SpringBoot 对接 jrosbridge 新手也能对接

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已于 2024-01-22 17:25:33 修改

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文章标签： spring boot 后端 java

于 2024-01-15 19:10:05 首次发布

本文链接：https://blog.csdn.net/ruige6/article/details/135608463

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新手对接 jrosbridge

1. 导入Jar 包

在这里插入图片描述

2.创建Utils 类


import cn.hutool.core.collection.CollectionUtil;
import com.hc.utils.StringUtils;
import edu.wpi.rail.jrosbridge.Ros;
import edu.wpi.rail.jrosbridge.Topic;
import edu.wpi.rail.jrosbridge.callback.TopicCallback;
import edu.wpi.rail.jrosbridge.handler.RosHandler;

import javax.websocket.Session;
import java.util.*;

/**
 * @author FengRui
 */
public class RosUtils implements RosHandler {

    /**
     * 连接方式就是 websocket, 主机地址不能带ws 或者wss
     * */
    private String ip;

    /**
     * 端口
     * */
    private int port;

    /**
     * 回调地址
     * */
    private TopicCallback topicCallback;

    /**
     * key 订阅路径
     * value 类型
     * */
    private LinkedHashMap <String,String> map;


    private RosUtils(){}

    public RosUtils(String ip, TopicCallback topicCallback, LinkedHashMap<String, String> map,Integer port) {
        if (StringUtils.isBlank(ip)){
            throw new RuntimeException("ip 不能为空");
        }
        if (topicCallback == null){
            throw new RuntimeException("topicCallback 不能为空");
        }
        if (CollectionUtil.isEmpty(map)){
            throw new RuntimeException("map 不能空");
        }
        if (port == null){
            throw new RuntimeException("port 不能空");
        }

        this.ip = ip;
        this.topicCallback = topicCallback;
        this.map = map;
        this.port =port;
        init();
    }

    private Ros ros = null;
    private boolean connect = false;

    public void init() {
        try {
            ros = new Ros(ip,port);
            connect = ros.connect();
            if (connect) {
                for (String key : map.keySet()) {
                    //开始订阅话题
                    Topic topic = new Topic(ros, key, map.get(key));
                    topic.subscribe(topicCallback);
                }
                //监听器监听ros连接状态
                ros.addRosHandler(this);
            }
        } catch (Exception e) {
            System.out.println("ros服务器连接错误:" + e.toString());
            connect = false;
        }
    }

    @Override
    public void handleConnection(Session session) {
        System.out.println("ros已连接：" + session.getId());
    }

    @Override
    public void handleDisconnection(Session session) {
        System.out.println("断开ros连接：" + session.getId());
        connect = false;
    }

    @Override
    public void handleError(Session session, Throwable t) {
        System.out.println("ros连接失败：" + session.getId() + "-----失败原因：" + t.toString());
        connect = false;
    }
}

3. 创建回调类

import com.alibaba.fastjson.JSONObject;
import edu.wpi.rail.jrosbridge.callback.TopicCallback;
import edu.wpi.rail.jrosbridge.messages.Message;

/**
 * @author FengRui
 */
public class RosCallBack implements TopicCallback {

    @Override
    public void handleMessage(Message message) {
        try {
            JSONObject jsonObject = JSONObject.parseObject(message.toString());//message即该话题的广播消息
            System.out.println(jsonObject.toString());
        } catch (Exception e) {
            System.out.println(e.toString());
        }
    }


}