Updating receiver and sender stubs.

Fixed error to not handle YAML correctly.

ros2rag.receiverstub/build.gradle

@@ -3,7 +3,7 @@ apply plugin: 'com.google.protobuf'
 
 sourceCompatibility = 1.8
 
-mainClassName = 'de.tudresden.inf.st.ros2rag.receiverstub.Main'
+mainClassName = 'de.tudresden.inf.st.ros2rag.receiverstub.ReceiverMain'
 
 repositories {
     jcenter()
@@ -17,16 +17,16 @@ buildscript {
 }
 
 sourceSets.main.java.srcDir "src/gen/java"
-jar.manifest.attributes('Main-Class': 'de.tudresden.inf.st.ros2rag.receiverstub.Main')
+jar.manifest.attributes('Main-Class': 'de.tudresden.inf.st.ros2rag.receiverstub.ReceiverMain')
 
 dependencies {
     implementation project(':ros2rag.starter')
 
-    implementation group: 'com.fasterxml.jackson.dataformat', name: 'jackson-dataformat-xml', version: "${jackson_version}"
-    implementation group: 'com.fasterxml.jackson.core', name: 'jackson-databind', version: "${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'
+//    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")
 }

ros2rag.receiverstub/src/main/java/de/tudresden/inf/st/ros2rag/receiverstub/Main.java → ros2rag.receiverstub/src/main/java/de/tudresden/inf/st/ros2rag/receiverstub/ReceiverMain.java

 package de.tudresden.inf.st.ros2rag.receiverstub;
 
 import com.fasterxml.jackson.databind.ObjectMapper;
+import com.fasterxml.jackson.dataformat.yaml.YAMLFactory;
 import com.google.protobuf.InvalidProtocolBufferException;
 import config.Dataconfig.DataConfig;
 import config.Robotconfig.RobotConfig;
@@ -19,14 +20,14 @@ import java.util.concurrent.CountDownLatch;
 import java.util.concurrent.TimeUnit;
 import java.util.concurrent.atomic.AtomicInteger;
 
-public class Main {
+public class ReceiverMain {
 
-  private static final Logger logger = LogManager.getLogger(Main.class);
+  private static final Logger logger = LogManager.getLogger(ReceiverMain.class);
   private String topicPattern;
 
   public static void main(String[] args) throws Exception {
-    Main main = new Main();
-    ObjectMapper mapper = new ObjectMapper();
+    ReceiverMain main = new ReceiverMain();
+    ObjectMapper mapper = new ObjectMapper(new YAMLFactory());
     File configFile = new File(args[0]);
     System.out.println("Using config file: " + configFile.getAbsolutePath());
     ActualConfiguration config = mapper.readValue(configFile, DataConfiguration.class).panda_mqtt_connector;

ros2rag.senderstub/build.gradle

@@ -3,7 +3,7 @@ apply plugin: 'com.google.protobuf'
 
 sourceCompatibility = 1.8
 
-mainClassName = 'de.tudresden.inf.st.ros2rag.senderstub.Main'
+mainClassName = 'de.tudresden.inf.st.ros2rag.senderstub.SenderMain'
 
 repositories {
     jcenter()
@@ -17,16 +17,13 @@ buildscript {
 }
 
 sourceSets.main.java.srcDir "src/gen/java"
-jar.manifest.attributes('Main-Class': 'de.tudresden.inf.st.ros2rag.senderstub.Main')
+jar.manifest.attributes('Main-Class': 'de.tudresden.inf.st.ros2rag.senderstub.SenderMain')
 
 dependencies {
     implementation project(':ros2rag.starter')
 
-    implementation group: 'com.fasterxml.jackson.dataformat', name: 'jackson-dataformat-xml', version: "${jackson_version}"
-    implementation group: 'com.fasterxml.jackson.core', name: 'jackson-databind', version: "${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'
+//    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.senderstub/src/main/java/de/tudresden/inf/st/ros2rag/senderstub/Main.java → ros2rag.senderstub/src/main/java/de/tudresden/inf/st/ros2rag/senderstub/SenderMain.java

@@ -5,7 +5,7 @@ import panda.Linkstate;
 
 import java.util.concurrent.TimeUnit;
 
-public class Main {
+public class SenderMain {
   public static void main(String[] args) throws Exception {
     // assume 4 arguments
     if (args.length < 4) {

ros2rag.starter/build.gradle

@@ -28,12 +28,12 @@ jar.manifest.attributes('Main-Class': 'de.tudresden.inf.st.ros2rag.starter.Start
 dependencies {
     implementation project (':ros2rag.base')
     baseRuntimeClasspath project (':ros2rag.base')
-    implementation group: 'com.fasterxml.jackson.dataformat', name: 'jackson-dataformat-xml', version: "${jackson_version}"
-    implementation group: 'com.fasterxml.jackson.core', name: 'jackson-databind', version: "${jackson_version}"
-    implementation group: 'com.fasterxml.jackson.dataformat', name: 'jackson-dataformat-yaml', 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: "${jackson_version}"
+    api group: 'com.fasterxml.jackson.dataformat', name: 'jackson-dataformat-yaml', version: "${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'
+    api group: 'com.google.protobuf', name: 'protobuf-java', version: '3.0.0'
+    api group: 'org.fusesource.mqtt-client', name: 'mqtt-client', version: '1.15'
 
     jastadd2 "org.jastadd:jastadd:2.3.4"
 }