From d921e51f6c71c5c7de52564eadd10e01bf81f977 Mon Sep 17 00:00:00 2001
From: rschoene <rene.schoene@tu-dresden.de>
Date: Tue, 30 Jun 2020 16:23:56 +0200
Subject: [PATCH] Always specify topic and position in sender-stub.
---
.../inf/st/ros2rag/senderstub/Main.java | 41 +++++++------------
1 file changed, 14 insertions(+), 27 deletions(-)
diff --git a/ros2rag.senderstub/src/main/java/de/tudresden/inf/st/ros2rag/senderstub/Main.java b/ros2rag.senderstub/src/main/java/de/tudresden/inf/st/ros2rag/senderstub/Main.java
index a267836..3ae4b47 100644
--- a/ros2rag.senderstub/src/main/java/de/tudresden/inf/st/ros2rag/senderstub/Main.java
+++ b/ros2rag.senderstub/src/main/java/de/tudresden/inf/st/ros2rag/senderstub/Main.java
@@ -7,34 +7,21 @@ import java.util.concurrent.TimeUnit;
public class Main {
public static void main(String[] args) throws Exception {
- final String topic;
- final byte[] message;
-
- if (args.length < 1) {
- topic = "robot/joint1";
- } else {
- topic = args[0];
- }
-
- if (args.length < 2) {
- Linkstate.PandaLinkState pls = Linkstate.PandaLinkState.newBuilder()
- .setName("Joint1")
- .setPos(Linkstate.PandaLinkState.Position.newBuilder()
- .setPositionX(0.5f)
- .setPositionY(0.5f)
- .setPositionZ(0.5f)
- .build())
- .setOrient(Linkstate.PandaLinkState.Orientation.newBuilder()
- .setOrientationX(0)
- .setOrientationY(0)
- .setOrientationZ(0)
- .setOrientationW(0)
- .build())
- .build();
- message = pls.toByteArray();
- } else {
- message = args[1].getBytes();
+ // assume 4 arguments
+ if (args.length < 4) {
+ System.err.println("Sends a new position, expected arguments: topic x y z");
+ return;
}
+ final String topic = args[0];
+ Linkstate.PandaLinkState pls = Linkstate.PandaLinkState.newBuilder()
+ .setName(args[0])
+ .setPos(Linkstate.PandaLinkState.Position.newBuilder()
+ .setPositionX(Float.parseFloat(args[1]))
+ .setPositionY(Float.parseFloat(args[2]))
+ .setPositionZ(Float.parseFloat(args[3]))
+ .build())
+ .build();
+ final byte[] message = pls.toByteArray();
MqttUpdater sender = new MqttUpdater("sender stub").dontSendWelcomeMessage();
sender.setHost("localhost", 1883);
--
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