ctu.nengoros.comm.rosBackend.backend.impl

Class FloatBackend

java.lang.Object

ctu.nengoros.comm.rosBackend.backend.newMessageEvent.OnNewRosMessageSource

ctu.nengoros.comm.rosBackend.backend.impl.FloatBackend

All Implemented Interfaces:

Backend, OnNewRosMessageSourceInt

public class FloatBackend
extends OnNewRosMessageSource
implements Backend

This serves as a backend for direct communication with ROS nodes. It can be used either for publishing messages OR for receiving messages. Publishing: just call method publish() Receiving: just extend this: MyEventListenerInterface and subscribe to events fired by this class by this class. Event informs that new ROS message is available, then call decodeMessage(Message m) to obtain the float[] data. Note: so far this is able to send only 1D vectors of data.

Field Summary

Fields

Modifier and Type	Field and Description
static java.lang.String	MYTYPE

Constructor Summary

Constructors

Constructor and Description
FloatBackend(java.lang.String topic, java.lang.String type, int[] dimensionSizes, org.ros.node.ConnectedNode myRosNode, boolean publish)

Method Summary

Methods

Modifier and Type	Method and Description
void	checkDimensionSizes(std_msgs.Float32MultiArray mess)
float[]	decodeMessage(org.ros.internal.message.Message mess) Get message data (this receives arrays of floats, so just return the payload).
int	gedNumOfDimensions() The data from ROS message are concatenated into one vector of float values.
void	publish(float[] data) This thing gets data of given format and publishes them as a ROS message to a specified topic.
void	setReceivedRosMessage(std_msgs.Float32MultiArray mess)

Methods inherited from class ctu.nengoros.comm.rosBackend.backend.newMessageEvent.OnNewRosMessageSource

addEventListener, fireOnNewMessage, removeEventListener

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface ctu.nengoros.comm.rosBackend.backend.Backend

addEventListener, fireOnNewMessage

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

removeEventListener

Field Detail

MYTYPE

public static final java.lang.String MYTYPE

See Also:

Constant Field Values

Constructor Detail

FloatBackend

public FloatBackend(java.lang.String topic,
            java.lang.String type,
            int[] dimensionSizes,
            org.ros.node.ConnectedNode myRosNode,
            boolean publish)
             throws MessageFormatException

Throws:

MessageFormatException

Method Detail

publish

public void publish(float[] data)

This thing gets data of given format and publishes them as a ROS message to a specified topic. This methods hold the necessary transformations and publishing.

Specified by:

publish in interface Backend

setReceivedRosMessage

public void setReceivedRosMessage(std_msgs.Float32MultiArray mess)

checkDimensionSizes

public void checkDimensionSizes(std_msgs.Float32MultiArray mess)

decodeMessage

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

Get message data (this receives arrays of floats, so just return the payload).

Specified by:

decodeMessage in interface Backend

Returns:

gedNumOfDimensions

public int gedNumOfDimensions()

Description copied from interface: Backend

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.

Specified by:

gedNumOfDimensions in interface Backend

Returns:

dimension of data for Nengo