KBClient.java

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/*
 * Copyright (C) 2009 by Moritz Tenorth
 * 
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 3 of the License, or
 * (at your option) any later version.
 * 
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 * 
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */

import ros.Ros;
import ros.NodeHandle;
import ros.RosException;
import ros.ServiceClient;
import ros.pkg.vision_srvs.srv.srvjlo;
import ros.pkg.vision_srvs.srv.srvjlo.Response;
import ros.pkg.vision_srvs.srv.srvjlo.Request;
import ros.pkg.vision_msgs.msg.partial_lo;
import java.util.concurrent.ExecutionException;

public class KBClient {

        static boolean rosInitialized = false;

    public static void main(String [] args) throws InterruptedException, RosException, ExecutionException {

    }

    public static Ros initRosInstance() {
        
        Ros ros = Ros.getInstance();
        
        if(!rosInitialized) {
                        ros.init("kb_jlo_client");
                        rosInitialized=true;
        }
        
                return ros;     
    }

        
        public static partial_lo loQuery(String command, String objName, int objID, int refFrame) throws RosException {
                
                Ros ros = initRosInstance();
                NodeHandle n = ros.createNodeHandle();
                
                ServiceClient<Request, Response, srvjlo> client = n.serviceClient("/located_object", new ros.pkg.vision_srvs.srv.srvjlo());
        
                srvjlo srv = new srvjlo();
                Request rq = srv.createRequest();
                
                rq.command=command;
                
                if(command.equals("namequery")) {
                        rq.query.name=objName;
                }
                else if(command.equals("framequery")) {
                        rq.query.id=objID;
                        
                        if(refFrame>0)
                                rq.query.parent_id=refFrame;
                }
                
                return client.call(rq).answer;
        }
        

        
    
}