Commit c29bc52d authored by René Schöne's avatar René Schöne
Browse files

Introduce ros2rag.common for files used by multiple modules.

- remove some unnecessary gradle dependencies
parent 6956ebd2
...@@ -3,6 +3,8 @@ panda_mqtt_connector: ...@@ -3,6 +3,8 @@ panda_mqtt_connector:
topics: topics:
robotConfig: "robotconfig" robotConfig: "robotconfig"
dataConfig: "dataconfig" dataConfig: "dataconfig"
trajectory: "trajectory"
nextStep: "ros2rag/nextStep"
zone_size: 0.5 zone_size: 0.5
zones: zones:
- "1 1" - "1 1"
...@@ -21,3 +23,8 @@ panda_mqtt_connector: ...@@ -21,3 +23,8 @@ panda_mqtt_connector:
end_effectors: end_effectors:
panda: panda:
EndEffector: "panda::panda_link7" EndEffector: "panda::panda_link7"
goal_poses:
- position: "0 0 0"
wait: "3"
- position: "1 1 1"
wait: "2"
package de.tudresden.inf.st.ros2rag.starter.data; package de.tudresden.inf.st.ros2rag.common;
import java.util.HashMap;
import java.util.List; import java.util.List;
import java.util.Map; import java.util.Map;
import java.util.SortedMap; import java.util.SortedMap;
...@@ -19,9 +18,16 @@ public class DataConfiguration { ...@@ -19,9 +18,16 @@ public class DataConfiguration {
public List<String> zones; public List<String> zones;
public Map<String, SortedMap<String, String>> parts; public Map<String, SortedMap<String, String>> parts;
public Map<String, SortedMap<String, String>> end_effectors; public Map<String, SortedMap<String, String>> end_effectors;
public List<DataWorkPose> goal_poses;
} }
public static class DataTopics { public static class DataTopics {
public String robotConfig; public String robotConfig;
public String dataConfig; public String dataConfig;
public String trajectory;
public String nextStep;
}
public static class DataWorkPose {
public String position;
public String wait;
} }
} }
package de.tudresden.inf.st.ros2rag.starter; package de.tudresden.inf.st.ros2rag.common;
import de.tudresden.inf.st.ros2rag.starter.ast.Link; import de.tudresden.inf.st.ros2rag.common.DataConfiguration.ActualConfiguration;
import de.tudresden.inf.st.ros2rag.starter.ast.MqttHandler;
import de.tudresden.inf.st.ros2rag.starter.data.DataConfiguration;
import de.tudresden.inf.st.ros2rag.starter.data.DataConfiguration.ActualConfiguration;
import java.io.IOException; import java.io.IOException;
import java.util.Map; import java.util.Map;
...@@ -15,12 +12,8 @@ import java.util.SortedMap; ...@@ -15,12 +12,8 @@ import java.util.SortedMap;
* @author rschoene - Initial contribution * @author rschoene - Initial contribution
*/ */
public class Util { public class Util {
public static void setMqttHost(RootElement model, ActualConfiguration config) throws IOException {
HostAndPort hostAndPort = split(config.server);
model.MqttSetHost(hostAndPort.host, hostAndPort.port);
}
public static void setMqttHost(MqttHandler handler, ActualConfiguration config) throws IOException { public static void setMqttHost(SetHost handler, ActualConfiguration config) throws IOException {
HostAndPort hostAndPort = split(config.server); HostAndPort hostAndPort = split(config.server);
handler.setHost(hostAndPort.host, hostAndPort.port); handler.setHost(hostAndPort.host, hostAndPort.port);
} }
...@@ -56,8 +49,8 @@ public class Util { ...@@ -56,8 +49,8 @@ public class Util {
} }
@FunctionalInterface @FunctionalInterface
public interface RootElement { public interface SetHost {
void MqttSetHost(String host, int port) throws IOException; void setHost(String host, int port) throws IOException;
} }
@FunctionalInterface @FunctionalInterface
......
...@@ -21,14 +21,7 @@ jar.manifest.attributes('Main-Class': 'de.tudresden.inf.st.ros2rag.receiverstub. ...@@ -21,14 +21,7 @@ jar.manifest.attributes('Main-Class': 'de.tudresden.inf.st.ros2rag.receiverstub.
dependencies { dependencies {
implementation project(':ros2rag.starter') implementation project(':ros2rag.starter')
implementation project(':ros2rag.common')
// implementation group: 'com.fasterxml.jackson.core', name: 'jackson-databind', version: "${jackson_version}"
// implementation group: 'com.fasterxml.jackson.dataformat', name: 'jackson-dataformat-yaml', version: "${jackson_version}"
// implementation group: 'net.sf.beaver', name: 'beaver-rt', version: '0.9.11'
// implementation group: 'com.google.protobuf', name: 'protobuf-java', version: '3.0.0'
// implementation group: 'org.fusesource.mqtt-client', name: 'mqtt-client', version: '1.15'
protobuf files("$projectDir/../ros2rag.example/src/main/proto")
} }
test { test {
......
