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cst-bindings - ROS2 - first version - fixed. #8

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e9429bb
cst-bindings - ROS2 - first version
Aug 27, 2025
1425914
Merge remote-tracking branch 'upstream/main'
Aug 27, 2025
59be905
cst-bindings - ROS2 - first version - test fixed
Aug 27, 2025
4efbabb
My local changes before merge
Sep 5, 2025
86bbc56
Merge remote-tracking branch 'upstream/main'
Sep 5, 2025
ea987f5
cst-bindings - ROS2 - first version - fixed
Sep 6, 2025
4d5cb2a
cst-bindings - ROS2 - first version - JUnit5 - fixed
Sep 9, 2025
10c48da
cst-bindings - ROS2 - first version - fixing JSoar failures
Sep 10, 2025
a3ffeaa
Merge remote-tracking branch 'upstream/main'
Sep 17, 2025
59264a2
cst-bindings - ROS2 - first version
Sep 17, 2025
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130 changes: 11 additions & 119 deletions src/main/java/br/unicamp/cst/bindings/ros2java/RosServiceClientCodelet.java
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Original file line number Diff line number Diff line change
@@ -1,4 +1,14 @@

/***********************************************************************************************
* Copyright (c) 2012 DCA-FEEC-UNICAMP
* All rights reserved. This program and the accompanying materials
* are made available under the terms of the GNU Lesser Public License v3
* which accompanies this distribution, and is available at
* http://www.gnu.org/licenses/lgpl.html
* <p>
* Contributors:
* K. Raizer, A. L. O. Paraense, E. M. Froes, R. R. Gudwin - initial API and implementation
* jrborelli - ROS2
***********************************************************************************************/

package br.unicamp.cst.bindings.ros2java;

Expand Down Expand Up @@ -145,121 +155,3 @@ protected void processServiceResponse(AddTwoIntsResponseMessage response) {
}
*/
}




/* Fisrt verstion...

package br.unicamp.cst.bindings.ros2java;

import br.unicamp.cst.core.entities.Codelet;
import br.unicamp.cst.core.entities.Memory;
import br.unicamp.cst.core.exceptions.CodeletActivationBoundsException;
import id.jrosmessages.Message;
//import pinorobotics.jros2client.JRos2Client;
import id.jros2client.JRos2Client;
import id.jros2client.JRos2ClientFactory;
import pinorobotics.jros2services.JRos2ServiceClient;
//import pinorobotics.jrosservices.JRosServiceClient;
import pinorobotics.jros2services.JRos2ServicesFactory;

import java.util.concurrent.Semaphore;


public abstract class RosServiceClientCodelet<S extends Message, T extends Message> extends Codelet {

protected String serviceName;
protected Class<S> requestType = (Class<S>) AddTwoIntsRequestMessage.class;;
protected Class<T> responseType = (Class<T>) AddTwoIntsResponseMessage.class;

protected Memory inputMemory;

protected S requestMessage;
protected JRos2ServiceClient<S, T> serviceClient;
protected JRos2Client ros2Client;

private final Semaphore callInProgressSemaphore = new Semaphore(1);

public RosServiceClientCodelet(String serviceName, Class<S> requestType, Class<T> responseType) {
this.serviceName = serviceName;
this.requestType = requestType;
this.responseType = responseType;
this.setName("Ros2Client:" + serviceName);
}

@Override
public void start() {
try {

ros2Client = new JRos2ClientFactory().createClient();

// Assuming you have a ServiceDefinition class for your service, e.g. AddTwoIntsServiceDefinition
serviceClient = new JRos2ServicesFactory().createClient(ros2Client, new AddTwoIntsServiceDefinition(), serviceName);

} catch (Exception e) {
throw new RuntimeException("Failed to initialize ROS 2 client for service: " + serviceName, e);
}

super.start();
}

@Override
public void stop() {
try {
if (serviceClient != null) serviceClient.close();
if (ros2Client != null) ros2Client.close();
} catch (Exception e) {
e.printStackTrace();
}

super.stop();
}

@Override
public void accessMemoryObjects() {
if (inputMemory == null) {
inputMemory = this.getInput(serviceName, 0);
}
}

