burlap.ros.actionpub

Class CentralizedPeriodicActionPub

java.lang.Object

burlap.ros.actionpub.CentralizedPeriodicActionPub

All Implemented Interfaces:

ActionPublisher

public class CentralizedPeriodicActionPub
extends Object
implements ActionPublisher

An ActionPublisher that flips the message being sent periodically by a PeriodicPublisher. This is useful when you want a ROS message constantly published to a topic and want BURLAP actions to merely change what message will be published in the future. For example, You might want to constantly publish a geometry_msgs/Twist message to robot to define how its moving with the execution of different BURLAP actions canceling the previous movement directive for a new one. Note that the provided PeriodicPublisher must have been started externally first with its PeriodicPublisher.beginPublishing(int) or PeriodicPublisher.beginPublishing(Object, int) method. If it has not been started then when this object gets a publish message, it will change the PeriodicPublisher message to send, but it will never be sent because it hasn't been started.

Author:

James MacGlashan.

Nested Class Summary

Nested classes/interfaces inherited from interface burlap.ros.actionpub.ActionPublisher

ActionPublisher.DirectActionPublisher

Field Summary

Fields

Modifier and Type	Field and Description
protected Object	msg The ROS message to which the provided PeriodicPublisher will be flipped when this objects publishAction(Action) method is called.
protected ros.tools.PeriodicPublisher	ppub The PeriodicPublisher whose message will be altered by this ActionPublisher.
protected int	timeDelay The time delay returned by the publishAction(Action) method.

Constructor Summary

Constructors

Constructor and Description
CentralizedPeriodicActionPub(ros.tools.PeriodicPublisher ppub, Object msg, int timeDelay) Initializes

Method Summary

Modifier and Type	Method and Description
Object	getMsg() Returns the ROS message that the this object has periodically published
ros.tools.PeriodicPublisher	getPpub() Returns the PeriodicPublisher that has its message altered by this object.
int	getTimeDelay() Returns the time delay in milliseconds returned by the publishAction(Action) method
int	publishAction(burlap.mdp.core.action.Action a) Takes a BURLAP Action turns into a ROS message, and publishes it to ROS through this object's ROS Bridge Publisher object.
void	setMsg(Object msg) Sets the ROS message that the this object has periodically published
void	setPpub(ros.tools.PeriodicPublisher ppub) Sets the PeriodicPublisher that has its message altered by this object.
void	setTimeDelay(int timeDelay) Sets the time delay in milliseconds returned by the publishAction(Action) method

Methods inherited from class java.lang.Object

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

Field Detail

ppub

protected ros.tools.PeriodicPublisher ppub

The PeriodicPublisher whose message will be altered by this ActionPublisher.

msg

protected Object msg

The ROS message to which the provided PeriodicPublisher will be flipped when this objects publishAction(Action) method is called.

timeDelay

protected int timeDelay

The time delay returned by the publishAction(Action) method.

Constructor Detail

CentralizedPeriodicActionPub

public CentralizedPeriodicActionPub(ros.tools.PeriodicPublisher ppub,
                                    Object msg,
                                    int timeDelay)

Initializes

Parameters:

ppub - the PeriodicPublisher whose message will be altered by this ActionPublisher.

msg - the ROS message to which the provided PeriodicPublisher will be flipped when this objects publishAction(Action) method is called.

timeDelay - the time delay returned by the publishAction(Action) method.

Method Detail

getPpub

public ros.tools.PeriodicPublisher getPpub()

Returns the PeriodicPublisher that has its message altered by this object.

Returns:

the PeriodicPublisher that has its message altered by this object.

setPpub

public void setPpub(ros.tools.PeriodicPublisher ppub)

Sets the PeriodicPublisher that has its message altered by this object.

Parameters:

ppub - the PeriodicPublisher that has its message altered by this object.

getMsg

public Object getMsg()

Returns the ROS message that the this object has periodically published

Returns:

the ROS message that the this object has periodically published

setMsg

public void setMsg(Object msg)

Sets the ROS message that the this object has periodically published

Parameters:

msg - the ROS message that the this object has periodically published

getTimeDelay

public int getTimeDelay()

Returns the time delay in milliseconds returned by the publishAction(Action) method

Returns:

the time delay in milliseconds returned by the publishAction(Action) method

setTimeDelay

public void setTimeDelay(int timeDelay)

Sets the time delay in milliseconds returned by the publishAction(Action) method

Parameters:

timeDelay - the time delay in milliseconds returned by the publishAction(Action) method

publishAction

public int publishAction(burlap.mdp.core.action.Action a)

Description copied from interface: ActionPublisher

Takes a BURLAP Action turns into a ROS message, and publishes it to ROS through this object's ROS Bridge Publisher object. Note that when you implement this method, you must make the publish call to ROSBridge yourself using a Publisher object.

Specified by:

publishAction in interface ActionPublisher

Parameters:

a - The BURLAP Action to turn into a ROS message and publish.

Returns:

the time in milliseconds that the calling code should wait for the published action to finish executing. Will return 0 if this method blocks until ROS action completion.