...@@ -22,9 +22,6 @@ jar.manifest.attributes('Main-Class': 'de.tudresden.inf.st.ros2rag.senderstub.Se ...@@ -22,9 +22,6 @@ jar.manifest.attributes('Main-Class': 'de.tudresden.inf.st.ros2rag.senderstub.Se
dependencies { dependencies {
implementation project(':ros2rag.starter') implementation project(':ros2rag.starter')
// implementation group: 'com.google.protobuf', name: 'protobuf-java', version: '3.0.0'
// implementation group: 'org.fusesource.mqtt-client', name: 'mqtt-client', version: '1.15'
protobuf files("$projectDir/../ros2rag.example/src/main/proto") protobuf files("$projectDir/../ros2rag.example/src/main/proto")
} }
......
...@@ -27,6 +27,7 @@ jar.manifest.attributes('Main-Class': 'de.tudresden.inf.st.ros2rag.starter.Start ...@@ -27,6 +27,7 @@ jar.manifest.attributes('Main-Class': 'de.tudresden.inf.st.ros2rag.starter.Start
dependencies { dependencies {
implementation project (':ros2rag.base') implementation project (':ros2rag.base')
implementation project (':ros2rag.common')
baseRuntimeClasspath project (':ros2rag.base') baseRuntimeClasspath project (':ros2rag.base')
// implementation group: 'com.fasterxml.jackson.dataformat', name: 'jackson-dataformat-xml', version: "${jackson_version}" // implementation group: 'com.fasterxml.jackson.dataformat', name: 'jackson-dataformat-xml', version: "${jackson_version}"
api group: 'com.fasterxml.jackson.core', name: 'jackson-databind', version: "${jackson_version}" api group: 'com.fasterxml.jackson.core', name: 'jackson-databind', version: "${jackson_version}"
......
...@@ -3,16 +3,15 @@ package de.tudresden.inf.st.ros2rag.starter; ...@@ -3,16 +3,15 @@ package de.tudresden.inf.st.ros2rag.starter;
import com.fasterxml.jackson.databind.ObjectMapper; import com.fasterxml.jackson.databind.ObjectMapper;
import com.fasterxml.jackson.dataformat.yaml.YAMLFactory; import com.fasterxml.jackson.dataformat.yaml.YAMLFactory;
import config.Dataconfig; import config.Dataconfig;
import de.tudresden.inf.st.ros2rag.common.Util;
import de.tudresden.inf.st.ros2rag.starter.ast.*; import de.tudresden.inf.st.ros2rag.starter.ast.*;
import de.tudresden.inf.st.ros2rag.starter.data.DataConfiguration; import de.tudresden.inf.st.ros2rag.common.DataConfiguration;
import de.tudresden.inf.st.ros2rag.starter.data.DataConfiguration.ActualConfiguration; import de.tudresden.inf.st.ros2rag.common.DataConfiguration.ActualConfiguration;
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 java.io.File; import java.io.File;
import java.io.IOException; import java.io.IOException;
import java.util.Map.Entry;
import java.util.SortedMap;
import java.util.concurrent.CountDownLatch; import java.util.concurrent.CountDownLatch;
import java.util.concurrent.TimeUnit; import java.util.concurrent.TimeUnit;
...@@ -83,7 +82,7 @@ public class StarterMain { ...@@ -83,7 +82,7 @@ public class StarterMain {
logger.info("To exit the system cleanly, send a message to the topic 'exit', or use Ctrl+C."); logger.info("To exit the system cleanly, send a message to the topic 'exit', or use Ctrl+C.");
mainHandler = new MqttHandler("mainHandler"); mainHandler = new MqttHandler("mainHandler");
Util.setMqttHost(mainHandler, config); Util.setMqttHost(mainHandler::setHost, config);
mainHandler.waitUntilReady(2, TimeUnit.SECONDS); mainHandler.waitUntilReady(2, TimeUnit.SECONDS);
mainHandler.newConnection("exit", bytes -> exitCondition.countDown()); mainHandler.newConnection("exit", bytes -> exitCondition.countDown());
mainHandler.newConnection("model", bytes -> logStatus(new String(bytes), robotArm)); mainHandler.newConnection("model", bytes -> logStatus(new String(bytes), robotArm));
......
../../../common/proto/ ../../../ros2rag.common/proto/
\ No newline at end of file \ No newline at end of file
../../../common/proto/ ../../../ros2rag.common/proto/
\ No newline at end of file \ No newline at end of file
...@@ -6,3 +6,5 @@ include 'ros2rag.tests' ...@@ -6,3 +6,5 @@ include 'ros2rag.tests'
include 'ros2rag.starter' include 'ros2rag.starter'
include 'ros2rag.senderstub' include 'ros2rag.senderstub'
include 'ros2rag.receiverstub' include 'ros2rag.receiverstub'
include 'ros2rag.goal'
include 'ros2rag.common'
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