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ros2rag
Commits
b9a3384e
Commit
b9a3384e
authored
Jul 08, 2020
by
René Schöne
Browse files
Update scripts, send as sequence possible.
parent
901d7fde
Changes
7
Hide whitespace changes
Inline
Side-by-side
goal.sh
View file @
b9a3384e
#!/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
$@
receiver.sh
View file @
b9a3384e
#!/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
$@
ros2rag.senderstub/src/main/java/de/tudresden/inf/st/ros2rag/senderstub/SenderMain.java
View file @
b9a3384e
...
...
@@ -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
();
}
}
send.sh
0 → 100755
View file @
b9a3384e
#!/usr/bin/env bash
./gradlew :ros2rag.senderstub:installDist
&&
\
./ros2rag.senderstub/build/install/ros2rag.senderstub/bin/ros2rag.senderstub
$@
send_one.sh
deleted
100755 → 0
View file @
901d7fde
#!/usr/bin/env bash
./ros2rag.senderstub/build/install/ros2rag.senderstub/bin/ros2rag.senderstub
$@
sequence.csv
0 → 100644
View file @
b9a3384e
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
starter.sh
View file @
b9a3384e
#!/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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