@Override
public void calculateActivation() {
try {
setActivation(1.0); // Always run if needed
} catch (CodeletActivationBoundsException e) {
e.printStackTrace();
}
}

@Override
public void proc() {
if (inputMemory == null || inputMemory.getI() == null) return;

try {
requestMessage = createNewRequest();
if (formatServiceRequest(inputMemory, requestMessage)) {
callInProgressSemaphore.acquire();

T response = serviceClient.sendRequestAsync(requestMessage).get();

if (response != null) {
processServiceResponse(response);
}
}
} catch (Exception e) {
System.err.println("Error in ROS 2 service call: " + e.getMessage());
} finally {
callInProgressSemaphore.release();
}
}

protected abstract S createNewRequest();


protected abstract boolean formatServiceRequest(Memory memory, S request);

protected abstract void processServiceResponse(T response);
}

*/
1 change: 1 addition & 0 deletions src/main/java/br/unicamp/cst/bindings/ros2java/RosServiceClientSync.java
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Original file line number Diff line number Diff line change
Expand Up @@ -7,6 +7,7 @@
* <p>
* Contributors:
* K. Raizer, A. L. O. Paraense, E. M. Froes, R. R. Gudwin - initial API and implementation
* jrborelli - ROS2
***********************************************************************************************/
package br.unicamp.cst.bindings.ros2java;

Expand Down
238 changes: 1 addition & 237 deletions src/main/java/br/unicamp/cst/bindings/ros2java/RosTopicOneShotPublisherCodelet.java
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Original file line number Diff line number Diff line change
Expand Up @@ -7,6 +7,7 @@
* <p>
* Contributors:
* K. Raizer, A. L. O. Paraense, E. M. Froes, R. R. Gudwin - initial API and implementation
* jrborelli - ROS2
***********************************************************************************************/


Expand Down Expand Up @@ -109,240 +110,3 @@ public void setEnabled(boolean enabled) {
}


/* // Second Version, almost there, see reference.
package br.unicamp.cst.bindings.ros2java;

import br.unicamp.cst.core.entities.Codelet;
import br.unicamp.cst.core.entities.Memory;
import br.unicamp.cst.core.exceptions.CodeletActivationBoundsException;
import id.jrosmessages.Message;
import id.jros2client.JRos2Client;
import id.jros2client.JRos2ClientFactory;
import id.jros2client.qos.PublisherQos;
import id.jros2client.qos.SubscriberQos;
//import id.jros2client.publisher.JRos2Publisher;
import id.jrosclient.TopicSubmissionPublisher;

public abstract class RosTopicOneShotPublisherCodelet<T extends Message> extends Codelet {

protected String topic;
protected Class<T> messageType;
protected Memory motorMemory;

protected JRos2Client ros2Client;
//protected JRos2Publisher<T> publisher;
protected TopicSubmissionPublisher publisher;
protected T message;

private volatile boolean enabled = false;

public RosTopicOneShotPublisherCodelet(String topic, Class<T> messageType) {
this.topic = topic;
this.messageType = messageType;
setName("Ros2Publisher:" + topic);
}

@Override
public synchronized void start() {

// Exemplo:
//https://github.com/lambdaprime/jros2client/blob/main/jros2client.examples/generic/src/PublisherApp.java
// var configBuilder = new JRos2ClientConfiguration.Builder();
// use configBuilder to override default parameters (network interface, RTPS settings etc)
// var client = new JRos2ClientFactory().createClient(configBuilder.build());
// String topicName = "/helloRos";
// var publisher = new TopicSubmissionPublisher<>(StringMessage.class, topicName);
// register a new publisher for a new topic with ROS
// client.publish(publisher);
// while (true) {
// publisher.submit(new StringMessage().withData("Hello ROS"));
// System.out.println("Published");
// Thread.sleep(1000);
//}


ros2Client = new JRos2ClientFactory().createClient();
publisher = new TopicSubmissionPublisher<>(messageType, topic);

//publisher = ros2Client.createPublisher(topic, messageType);
//message = publisher.newMessage();
super.start();
}

