Project: bml_realizer License: BSD Dependencies: bml_msgs bml_srvs bml_lib rosjava Used by: None All Packages

bml_realizer/src/edu/wpi/hri/bml/realizer/RealizerNode.java Go to the documentation of this file. /* * Software License Agreement (BSD License) * * Copyright (c) 2010, Worcester Polytechnic Institute * All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions * are met: * * * Redistributions of source code must retain the above copyright * notice, this list of conditions and the following disclaimer. * * Redistributions in binary form must reproduce the above * copyright notice, this list of conditions and the following * disclaimer in the documentation and/or other materials provided * with the distribution. * * Neither the name of Worcester Polytechnic Institute. nor the names * of its contributors may be used to endorse or promote products * derived from this software without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE * POSSIBILITY OF SUCH DAMAGE. */ package edu.wpi.hri.bml.realizer; import ros.NodeHandle; import ros.Ros; import ros.RosException; import ros.pkg.bml_srvs.srv.BMLRealization; import edu.wpi.hri.comm.MasterSpinner; import edu.wpi.hri.log.Logger; import edu.wpi.hri.log.Logger.Colors; import edu.wpi.hri.log.Logger.LoggerLevel; public class RealizerNode { private static void setupParameters() { BMLParams.DEBUG_LEVEL.setString(LoggerLevel.ALL.toString()); BMLParams.LOGGER_TYPE.setString("SYSTEM"); } public static void main(String[] args) { setupParameters(); // create the ROS stuff as necessary Ros.getInstance().init("realizer", false, false, false, args); final NodeHandle handle = Ros.getInstance().createNodeHandle(); // create the logger by checking which to create LoggerLevel maxLevel = LoggerLevel.valueOf(BMLParams.DEBUG_LEVEL .getString()); String type = BMLParams.LOGGER_TYPE.getString(); final Logger logger = Logger.createBase(maxLevel, type, Colors.REALIZER, "RLZR"); final MasterSpinner spin = new MasterSpinner(logger, true); try { // then create the handles to the other communication stuff final BMLComm comm = new BMLComm(logger, handle); final ControlComm control = new ControlComm(logger, handle); // create the service for the realization of BML final RealizerService realizer = new RealizerService(logger, comm, control, spin); handle.advertiseService("bml/realize", new BMLRealization(), realizer); } catch (RosException e) { logger.printThrowable(LoggerLevel.INIT, e); logger.fatal("Could not initialize the realization service", -1); } // Tell the user that the realizer is now running logger.info("Realizer started"); spin.joinOldMasters(); handle.shutdown(); } }

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bml_realizer
Author(s): Aaron Holroyd (aholroyd (at) wpi (dot) edu)
autogenerated on Fri Sep 9 10:44:12 2011