engagement_test: engagement_test/src/edu/wpi/hri/ros/testing/demo/Demo.java Source File

00001 /*
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00004  * Copyright (c) 2010, Worcester Polytechnic Institute All rights reserved.
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00015  * derived from this software without specific prior written permission.
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00029 package edu.wpi.hri.ros.testing.demo;
00030 
00031 import java.io.BufferedReader;
00032 import java.io.IOException;
00033 import java.io.InputStreamReader;
00034 
00035 import javax.swing.JOptionPane;
00036 
00037 import ros.NodeHandle;
00038 import ros.Ros;
00039 import ros.RosException;
00040 import ros.ServiceClient;
00041 import ros.pkg.bml_srvs.srv.BMLRealization;
00042 import ros.pkg.engagement_srvs.srv.TurnFragment;
00043 
00051 public class Demo {
00052 
00053         final String generationSamples;
00054         final String realizerSamples;
00055         private final ServiceClient<BMLRealization.Request, BMLRealization.Response, BMLRealization> bmlSrv;
00056         private final ServiceClient<TurnFragment.Request, TurnFragment.Response, TurnFragment> genSrv;
00057 
00058         private Demo(NodeHandle handle) throws IOException {
00059                 realizerSamples = getFolder("bml_realizer");
00060                 generationSamples = getFolder("engagement_generation");
00061 
00062                 bmlSrv = handle.serviceClient("bml/realize", new BMLRealization());
00063                 genSrv = handle.serviceClient("generation/turn_fragment",
00064                                 new TurnFragment());
00065         }
00066 
00067         private String getFolder(String pkg) throws IOException {
00068                 Process p = Runtime.getRuntime().exec("rospack find " + pkg);
00069                 BufferedReader stdInput = new BufferedReader(new InputStreamReader(
00070                                 p.getInputStream()));
00071                 return stdInput.readLine() + "/samples";
00072         }
00073 
00077         void shutdown() {
00078                 bmlSrv.shutdown();
00079                 genSrv.shutdown();
00080         }
00081 
00088         void sendRealizer(String contents) {
00089                 try {
00090                         BMLRealization.Request req = new BMLRealization.Request();
00091                         req.bml = contents;
00092                         BMLRealization.Response res = bmlSrv.call(req);
00093                         String result = "Overall result: " + res.success.value;
00094 
00095                         JOptionPane.showMessageDialog(null, result);
00096                 } catch (RosException e) {
00097                         JOptionPane.showMessageDialog(null, "Could not send to realizer");
00098                 }
00099         }
00100 
00107         void sendGeneration(String contents) {
00108                 try {
00109                         TurnFragment.Request frag = new TurnFragment.Request();
00110                         frag.fragment = contents;
00111 
00112                         TurnFragment.Response res = genSrv.call(frag);
00113                         String result = "Overall result: " + res.result.value;
00114 
00115                         JOptionPane.showMessageDialog(null, result);
00116                 } catch (RosException e) {
00117                         JOptionPane.showMessageDialog(null, "Could not send to realizer");
00118                 }
00119         }
00120 
00129         public static void main(String[] args) throws IOException {
00130                 Ros.getInstance().init("demo");
00131                 Demo demo = new Demo(Ros.getInstance().createNodeHandle());
00132 
00133                 DemoFrame frame = new DemoFrame(demo);
00134                 frame.setLocationRelativeTo(null);
00135                 frame.setVisible(true);
00136         }
00137 }