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Java源码示例：org.ros.node.NodeMainExecutor

示例1

@Override
protected void init(NodeMainExecutor node) {
    guestScienceDemoNode = GuestScienceRosMessages.getSingletonInstance();
    guestScienceDemoNode.setListener(new GuestScienceRosMessages.OnMessageListener() {
        @Override
        public void onMessage(final String msg) {
            mMainHandler.post(new Runnable() {
                @Override
                public void run() {
                    AndroidRosBridgeService.setMsgRobotToService(msg);
                }
            });
        }
    });

    NodeConfiguration nodeConfiguration = NodeConfiguration.newPublic("10.0.3.15");
    nodeConfiguration.setMasterUri(getMasterUri());

    node.execute(guestScienceDemoNode, nodeConfiguration);
}

示例2

@Override
protected void init(final NodeMainExecutor node) {
    NodeConfiguration nodeConfiguration =
            NodeConfiguration.newPublic(
                    ROS_HOSTNAME, ROS_MASTER_URI);

    final PointCloudNode pcn = new PointCloudNode();
    node.execute(pcn, nodeConfiguration);
    mShutdownFuture = node.getScheduledExecutorService().schedule(new Runnable() {
        @Override
        public void run() {
            node.shutdownNodeMain(pcn);
            MainActivity.this.nodeMainExecutorService.forceShutdown();
        }
    }, 3, TimeUnit.SECONDS);
}

示例3

@Override
protected void init(NodeMainExecutor node) {
    mSimpleNode = new SimpleNode();
    mSimpleNode.setListener(new SimpleNode.OnMessageListener() {
        @Override
        public void onMessage(final String msg) {
            mMainHandler.post(new Runnable() {
                @Override
                public void run() {
                    mRecvText.setText(msg);
                }
            });
        }
    });

    NodeConfiguration nodeConfiguration = NodeConfiguration.newPublic(getRosHostname());
    nodeConfiguration.setMasterUri(getMasterUri());

    node.execute(mSimpleNode, nodeConfiguration);
}

示例4

@Override
protected void init(NodeMainExecutor node) {
    mSimpleNode = new SimpleNode();
    mSimpleNode.setListener(new SimpleNode.OnMessageListener() {
        @Override
        public void onMessage(final String msg) {
            mMainHandler.post(new Runnable() {
                @Override
                public void run() {
                    mRecvText.setText(msg);
                }
            });
        }
    });

    NodeConfiguration nodeConfiguration = NodeConfiguration.newPublic(getRosHostname());
    nodeConfiguration.setMasterUri(getMasterUri());

    node.execute(mSimpleNode, nodeConfiguration);
}

示例5

public RVizVisualization(boolean startROSCore, String mapFrameID) {
	this.mapFrameID = mapFrameID;
	this.robotStatusPublishers = new HashMap<Integer,Publisher<visualization_msgs.MarkerArray>>();
	this.dependencyPublishers = new HashMap<Integer,Publisher<visualization_msgs.MarkerArray>>();
	this.robotStatusMarkers = new HashMap<Integer,ArrayList<visualization_msgs.Marker>>();
	this.dependencyMarkers = new HashMap<Integer,ArrayList<visualization_msgs.Marker>>();

	this.boxMarkerPublishers = new HashMap<String,Publisher<visualization_msgs.MarkerArray>>();
	this.boxMarkerMarkers = new HashMap<String,ArrayList<visualization_msgs.Marker>>();
	
	if (startROSCore) {
		NodeConfiguration nodeConfiguration = NodeConfiguration.newPublic("localhost");
		NodeMainExecutor executor = DefaultNodeMainExecutor.newDefault();
		executor.execute(this, nodeConfiguration);

		RosCore mRosCore = RosCore.newPublic("localhost", 11311);
		mRosCore.start();
		try {
			mRosCore.awaitStart(5, TimeUnit.SECONDS);
		}
		catch (InterruptedException e) { e.printStackTrace(); }
		System.out.println("ROS-core started");
	}
}

示例6

@Override
protected void init(NodeMainExecutor nodeMainExecutor) {
    mLog.info("MainActivity init");

    // Store a reference to the NodeMainExecutor
    mNodeMainExecutor = nodeMainExecutor;
    getTangoPermission(EXTRA_VALUE_ADF, REQUEST_CODE_ADF_PERMISSION);
    getTangoPermission(EXTRA_VALUE_DATASET, REQUEST_CODE_DATASET_PERMISSION);
}

