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861 changes: 443 additions & 418 deletions
861
rosjava/src/main/java/org/ros/internal/node/DefaultNode.java
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396 changes: 225 additions & 171 deletions
396
rosjava/src/main/java/org/ros/internal/node/client/MasterClient.java
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131 changes: 131 additions & 0 deletions
131
rosjava/src/main/java/org/ros/internal/node/response/SystemStateResultFactory.java
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| /* | ||
| * Copyright (C) 2012 Google Inc. | ||
| * | ||
| * Licensed under the Apache License, Version 2.0 (the "License"); you may not | ||
| * use this file except in compliance with the License. You may obtain a copy of | ||
| * the License at | ||
| * | ||
| * http://www.apache.org/licenses/LICENSE-2.0 | ||
| * | ||
| * Unless required by applicable law or agreed to in writing, software | ||
| * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT | ||
| * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the | ||
| * License for the specific language governing permissions and limitations under | ||
| * the License. | ||
| */ | ||
|
|
||
| package org.ros.internal.node.response; | ||
|
|
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| import java.util.Arrays; | ||
| import java.util.HashSet; | ||
| import java.util.Map; | ||
| import java.util.Map.Entry; | ||
| import java.util.Set; | ||
|
|
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| import org.ros.master.client.SystemState; | ||
| import org.ros.master.client.TopicSystemState; | ||
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| import com.google.common.collect.Maps; | ||
| import com.google.common.collect.Sets; | ||
|
|
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| /** | ||
| * A {@link ResultFactory} to take an object and turn it into a | ||
| * {@link SystemState} instance. | ||
| * | ||
| * @author Keith M. Hughes | ||
| */ | ||
| public class SystemStateResultFactory implements ResultFactory<SystemState> { | ||
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| @Override | ||
| public SystemState newFromValue(Object value) { | ||
| Object[] vals = (Object[]) value; | ||
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| Map<String, Set<String>> publisherMap = getPublishers(vals[0]); | ||
| Map<String, Set<String>> subscriberMap = getSubscribers(vals[1]); | ||
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| Map<String, TopicSystemState> topics = Maps.newHashMap(); | ||
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| for (Entry<String, Set<String>> publisherData : publisherMap.entrySet()) { | ||
| String topicName = publisherData.getKey(); | ||
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| Set<String> subscriberNodes = subscriberMap.remove(topicName); | ||
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| // Return empty lists if no subscribers | ||
| if (subscriberNodes == null) { | ||
| subscriberNodes = Sets.newHashSet(); | ||
| } | ||
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| topics.put(topicName, | ||
| new TopicSystemState(topicName, publisherData.getValue(), | ||
| subscriberNodes)); | ||
| } | ||
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| for (Entry<String, Set<String>> subscriberData : subscriberMap | ||
| .entrySet()) { | ||
| // At this point there are no publishers with the same topic name | ||
| HashSet<String> noPublishers = Sets.newHashSet(); | ||
| String topicName = subscriberData.getKey(); | ||
| topics.put(topicName, new TopicSystemState(topicName, | ||
| noPublishers, subscriberData.getValue())); | ||
| } | ||
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| // TODO(keith): Get service state in here. | ||
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| return new SystemState(topics.values()); | ||
| } | ||
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| /** | ||
| * Extract out the publisher data. | ||
| * | ||
| * @param pubvals | ||
| * the list of lists containing both a topic name and a list of | ||
| * publisher nodes for that topic | ||
| * | ||
| * @return a mapping from topic name to the set of publishers for that topic | ||
| */ | ||
| private Map<String, Set<String>> getPublishers(Object pubPairs) { | ||
| Map<String, Set<String>> topicToPublishers = Maps.newHashMap(); | ||
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| for (Object topicData : Arrays.asList((Object[]) pubPairs)) { | ||
| String topicName = (String) ((Object[]) topicData)[0]; | ||
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| Set<String> publishers =Sets.newHashSet(); | ||
| Object[] publisherData = (Object[])((Object[]) topicData)[1]; | ||
| for (Object publisher : publisherData) { | ||
| publishers.add(publisher.toString()); | ||
| } | ||
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| topicToPublishers.put(topicName, publishers); | ||
| } | ||
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| return topicToPublishers; | ||
| } | ||
|
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| /** | ||
| * Extract out the subscriber data. | ||
| * | ||
| * @param subPairs | ||
| * the list of lists containing both a topic name and a list of | ||
| * subscriber nodes for that topic | ||
| * | ||
| * @return a mapping from topic name to the set of subscribers for that | ||
| * topic | ||
| */ | ||
| private Map<String, Set<String>> getSubscribers(Object subPairs) { | ||
| Map<String, Set<String>> topicToSubscribers = Maps.newHashMap(); | ||
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| for (Object topicData : Arrays.asList((Object[]) subPairs)) { | ||
