From b9a3384e9d722cdf45feba95c749c8fccd65d294 Mon Sep 17 00:00:00 2001
From: rschoene <rene.schoene@tu-dresden.de>
Date: Wed, 8 Jul 2020 11:25:28 +0200
Subject: [PATCH] Update scripts, send as sequence possible.
---
goal.sh | 4 +-
receiver.sh | 4 +-
.../inf/st/ros2rag/senderstub/SenderMain.java | 51 +++++++++++++++----
send.sh | 3 ++
send_one.sh | 2 -
sequence.csv | 30 +++++++++++
starter.sh | 4 +-
7 files changed, 79 insertions(+), 19 deletions(-)
create mode 100755 send.sh
delete mode 100755 send_one.sh
create mode 100644 sequence.csv
diff --git a/goal.sh b/goal.sh
index 7f5c049..7d1aa68 100755
--- a/goal.sh
+++ b/goal.sh
@@ -1,3 +1,3 @@
#!/usr/bin/env bash
-./gradlew :ros2rag.goal:installDist
-./ros2rag.goal/build/install/ros2rag.goal/bin/ros2rag.goal $@
+./gradlew :ros2rag.goal:installDist && \
+ ./ros2rag.goal/build/install/ros2rag.goal/bin/ros2rag.goal $@
diff --git a/receiver.sh b/receiver.sh
index a242dc3..b4bbb00 100755
--- a/receiver.sh
+++ b/receiver.sh
@@ -1,3 +1,3 @@
#!/usr/bin/env bash
-./gradlew :ros2rag.receiverstub:installDist
-./ros2rag.receiverstub/build/install/ros2rag.receiverstub/bin/ros2rag.receiverstub $@
+./gradlew :ros2rag.receiverstub:installDist && \
+ ./ros2rag.receiverstub/build/install/ros2rag.receiverstub/bin/ros2rag.receiverstub $@
diff --git a/ros2rag.senderstub/src/main/java/de/tudresden/inf/st/ros2rag/senderstub/SenderMain.java b/ros2rag.senderstub/src/main/java/de/tudresden/inf/st/ros2rag/senderstub/SenderMain.java
index e518c86..f540f1c 100644
--- a/ros2rag.senderstub/src/main/java/de/tudresden/inf/st/ros2rag/senderstub/SenderMain.java
+++ b/ros2rag.senderstub/src/main/java/de/tudresden/inf/st/ros2rag/senderstub/SenderMain.java
@@ -3,30 +3,59 @@ package de.tudresden.inf.st.ros2rag.senderstub;
import de.tudresden.inf.st.ros2rag.starter.ast.MqttHandler;
import panda.Linkstate;
+import java.nio.file.Files;
+import java.nio.file.Paths;
import java.util.concurrent.TimeUnit;
public class SenderMain {
public static void main(String[] args) throws Exception {
+ // either 3 or 4 arguments
+ // 3 arguments: topic filename wait
+ // 4 arguments: topic x y z
// assume 4 arguments
- if (args.length < 4) {
- System.err.println("Sends a new position, expected arguments: topic x y z");
+ if (args.length < 3 || args.length > 4) {
+ System.err.println("Either sends a new position, arguments: topic x y z");
+ System.err.println("Or reads positions from a file, arguments: topic filename wait");
return;
}
+ MqttHandler sender = new MqttHandler("sender stub").dontSendWelcomeMessage();
+ sender.setHost("localhost", 1883);
+ sender.waitUntilReady(2, TimeUnit.SECONDS);
final String topic = args[0];
+ if (args.length == 3) {
+ final String filename = args[1];
+ final int wait = Integer.parseInt(args[2]);
+ try {
+ for (String line : Files.readAllLines(Paths.get(filename))) {
+ if (line.isEmpty()) continue;
+ String[] lineSplit = line.split(";");
+ publish(sender, topic,
+ Float.parseFloat(lineSplit[0]),
+ Float.parseFloat(lineSplit[1]),
+ Float.parseFloat(lineSplit[2]));
+ TimeUnit.MILLISECONDS.sleep(wait);
+ }
+ } catch (InterruptedException ignore) {
+ }
+ } else {
+ publish(sender, topic,
+ Float.parseFloat(args[1]),
+ Float.parseFloat(args[2]),
+ Float.parseFloat(args[3]));
+ }
+ sender.close();
+ }
+
+ private static void publish(MqttHandler sender, String topic, float x, float y, float z) {
Linkstate.PandaLinkState pls = Linkstate.PandaLinkState.newBuilder()
- .setName(args[0])
+ .setName(topic)
.setPos(Linkstate.PandaLinkState.Position.newBuilder()
- .setPositionX(Float.parseFloat(args[1]))
- .setPositionY(Float.parseFloat(args[2]))
- .setPositionZ(Float.parseFloat(args[3]))
+ .setPositionX(x)
+ .setPositionY(y)
+ .setPositionZ(z)
.build())
.build();
final byte[] message = pls.toByteArray();
-
- MqttHandler sender = new MqttHandler("sender stub").dontSendWelcomeMessage();
- sender.setHost("localhost", 1883);
- sender.waitUntilReady(2, TimeUnit.SECONDS);
sender.publish(topic, message);
- sender.close();
}
}
diff --git a/send.sh b/send.sh
new file mode 100755
index 0000000..8c55e2d
--- /dev/null
+++ b/send.sh
@@ -0,0 +1,3 @@
+#!/usr/bin/env bash
+./gradlew :ros2rag.senderstub:installDist && \
+ ./ros2rag.senderstub/build/install/ros2rag.senderstub/bin/ros2rag.senderstub $@
diff --git a/send_one.sh b/send_one.sh
deleted file mode 100755
index 5af156b..0000000
--- a/send_one.sh
+++ /dev/null
@@ -1,2 +0,0 @@
-#!/usr/bin/env bash
-./ros2rag.senderstub/build/install/ros2rag.senderstub/bin/ros2rag.senderstub $@
diff --git a/sequence.csv b/sequence.csv
new file mode 100644
index 0000000..4d66f7a
--- /dev/null
+++ b/sequence.csv
@@ -0,0 +1,30 @@
+0.0; 0.0; 0.0
+0.3; 0.3; 0.3
+0.6; 0.6; 0.6
+1.0; 1.0; 1.0
+
+1.0; 1.0; 1.0
+1.0; 1.0; 1.0
+1.0; 1.0; 1.0
+1.0; 1.0; 1.0
+1.0; 1.0; 1.0
+1.0; 1.0; 1.0
+
+1.0; 0.6; 1.0
+1.0; 0.3; 1.0
+1.0; 0.0; 1.0
+
+1.0; 0.0; 1.0
+1.0; 0.0; 1.0
+1.0; 0.0; 1.0
+1.0; 0.0; 1.0
+
+0.6; 0.0; 1.0
+0.3; 0.0; 1.0
+0.0; 0.0; 1.0
+
+0.0; 0.0; 1.0
+0.0; 0.0; 1.0
+0.0; 0.0; 1.0
+0.0; 0.0; 1.0
+0.0; 0.0; 1.0
diff --git a/starter.sh b/starter.sh
index 12d625d..e3bb9b9 100755
--- a/starter.sh
+++ b/starter.sh
@@ -1,3 +1,3 @@
#!/usr/bin/env bash
-./gradlew :ros2rag.starter:installDist
-./ros2rag.starter/build/install/ros2rag.starter/bin/ros2rag.starter $@
+./gradlew :ros2rag.starter:installDist && \
+ ./ros2rag.starter/build/install/ros2rag.starter/bin/ros2rag.starter $@
--
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