resources/MqttUpdater.jadd b/ros2rag.base/src/main/resources/MqttUpdater.jadd
index 394735c..df1dc10 100644
--- a/ros2rag.base/src/main/resources/MqttUpdater.jadd
+++ b/ros2rag.base/src/main/resources/MqttUpdater.jadd
@@ -231,8 +231,16 @@ public class MqttUpdater {
}
public void publish(String topic, byte[] bytes) {
+ publish(topic, bytes, false);
+ }
+
+ public void publish(String topic, byte[] bytes, boolean retain) {
+ publish(topic, bytes, this.qos, retain);
+ }
+
+ public void publish(String topic, byte[] bytes, org.fusesource.mqtt.client.QoS qos, boolean retain) {
connection.getDispatchQueue().execute(() -> {
- connection.publish(topic, bytes, qos, false, new org.fusesource.mqtt.client.Callback<Void>() {
+ connection.publish(topic, bytes, qos, retain, new org.fusesource.mqtt.client.Callback<Void>() {
@Override
public void onSuccess(Void value) {
logger.debug("Published some bytes to {}", topic);
diff --git a/ros2rag.starter/src/main/java/de/tudresden/inf/st/ros2rag/starter/StarterMain.java b/ros2rag.starter/src/main/java/de/tudresden/inf/st/ros2rag/starter/StarterMain.java
index 8c8919d..a4a0f70 100644
--- a/ros2rag.starter/src/main/java/de/tudresden/inf/st/ros2rag/starter/StarterMain.java
+++ b/ros2rag.starter/src/main/java/de/tudresden/inf/st/ros2rag/starter/StarterMain.java
@@ -104,7 +104,7 @@ public class StarterMain {
.setEnableTwistLinear(false)
.setPublishRate(100)
.build();
- mainHandler.publish(dataConfigTopic, dataConfig.toByteArray());
+ mainHandler.publish(dataConfigTopic, dataConfig.toByteArray(), true);
}
private void logStatus(String prefix, RobotArm robotArm) {
--
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