| String topicName = (String) ((Object[]) topicData)[0]; | ||
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| Set<String> subscribers =Sets.newHashSet(); | ||
| Object[] subscriberData = (Object[])((Object[]) topicData)[1]; | ||
| for (Object subscriber : subscriberData) { | ||
| subscribers.add(subscriber.toString()); | ||
| } | ||
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| topicToSubscribers.put(topicName, subscribers); | ||
| } | ||
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| return topicToSubscribers; | ||
| } | ||
| } |
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@@ -26,20 +26,24 @@ | |
| import com.google.common.collect.Lists; | ||
|
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| /** | ||
| * A {@link ResultFactory} to take an object and turn it into a list of | ||
| * {@link TopicDefinition} instances. | ||
| * | ||
| * @author [email protected] (Damon Kohler) | ||
| */ | ||
| public class TopicDefinitionListResultFactory implements ResultFactory<List<TopicDefinition>> { | ||
| public class TopicDefinitionListResultFactory implements | ||
| ResultFactory<List<TopicDefinition>> { | ||
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| @Override | ||
| public List<TopicDefinition> newFromValue(Object value) { | ||
| List<TopicDefinition> descriptions = Lists.newArrayList(); | ||
| List<Object> topics = Arrays.asList((Object[]) value); | ||
| for (Object topic : topics) { | ||
| String name = (String) ((Object[]) topic)[0]; | ||
| String type = (String) ((Object[]) topic)[1]; | ||
| descriptions.add(TopicDefinition.newFromTopicName(new GraphName(name), MessageDefinition | ||
| .newFromTypeName(type))); | ||
| } | ||
| return descriptions; | ||
| } | ||
| @Override | ||
| public List<TopicDefinition> newFromValue(Object value) { | ||
| List<TopicDefinition> descriptions = Lists.newArrayList(); | ||
| List<Object> topics = Arrays.asList((Object[]) value); | ||
| for (Object topic : topics) { | ||
| String name = (String) ((Object[]) topic)[0]; | ||
| String type = (String) ((Object[]) topic)[1]; | ||
| descriptions.add(TopicDefinition.newFromTopicName(new GraphName( | ||
| name), MessageDefinition.newFromTypeName(type))); | ||
| } | ||
| return descriptions; | ||
| } | ||
| } | ||
46 changes: 46 additions & 0 deletions
46
rosjava/src/main/java/org/ros/internal/node/response/TopicTypeListResultFactory.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,46 @@ | ||
| /* | ||
| * Copyright (C) 2012 Google Inc. | ||
| * | ||
| * Licensed under the Apache License, Version 2.0 (the "License"); you may not | ||
| * use this file except in compliance with the License. You may obtain a copy of | ||
| * the License at | ||
| * | ||
| * http://www.apache.org/licenses/LICENSE-2.0 | ||
| * | ||
| * Unless required by applicable law or agreed to in writing, software | ||
| * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT | ||
| * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the | ||
| * License for the specific language governing permissions and limitations under | ||
| * the License. | ||
| */ | ||
|
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| package org.ros.internal.node.response; | ||
|
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| import java.util.List; | ||
|
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| import org.ros.master.client.TopicType; | ||
|
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| import com.google.common.collect.Lists; | ||
|
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| /** | ||
| * A {@link ResultFactory} to take an object and turn it into a list of | ||
| * {@link TopicType} instances. | ||
| * | ||
| * @author Keith M. Hughes | ||
| */ | ||
| public class TopicTypeListResultFactory implements | ||
| ResultFactory<List<TopicType>> { | ||
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| @Override | ||
| public List<TopicType> newFromValue(Object value) { | ||
| List<TopicType> topics = Lists.newArrayList(); | ||
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| for (Object pair : (Object[]) value) { | ||
| topics.add(new TopicType((String) ((Object[]) pair)[0], | ||
| (String) ((Object[]) pair)[1])); | ||
| } | ||
|
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| return topics; | ||
| } | ||
|
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| } |
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|---|---|---|
|
|
@@ -26,21 +26,23 @@ | |
| import com.google.common.collect.Lists; | ||
|
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| /** | ||
| * A {@link ResultFactory} to take an object and turn it into a list of URLIs. | ||
| * | ||
| * @author [email protected] (Damon Kohler) | ||
| */ | ||
| public class UriListResultFactory implements ResultFactory<List<URI>> { | ||
|
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| @Override | ||
| public List<URI> newFromValue(Object value) { | ||
| List<Object> values = Arrays.asList((Object[]) value); | ||
| List<URI> uris = Lists.newArrayList(); | ||
| for (Object uri : values) { | ||
| try { | ||
| uris.add(new URI((String) uri)); | ||
| } catch (URISyntaxException e) { | ||
| throw new RosRuntimeException(e); | ||
| } | ||
| } | ||
| return uris; | ||
| } | ||
| @Override | ||
| public List<URI> newFromValue(Object value) { | ||
| List<Object> values = Arrays.asList((Object[]) value); | ||
| List<URI> uris = Lists.newArrayList(); | ||
| for (Object uri : values) { | ||
| try { | ||
| uris.add(new URI((String) uri)); | ||
| } catch (URISyntaxException e) { | ||
| throw new RosRuntimeException(e); | ||
| } | ||
| } | ||
| return uris; | ||
| } | ||
| } | ||
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