engagement_test: engagement_test/src/edu/wpi/hri/ros/testing/looper/NodTask.java Source File

00001 /*
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00004  *  Copyright (c) 2010, Worcester Polytechnic Institute
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00007  *  Redistribution and use in source and binary forms, with or without
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00034 package edu.wpi.hri.ros.testing.looper;
00035 
00036 import java.util.TimerTask;
00037 
00038 import ros.ServiceClient;
00039 import ros.pkg.bml_srvs.srv.BMLHead;
00040 
00047 public class NodTask extends TimerTask {
00049         private ServiceClient<BMLHead.Request, BMLHead.Response, BMLHead> ctl_head_srv_;
00050 
00057         public NodTask(
00058                         ServiceClient<BMLHead.Request, BMLHead.Response, BMLHead> head_srv) {
00059                 this.ctl_head_srv_ = head_srv;
00060         }
00061 
00065         public void run() {
00066                 // Create a new nod message
00067                 BMLHead.Request head_msg = new BMLHead.Request();
00068                 head_msg.motion = BMLHead.Request.NOD;
00069                 head_msg.amount = BMLHead.Request.SMALL;
00070 
00071                 try {
00072                         // Call the head service message with the nod message
00073                         this.ctl_head_srv_.call(head_msg);
00074                 } catch (Exception e) {
00075                         e.printStackTrace();
00076                 }
00077         }
00078 }