示例7

@Override
protected void init(NodeMainExecutor nodeMainExecutor) {
    batteryStatusNode = new BatteryStatusNode();

    // Setting configurations for ROS-Android Node
    NodeConfiguration nodeConfiguration = NodeConfiguration.newPublic("10.0.3.15");
    nodeConfiguration.setMasterUri(getMasterUri());

    nodeMainExecutor.execute(batteryStatusNode, nodeConfiguration);

    Log.i("LOG", "NODE EXECUTING!");
    isNodeExecuting = true;
}

示例8

@Override
protected void init(NodeMainExecutor node) {
    RGBLEDNode listener = new RGBLEDNode();

    NodeConfiguration nodeConfiguration = NodeConfiguration.newPublic(getRosHostname());
    nodeConfiguration.setMasterUri(getMasterUri());

    node.execute(listener, nodeConfiguration);
}

示例9

@Override
protected void init(NodeMainExecutor node) {
    RGBLEDNode listener = new RGBLEDNode();

    NodeConfiguration nodeConfiguration = NodeConfiguration.newPublic(getRosHostname());
    nodeConfiguration.setMasterUri(getMasterUri());

    node.execute(listener, nodeConfiguration);
}

示例10

@Override
protected void init(NodeMainExecutor nodeMainExecutor) {
    signalStateNode = new SignalStateNode();

    // Setting configurations for ROS-Android Node
    NodeConfiguration nodeConfiguration = NodeConfiguration.newPublic(ROS_HOSTNAME);
    nodeConfiguration.setMasterUri(ROS_MASTER_URI);

    nodeMainExecutor.execute(signalStateNode, nodeConfiguration);

    Log.i("LOG", "NODE EXECUTING!");
    isNodeExecuting = true;
}

示例11

@Override
protected void init(NodeMainExecutor nodeMainExecutor) {
    this.getBaseContext();
    final ManagerNode node = ManagerNode.INSTANCE();
    final NodeConfiguration config = NodeConfiguration.newPublic(ROS_HOSTNAME, ROS_MASTER_URI);
    node.setContext(this.getBaseContext());
    node.setStartTimer(mStartTimer);
    nodeMainExecutor.execute(node, config);
}

示例12

@Override
protected void init(NodeMainExecutor nodeMainExecutor) {
    cpuStatusNode = new CpuStatusNode(this);

    // Setting configurations for ROS-Android Node
    NodeConfiguration nodeConfiguration = NodeConfiguration.newPublic(ROS_HOSTNAME);
    nodeConfiguration.setMasterUri(ROS_MASTER_URI);

    nodeMainExecutor.execute(cpuStatusNode, nodeConfiguration);
    Log.i("LOG", "NODE EXECUTING!");
    isNodeExecuting = true;
}

示例13

@Override
protected void init(NodeMainExecutor nodeMainExecutor) {
    diskStateNode = new DiskStateNode();

    // Setting configurations for ROS-Android Node
    NodeConfiguration nodeConfiguration = NodeConfiguration.newPublic(ROS_HOSTNAME);
    nodeConfiguration.setMasterUri(ROS_MASTER_URI);

    nodeMainExecutor.execute(diskStateNode, nodeConfiguration);
    Log.i("LOG", "NODE EXECUTING!");
    isNodeExecuting = true;
}

示例14

@Override
protected void init(NodeMainExecutor nodeMainExecutor) {
    batteryStatusNode = new BatteryStatusNode();

    // Setting configurations for ROS-Android Node
    NodeConfiguration nodeConfiguration = NodeConfiguration.newPublic("hlp");
    nodeConfiguration.setMasterUri(getMasterUri());

    nodeMainExecutor.execute(batteryStatusNode, nodeConfiguration);

    Log.i("LOG", "NODE EXECUTING!");
    isNodeExecuting = true;
}

示例15

public static NodeMainExecutor getExecutor() {
    if (s_local == null) {
        s_local = Executors.newSingleThreadExecutor(new NamedThreadFactory("NodeMain Local", true));
    }

    if (s_executor == null)
        s_executor = DefaultNodeMainExecutor.newDefault();
    return s_executor;
}

示例16

@Override
protected void init(NodeMainExecutor nodeMainExecutor) {
    NodeMain node = new SimplePublisherNode();

    NodeConfiguration nodeConfiguration = NodeConfiguration.newPublic(InetAddressFactory.newNonLoopback().getHostAddress());
    nodeConfiguration.setMasterUri(getMasterUri());

    nodeMainExecutor.execute(node, nodeConfiguration);
}

示例17

public KobukiNodeLoader(NodeMainExecutor nme, URI rosMasterUri, String rosHostname) {
    super(nme, rosMasterUri, rosHostname);
}

