com.github.iai_swm.Listener.java Source code

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Here is the source code for com.github.iai_swm.Listener.java

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/*
 * Copyright (C) 2014 yazdani.
 * 
 * Licensed under the Apache License, Version 2.0 (the "License"); you may not
 * use this file except in compliance with the License. You may obtain a copy of
 * the License at
 * 
 * http://www.apache.org/licenses/LICENSE-2.0
 * 
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
 * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
 * License for the specific language governing permissions and limitations under
 * the License.
 */

package com.github.iai_swm;

import org.apache.commons.logging.Log;
import org.ros.message.MessageListener;
import org.ros.namespace.GraphName;
import org.ros.node.AbstractNodeMain;
import org.ros.node.ConnectedNode;
import org.ros.node.NodeMain;
import org.ros.node.topic.Subscriber;

/**
 * A simple {@link Subscriber} {@link NodeMain}.
 */
public class Listener extends AbstractNodeMain {

    @Override
    public GraphName getDefaultNodeName() {
        return GraphName.of("rosjava/listener");
    }

    @Override
    public void onStart(ConnectedNode connectedNode) {
        final Log log = connectedNode.getLog();
        Subscriber<std_msgs.String> subscriber = connectedNode.newSubscriber("chatter", std_msgs.String._TYPE);
        subscriber.addMessageListener(new MessageListener<std_msgs.String>() {
            @Override
            public void onNewMessage(std_msgs.String message) {
                log.info("I heard: \"" + message.getData() + "\"");
            }
        });
    }
}