burlap.ros.actionpub

Class RepeatingActionPublisher

java.lang.Object

burlap.ros.actionpub.ActionPublisher.DirectActionPublisher

burlap.ros.actionpub.RepeatingActionPublisher

All Implemented Interfaces:

ActionPublisher

public class RepeatingActionPublisher
extends ActionPublisher.DirectActionPublisher

An ActionPublisher that allows a single call to publishAction(Action) to publish a ROS message multiple times at a given rate. This is useful, for example, if to execute a complete "rotate" action a geometry_msgs/Twist message needs to be published to a robot multiple times in quick succession. This class can either be synchronous, in which the publishAction(Action) method blocks until all repeated publishes are complete; or asynchronous, in which the publishAction(Action) method returns immediately after starting its multiple publish calls in a separate thread.

Note that by default, the publishAction(Action) method will return a delay time of zero if set to asynchronous, or the period is set to synchronous. However, you can change this value with the setDelayTime(int) method or by using the more complete constructor.

Author:

James MacGlashan.

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
protected class	RepeatingActionPublisher.PublishTask Callback class for timer event that publishes the ROS message every time it is called until it's been called for all initial n times specified.

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

ActionPublisher.DirectActionPublisher

Field Summary

Fields

Modifier and Type	Field and Description
protected int	delayTime The time delay to return
protected Object	msg The ROS message to publish
protected int	n The number of times a message will be published for each call of publishAction(Action)
protected int	period The length of time in milliseconds between publish messages
protected boolean	synchronous If true, then publishAction(Action) blocks until all messages have been published.

Fields inherited from class burlap.ros.actionpub.ActionPublisher.DirectActionPublisher

pub

Constructor Summary

Constructors

Constructor and Description
RepeatingActionPublisher(ros.Publisher pub, Object msg, int period, int n, boolean synchronous) Initializes
RepeatingActionPublisher(ros.Publisher pub, Object msg, int period, int n, boolean synchronous, int delayTime) Initializes
RepeatingActionPublisher(String topic, String msgType, ros.RosBridge rosBridge, Object msg, int period, int n, boolean synchronous) Initializes.
RepeatingActionPublisher(String topic, String msgType, ros.RosBridge rosBridge, Object msg, int period, int n, boolean synchronous, int delayTime) Initializes

Method Summary

Modifier and Type	Method and Description
int	getDelayTime() Returns the value that the method publishAction(Action) will return.
Object	getMsg()
int	getN()
int	getPeriod()
boolean	isSynchronous()
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	setDelayTime(int delayTime) By default, publishAction(Action) will return zero; use this method to set an alternative value for it to return.
void	setMsg(Object msg)
void	setN(int n)
void	setPeriod(int period)
void	setSynchronous(boolean synchronous)

Methods inherited from class burlap.ros.actionpub.ActionPublisher.DirectActionPublisher

getPub, publish, setPub

Methods inherited from class java.lang.Object

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

Field Detail

msg

protected Object msg

The ROS message to publish

period

protected int period

The length of time in milliseconds between publish messages

n

protected int n

The number of times a message will be published for each call of publishAction(Action)

synchronous

protected boolean synchronous

If true, then publishAction(Action) blocks until all messages have been published. If false, then the method immediately returns after starting publishing

delayTime

protected int delayTime

The time delay to return

Constructor Detail

RepeatingActionPublisher

public RepeatingActionPublisher(String topic,
                                String msgType,
                                ros.RosBridge rosBridge,
                                Object msg,
                                int period,
                                int n,
                                boolean synchronous)

Initializes. If synchronous is set to true, the returned delay time by publishAction(Action) will be set to the same as the period.

Parameters:

topic - the ROS topic to publish to

msgType - the ROS message type of the ROS topic

rosBridge - the RosBridge connection

msg - the constant ROS message that will always be published

period - the time delay between subsequent publishes to ros

n - the number of times a ros message will be published for each call of publishAction(Action)

synchronous - if true, publishAction(Action) returns immediately; if false, waits for all n publishes to complete.

RepeatingActionPublisher

public RepeatingActionPublisher(String topic,
                                String msgType,
                                ros.RosBridge rosBridge,
                                Object msg,
                                int period,
                                int n,
                                boolean synchronous,
                                int delayTime)

Initializes

Parameters:

topic - the ROS topic to publish to

msgType - the ROS message type of the ROS topic

rosBridge - the RosBridge connection

msg - the constant ROS message that will always be published

period - the time delay between subsequent publishes to ros

n - the number of times a ros message will be published for each call of publishAction(Action)

synchronous - if true, publishAction(Action) returns immediately; if false, waits for all n publishes to complete.

delayTime - the time to delay returned by publishAction(Action).

RepeatingActionPublisher

public RepeatingActionPublisher(ros.Publisher pub,
                                Object msg,
                                int period,
                                int n,
                                boolean synchronous)

Initializes

Parameters:

pub - the Publisher used to publish action messages.

msg - the constant ROS message that will always be published

period - the time delay between subsequent publishes to ros

n - the number of times a ros message will be published for each call of publishAction(Action)

synchronous - if true, publishAction(Action) returns immediately; if false, waits for all n publishes to complete.

RepeatingActionPublisher

public RepeatingActionPublisher(ros.Publisher pub,
                                Object msg,
                                int period,
                                int n,
                                boolean synchronous,
                                int delayTime)

Initializes

Parameters:

pub - the Publisher used to publish action messages.

msg - the constant ROS message that will always be published

period - the time delay between subsequent publishes to ros

n - the number of times a ros message will be published for each call of publishAction(Action)

synchronous - if true, publishAction(Action) returns immediately; if false, waits for all n publishes to complete.

delayTime - the time to delay returned by publishAction(Action).

Method Detail

getMsg

public Object getMsg()

setMsg

public void setMsg(Object msg)

getPeriod

public int getPeriod()

setPeriod

public void setPeriod(int period)

getN

public int getN()

setN

public void setN(int n)

isSynchronous

public boolean isSynchronous()

setSynchronous

public void setSynchronous(boolean synchronous)

getDelayTime

public int getDelayTime()

Returns the value that the method publishAction(Action) will return.

Returns:

the value that the method publishAction(Action) will return.

setDelayTime

public void setDelayTime(int delayTime)

By default, publishAction(Action) will return zero; use this method to set an alternative value for it to return.

Parameters:

delayTime - the value that the method publishAction(Action) will return.

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.

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.