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import com.robotraconteur.*;
import experimental.create3.*;
// This program provides a simple client to the iRobotCreate service
// that connects, drives a bit, and then disconnects
public class iRobotCreateClient
{
/**
* @param args
*/
public static void main(String[] args)
{
String url = "rr+tcp://localhost:22354?service=create";
if (args.length > 0)
{
url = args[0];
}
// Use ClientNodeSetup to initialize node
ClientNodeSetup setup = new ClientNodeSetup();
try
{
// Register the Create_interface service type
RobotRaconteurNode.s().registerServiceType(new experimental__create3Factory());
// Connect to the service
Create c =
(Create)RobotRaconteurNode.s().connectService(url, null, null, null, "experimental.create3.Create");
// Set an event listener for the "Bump" event
c.addbumpListener(new Bump());
// Connect the "packets" wire and add a value changed event listener
Wire<CreateState>.WireConnection wire = c.get_create_state().connect();
wire.addWireValueListener(new wire_changed());
// Set a function to be used by the callback. This function will be called
// when the service calls a callback with the endpoint corresponding to this
// client
c.get_play_callback().setFunction(new play_callback());
c.claim_play_callback();
// Drive a bit
c.drive(0.150, 5.0);
try
{
Thread.sleep(1000);
}
catch (Exception e)
{}
c.drive(0.0, 5.0);
try
{
Thread.sleep(5000);
}
catch (Exception e)
{}
// Close the wire and stop streaming data
try
{
wire.close();
}
catch (Exception e)
{}
}
catch (Exception e)
{
e.printStackTrace(System.out);
}
finally
{
setup.finalize();
}
}
// Function to handle the "Bump" event
static class Bump implements Action
{
@Override public void action()
{
System.out.println("Bump!");
}
}
// Function to handle when the wire value changes
static class wire_changed implements Action3<Wire<CreateState>.WireConnection, CreateState, TimeSpec>
{
@Override public void action(Wire<CreateState>.WireConnection arg0, CreateState arg1, TimeSpec arg2)
{
CreateState value2 = arg0.getInValue();
// Uncomment this line to print out the packets as they are received
// System.out.println(value2.time);
}
}
// Function that is called by the service as a callback. This returns
// a few notes to play.
static class play_callback implements Func2<Double, Double, UnsignedBytes>
{
@Override public UnsignedBytes func(Double arg0, Double arg1)
{
byte[] notes = {69, 16, 60, 16, 69, 16};
return new UnsignedBytes(notes);
}
}
}
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