ROS Javacore customized message 예제 2

#아래와 같은 구조로 메시지를 만들고 싶었다.

WordInfo.msg string word string[] morphemes string[] relations

SenteceInfo.msg WordInfo[] vector_wordInfo

즉, 문장을 어절 단위로 쪼개고 각 어절에 대한 형태소 정보를 담아서, Publish/Subscribe 하기 위한 메시지 생성 예제 코드 라고 할 수 있다.

1) Main.java

public class Main { public static void main(String[] args) { String[] input1={"rosjava_test_yj.Listener"}; String[] input2={"rosjava_test_yj.Talker"}; try { org.ros.RosRun.main(input1);org.ros.RosRun.main(input2); } catch(RosRuntimeException e) { System.out.println("Interactions: ros runtime error"); } catch(Exception e) { System.out.println("Interactions: unknown error"); } } }

2) SentenceInfo.java

public interface SentenceInfo extends org.ros.internal.message.Message { static final java.lang.String _Type="rosjava_test_yj/SentenceInfo"; static final java.lang.String _DEFINITION="WordInfo[] wordInfo_list"; ArrayList<WordInfo> getWordInfoList(); void setWordInfoList(ArrayList<WordInfo> wordInfo_list); }

3) WordInfo.java

public interface WordInfo extends org.ros.internal.message.Message { static final java.lang.String _Type="rosjava_test_yj/WordInfo"; static final java.lang.String _DEFINITION="string word \n string[] morphemes \n string[] relations"; String getWord(); void setWord(String word); ArrayList<String> getMorphemes(); void setMorphemes(ArrayList<String> morphemes); ArrayList<String> getRelations(); void setRelations(ArrayList<String> relations); }

4) Listener.java

public class Listener extends AbstractNodeMain { @Override public GraphName getDefaultNodeName() { return GraphName.of("rosjava_tutorial_pubsub/listener"); } @Override public void onStart(ConnectedNode connectedNode) { final Log log = connectedNode.getLog(); Subscriber<SentenceInfo> subscriber = connectedNode.newSubscriber("chatter", SentenceInfo._Type); subscriber.addMessageListener(new MessageListener<SentenceInfo>() { @Override public void onNewMessage(SentenceInfo message) { //test ArrayList<WordInfo> wordInfo_list=message.getWordInfoList(); WordInfo wordInfo=wordInfo_list.get(0); log.info("I heard: \"" + wordInfo.getWord()+" , "+wordInfo.getMorphemes().get(0)+" , "+wordInfo.getRelations().get(0)); } }); } }

5) Talker.java

public class Talker extends AbstractNodeMain { private String topic_name; public Talker() { topic_name = "chatter"; } public Talker(String topic) { topic_name = topic; } @Override public GraphName getDefaultNodeName() { return GraphName.of("rosjava_tutorial_pubsub/talker"); } @Override public void onStart(final ConnectedNode connectedNode) { final Publisher<SentenceInfo> publisher = connectedNode.newPublisher(topic_name, SentenceInfo._Type); connectedNode.executeCancellableLoop(new CancellableLoop() { private int sequenceNumber; @Override protected void setup() { sequenceNumber = 0; } @Override protected void loop() throws InterruptedException { NodeConfiguration nodeConfiguration = NodeConfiguration.newPrivate(); MessageFactory messageFactory = nodeConfiguration.getTopicMessageFactory(); WordInfo msg_wordInfo=messageFactory.newFromType(WordInfo._Type); SentenceInfo msg_sentenceInfo=messageFactory.newFromType(SentenceInfo._Type); ArrayList<WordInfo> wordInfo_list=new ArrayList<WordInfo>(); msg_wordInfo.setWord("책상은"); ArrayList<String> morphemes=new ArrayList<String>(); morphemes.add("명사"); morphemes.add("조사"); msg_wordInfo.setMorphemes(morphemes); ArrayList<String> relations=new ArrayList<String>(); relations.add("주어"); msg_wordInfo.setRelations(relations); wordInfo_list.add(msg_wordInfo); msg_sentenceInfo.setWordInfoList(wordInfo_list); publisher.publish(msg_sentenceInfo); Thread.sleep(1000); } }); } }