ctu.nengoros.comm.rosBackend.backend

Interface Backend

All Superinterfaces:

OnNewRosMessageSourceInt

All Known Implementing Classes:

BooleanBackend, ColorBackend, FloatBackend, IntBackend, PoseBackend, TwistBackend, VelocityBackend

public interface Backend
extends OnNewRosMessageSourceInt

This serves as a backend for direct communication with ROS nodes. It can be used either for publishing messages OR for receiving messages.

For communication between nodes, the Nengo uses either RealOutput or SpikeOutput data types. The Real output is implemented as vector of float values. Therefore the Backend accepts and returns vectors of floats. Note that SpikeOutput is not implemented so far.

• Publishing: just call method publish()
• Receiving: just extend this: MyEventListenerInterface and subscribe to events fired by this class. Event informs that new ROS message is available, then call decodeMessage(Message m) to obtain the float[] data.

See Also:

SpikeOutput, RealOutput

Method Summary

Methods

Modifier and Type	Method and Description
void	addEventListener(MyEventListenerInterface listener) Adds the listener which waits for new message from ROS events.
float[]	decodeMessage(org.ros.internal.message.Message mess) This method decodes the last available message from ROS into Nengo format (that is an array of floats)
void	fireOnNewMessage(org.ros.internal.message.Message mess) New message from ROS received.
int	gedNumOfDimensions() The data from ROS message are concatenated into one vector of float values.
void	publish(float[] data) This transforms given array of floats (from Nengo) to given data type and publishes message with data the to a given ROS topic.

Methods inherited from interface ctu.nengoros.comm.rosBackend.backend.newMessageEvent.OnNewRosMessageSourceInt

removeEventListener

Method Detail

publish

void publish(float[] data)

This transforms given array of floats (from Nengo) to given data type and publishes message with data the to a given ROS topic.

Parameters:

data -

decodeMessage

float[] decodeMessage(org.ros.internal.message.Message mess)

This method decodes the last available message from ROS into Nengo format (that is an array of floats)

Returns:

gedNumOfDimensions

int gedNumOfDimensions()

The data from ROS message are concatenated into one vector of float values. This method returns the resulting length of this vector = number of dimensions for a Nengo Termination.

Returns:

dimension of data for Nengo

addEventListener

void addEventListener(MyEventListenerInterface listener)

Adds the listener which waits for new message from ROS events.

Specified by:

addEventListener in interface OnNewRosMessageSourceInt

See Also:

OnNewRosMessageSource

fireOnNewMessage

void fireOnNewMessage(org.ros.internal.message.Message mess)

New message from ROS received.

Specified by:

fireOnNewMessage in interface OnNewRosMessageSourceInt

See Also:

OnNewRosMessageSource