示例18

public AbstractBaseNodeLoader(NodeMainExecutor nme, URI rosMasterUri, String rosHostname) {
    super(nme, rosMasterUri, rosHostname);
}

示例19

public UsbDeviceNodeLoader(NodeMainExecutor nme, URI rosMasterUri, String rosHostname) {
    mNodeMainExecutor = nme;
    mRosHostname = rosHostname;
    mRosMasterUri = rosMasterUri;
}

示例20

@Override
    protected void init(NodeMainExecutor nodeMainExecutor) {

        try {
            java.net.Socket socket = new java.net.Socket(getMasterUri().getHost(), getMasterUri().getPort());
            java.net.InetAddress local_network_address = socket.getLocalAddress();
            socket.close();

            this.nodeMainExecutor = nodeMainExecutor;
            this.nodeConfiguration =
                    NodeConfiguration.newPublic(local_network_address.getHostAddress(), getMasterUri());


            runOnUiThread(new Runnable() {
                @Override
                public void run() {
                    joystickFragment.invalidate();
                }
            });

            //controller.setTopicName(PreferenceManager.getDefaultSharedPreferences(this).getString("edittext_joystick_topic", getString(R.string.joy_topic)));
            controller.initialize(nodeMainExecutor, nodeConfiguration);

            // Add the HUDFragment to the RobotController's odometry listener
            controller.addOdometryListener(hudFragment);
            // Add the JoystickView to the RobotController's odometry listener
            controller.addOdometryListener(joystickFragment.getJoystickView());
            // Create and add a WarningSystem
            controller.addLaserScanListener(warningSystem = new WarningSystem(this));

//            // Add the LaserScanMap
//            controller.addLaserScanListener(laserScanMap);

            runOnUiThread(new Runnable() {
                @Override
                public void run() {
                    View temp = mDrawerList.getChildAt(drawerIndex);
                    mDrawerList.onTouchEvent(MotionEvent.obtain(SystemClock.uptimeMillis(),
                            SystemClock.uptimeMillis(), MotionEvent.ACTION_DOWN, temp.getX(), temp.getY(), 0));

                    selectItem(drawerIndex);
                }
            });
        } catch (Exception e) {
            // Socket problem
            Log.e(TAG, "socket error trying to get networking information from the master uri", e);
        }
    }

示例21

/**
 * Called when the Fragment is initialized.
 * @param mainExecutor The NodeMainExecutor with which to register subscribers/publishers
 * @param nodeConfiguration The NodeConfiguration
 */
public void initialize(NodeMainExecutor mainExecutor, NodeConfiguration nodeConfiguration) {
    this.nodeMainExecutor = mainExecutor;
    this.nodeConfiguration = nodeConfiguration;
    setInitialized(true);
}

示例22

/**
 * Initializes the RobotController.
 * @param nodeMainExecutor The NodeMainExecutor on which to execute the NodeConfiguration.
 * @param nodeConfiguration The NodeConfiguration to execute
 */
public void initialize(NodeMainExecutor nodeMainExecutor, NodeConfiguration nodeConfiguration) {
    nodeMainExecutor.execute(this, nodeConfiguration.setNodeName("android/robot_controller"));
}

示例23

/**
 * @param nodeMainExecutor
 *          the newly created {@link NodeMainExecutor}
 */
void onNewNodeMainExecutor(NodeMainExecutor nodeMainExecutor);

示例24

/**
 * This method is called in a background thread once this {@link Activity} has
 * been initialized with a master {@link URI} via the {@link MasterChooser}
 * and a {@link NodeMainExecutorService} has started. Your {@link NodeMain}s
 * should be started here using the provided {@link NodeMainExecutor}.
 *
 * @param nodeMainExecutor
 *          the {@link NodeMainExecutor} created for this {@link Activity}
 */
protected abstract void init(NodeMainExecutor nodeMainExecutor);

示例25

protected abstract void init(NodeMainExecutor nodeMainExecutor);

示例26

protected abstract void init(NodeMainExecutor nodeMainExecutor);

示例27

protected abstract void init(NodeMainExecutor nodeMainExecutor);

示例28

protected abstract void init(NodeMainExecutor nodeMainExecutor);

示例29

protected abstract void init(NodeMainExecutor nodeMainExecutor);

Java源码示例：org.ros.node.NodeMainExecutor

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