@Override
public synchronized void stop() {
try {
if (publisher != null) publisher.close();
if (ros2Client != null) ros2Client.close();
} catch (Exception e) {
e.printStackTrace();
}
super.stop();
}

@Override
public void accessMemoryObjects() {
if (motorMemory == null) {
motorMemory = getInput(topic, 0);
}
}

@Override
public void calculateActivation() {
try {
setActivation(enabled ? 1.0 : 0.0);
} catch (CodeletActivationBoundsException e) {
e.printStackTrace();
}
}

@Override
public void proc() {
if (!enabled) return;
if (motorMemory == null) return;

fillMessageToBePublished(motorMemory, message);
//publisher.publish(message);
enabled = false; // publish only once per enable
}


public abstract void fillMessageToBePublished(Memory motorMemory, T message);

public boolean getEnabled() {
return enabled;
}

public void setEnabled(boolean enabled) {
this.enabled = enabled;
}

}

*/

/* //First Version:
package br.unicamp.cst.bindings.ros2java;

import br.unicamp.cst.core.entities.Codelet;
import br.unicamp.cst.core.entities.Memory;
import br.unicamp.cst.core.exceptions.CodeletActivationBoundsException;

import id.jrosmessages.Message;
import id.jrosmessages.MessageDescriptor;
import id.jros2client.JRos2Client;
import id.jros2client.JRos2ClientFactory;
import id.jros2client.publisher.JRos2Publisher; // your publisher interface/class

import java.util.concurrent.atomic.AtomicBoolean;


//ROS 2 Topic One-Shot Publisher Codelet that creates and holds a publisher instance.

//@param <T> ROS 2 Message type extending Message

public abstract class RosTopicOneShotPublisherCodelet<T extends Message> extends Codelet {

protected String topic;
protected Class<T> messageTypeClass; // the class of message type (for createPublisher)
protected MessageDescriptor<T> messageDescriptor; // optional, if your client uses descriptors

protected Memory motorMemory;
protected T message;

protected JRos2Client ros2Client;
protected JRos2Publisher<T> publisher;

private final AtomicBoolean enabled = new AtomicBoolean(false);

public RosTopicOneShotPublisherCodelet(String topic, Class<T> messageTypeClass, MessageDescriptor<T> messageDescriptor) {
super();
this.topic = topic;
this.messageTypeClass = messageTypeClass;
this.messageDescriptor = messageDescriptor;
setName("Ros2Publisher:" + topic);
}

@Override
public synchronized void start() {
try {
ros2Client = new JRos2ClientFactory().createClient();
if (messageDescriptor != null) {
publisher = ros2Client.createPublisher(topic, messageDescriptor);
} else {
publisher = ros2Client.createPublisher(topic, messageTypeClass);
}
} catch (Exception e) {
throw new RuntimeException("Failed to initialize ROS 2 client or create publisher", e);
}
super.start();
}

@Override
public synchronized void stop() {
try {
if (ros2Client != null) ros2Client.close();
} catch (Exception e) {
e.printStackTrace();
}
super.stop();
}

@Override
public void accessMemoryObjects() {
if (motorMemory == null) {
motorMemory = this.getInput(topic, 0);
}
}

@Override
public void calculateActivation() {
try {
setActivation(0.0d);
} catch (CodeletActivationBoundsException e) {
e.printStackTrace();
}
}

@Override
public void proc() {
if (!enabled.get()) return;
if (motorMemory == null || motorMemory.getI() == null) return;

if (message == null) {
message = createNewMessage();
}

fillMessageToBePublished(motorMemory, message);

try {
if (messageDescriptor != null) {
ros2Client.publish(topic, messageDescriptor, publisher);
} else {
ros2Client.publish(topic, messageTypeClass, publisher);
}
} catch (Exception e) {
System.err.println("Failed to publish message on topic " + topic + ": " + e.getMessage());
}

enabled.set(false); // one-shot disable after publish
}


protected abstract T createNewMessage();


protected abstract void fillMessageToBePublished(Memory motorMemory, T message);

public boolean isEnabled() {
return enabled.get();
}

public void setEnabled(boolean enabled) {
this.enabled.set(enabled);
}
}

*/


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