Introduce ros2rag.common for files used by multiple modules.

- remove some unnecessary gradle dependencies

ros2rag.common/.gitignore

+build/

common/config.yaml → ros2rag.common/config.yaml

@@ -3,6 +3,8 @@ panda_mqtt_connector:
   topics:
     robotConfig: "robotconfig"
     dataConfig: "dataconfig"
+    trajectory: "trajectory"
+    nextStep: "ros2rag/nextStep"
   zone_size: 0.5
   zones:
     - "1 1"
@@ -21,3 +23,8 @@ panda_mqtt_connector:
   end_effectors:
     panda:
       EndEffector: "panda::panda_link7"
+  goal_poses:
+    - position: "0 0 0"
+      wait: "3"
+    - position: "1 1 1"
+      wait: "2"

ros2rag.starter/src/main/java/de/tudresden/inf/st/ros2rag/starter/data/DataConfiguration.java → ros2rag.common/src/main/java/de/tudresden/inf/st/ros2rag/common/DataConfiguration.java

-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.Map;
 import java.util.SortedMap;
@@ -19,9 +18,16 @@ public class DataConfiguration {
     public List<String> zones;
     public Map<String, SortedMap<String, String>> parts;
     public Map<String, SortedMap<String, String>> end_effectors;
+    public List<DataWorkPose> goal_poses;
   }
   public static class DataTopics {
     public String robotConfig;
     public String dataConfig;
+    public String trajectory;
+    public String nextStep;
+  }
+  public static class DataWorkPose {
+    public String position;
+    public String wait;
   }
 }

ros2rag.starter/src/main/java/de/tudresden/inf/st/ros2rag/starter/Util.java → ros2rag.common/src/main/java/de/tudresden/inf/st/ros2rag/common/Util.java

-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.starter.ast.MqttHandler;
-import de.tudresden.inf.st.ros2rag.starter.data.DataConfiguration;
-import de.tudresden.inf.st.ros2rag.starter.data.DataConfiguration.ActualConfiguration;
+import de.tudresden.inf.st.ros2rag.common.DataConfiguration.ActualConfiguration;
 
 import java.io.IOException;
 import java.util.Map;
@@ -15,12 +12,8 @@ import java.util.SortedMap;
  * @author rschoene - Initial contribution
  */
 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);
     handler.setHost(hostAndPort.host, hostAndPort.port);
   }
@@ -56,8 +49,8 @@ public class Util {
   }
 
   @FunctionalInterface
-  public interface RootElement {
-    void MqttSetHost(String host, int port) throws IOException;
+  public interface SetHost {
+    void setHost(String host, int port) throws IOException;
   }
 
   @FunctionalInterface

ros2rag.receiverstub/build.gradle

@@ -21,14 +21,7 @@ jar.manifest.attributes('Main-Class': 'de.tudresden.inf.st.ros2rag.receiverstub.
 
 dependencies {
     implementation project(':ros2rag.starter')
-
-//    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")
+    implementation project(':ros2rag.common')
 }
 
 test {

ros2rag.senderstub/build.gradle

@@ -22,9 +22,6 @@ jar.manifest.attributes('Main-Class': 'de.tudresden.inf.st.ros2rag.senderstub.Se
 dependencies {
     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")
 }
 

ros2rag.starter/build.gradle

@@ -27,6 +27,7 @@ jar.manifest.attributes('Main-Class': 'de.tudresden.inf.st.ros2rag.starter.Start
 
 dependencies {
     implementation project (':ros2rag.base')
+    implementation project (':ros2rag.common')
     baseRuntimeClasspath project (':ros2rag.base')
 //    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}"

ros2rag.starter/src/main/java/de/tudresden/inf/st/ros2rag/starter/StarterMain.java

@@ -3,16 +3,15 @@ package de.tudresden.inf.st.ros2rag.starter;
 import com.fasterxml.jackson.databind.ObjectMapper;
 import com.fasterxml.jackson.dataformat.yaml.YAMLFactory;
 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.data.DataConfiguration;
-import de.tudresden.inf.st.ros2rag.starter.data.DataConfiguration.ActualConfiguration;
+import de.tudresden.inf.st.ros2rag.common.DataConfiguration;
+import de.tudresden.inf.st.ros2rag.common.DataConfiguration.ActualConfiguration;
 import org.apache.logging.log4j.LogManager;
 import org.apache.logging.log4j.Logger;
 
 import java.io.File;
 import java.io.IOException;
-import java.util.Map.Entry;
-import java.util.SortedMap;
 import java.util.concurrent.CountDownLatch;
 import java.util.concurrent.TimeUnit;
 
@@ -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.");
 
     mainHandler = new MqttHandler("mainHandler");
-    Util.setMqttHost(mainHandler, config);
+    Util.setMqttHost(mainHandler::setHost, config);
     mainHandler.waitUntilReady(2, TimeUnit.SECONDS);
     mainHandler.newConnection("exit", bytes -> exitCondition.countDown());
     mainHandler.newConnection("model", bytes -> logStatus(new String(bytes), robotArm));

ros2rag.starter/src/main/proto

-../../../common/proto/
\ No newline at end of file
+../../../ros2rag.common/proto/
\ No newline at end of file

ros2rag.tests/src/test/proto

-../../../common/proto/
\ No newline at end of file
+../../../ros2rag.common/proto/
\ No newline at end of file

settings.gradle

@@ -6,3 +6,5 @@ include 'ros2rag.tests'
 include 'ros2rag.starter'
 include 'ros2rag.senderstub'
 include 'ros2rag.receiverstub'
+include 'ros2rag.goal'
+include 'ros2rag.common'