1.0.5

README.md

@@ -30,7 +30,7 @@ Regenerate the python stubs whenever changes are made to the *src/main/proto/ros
 
 ## RosBridge Usage
 
-The *ros-grpc-bridge* jar files are published to [Jitpack.io](https://jitpack.io/#athenian-robotics/ros-grpc-bridge/1.0.4).
+The *ros-grpc-bridge* jar files are published to [Jitpack.io](https://jitpack.io/#athenian-robotics/ros-grpc-bridge/1.0.5).
 
 ### Gradle
 
@@ -48,7 +48,7 @@ Add the JitPack repository and dependecy to your root *build.gradle*:
 
 ```groovy
 	dependencies {
-	        compile 'com.github.athenian-robotics:ros-grpc-bridge:1.0.4'
+	        compile 'com.github.athenian-robotics:ros-grpc-bridge:1.0.5'
 	}
 ```
 
@@ -69,7 +69,7 @@ Add the JitPack repository and dependecy to your *pom.xml*:
 	<dependency>
 	    <groupId>com.github.athenian-robotics</groupId>
 	    <artifactId>ros-grpc-bridge</artifactId>
-	    <version>1.0.4</version>
+	    <version>1.0.5</version>
 	</dependency>
 ```
 

build.gradle

@@ -0,0 +1,94 @@
+group = 'org.athenian'
+version = '1.0.0-SNAPSHOT'
+//archivesBaseName = 'ros-grpc-bridge'
+
+//sourceCompatibility = 1.8
+//targetCompatibility = 1.8
+
+apply plugin: 'java'
+apply plugin: 'idea'
+apply plugin: 'com.google.protobuf'
+
+buildscript {
+    repositories {
+        mavenCentral()
+    }
+    dependencies {
+        classpath 'com.google.protobuf:protobuf-gradle-plugin:0.8.3'
+    }
+}
+
+repositories {
+    mavenCentral()
+}
+
+dependencies {
+    testCompile group: 'junit', name: 'junit', version: '4.12'
+    compile 'io.grpc:grpc-all:1.9.0'
+    compile 'com.beust:jcommander:1.72'
+    compile 'org.slf4j:jul-to-slf4j:1.7.25'
+    compile 'com.typesafe:config:1.3.2'
+    compile 'org.assertj:assertj-core:3.9.0'
+}
+
+protobuf {
+    protoc {
+        // The version of protoc must match protobuf-java. If you don't depend on
+        // protobuf-java directly, you will be transitively depending on the
+        // protobuf-java version that grpc depends on.
+        artifact = 'com.google.protobuf:protoc:3.5.1-1'
+    }
+    plugins {
+        grpc {
+            artifact = 'io.grpc:protoc-gen-grpc-java:1.9.0'
+        }
+    }
+
+    generateProtoTasks.generatedFilesBaseDir = "${projectDir}/src/generated"
+
+    generateProtoTasks {
+        all()*.plugins {
+            grpc {}
+        }
+    }
+}
+
+
+sourceSets {
+    main {
+        java {
+            srcDirs 'src/generated/main/grpc'
+            srcDirs 'src/generated/main/java'
+        }
+    }
+}
+
+jar {
+    manifest {
+        attributes "Main-Class": "org.athenian.RosBridge"
+    }
+
+    archiveName 'ros-grpc-bridge.jar'
+    from {
+        configurations.compile.collect { it.isDirectory() ? it : zipTree(it) }
+    }
+}
+
+idea {
+    module {
+        sourceDirs += file("${projectDir}/src/generated/main/java");
+        sourceDirs += file("${projectDir}/src/generated/main/grpc");
+    }
+}
+
+clean {
+    delete "${projectDir}/src/generated"
+}
+
+// Let intellij projects refer to generated code
+//idea {
+//    module {
+//        sourceDirs += file('${projectDir}/src/generated/main/java');
+//        sourceDirs += file('${projectDir}/src/generated/main/grpc');
+//    }
+//}

pom.xml

@@ -22,7 +22,7 @@
 
     <groupId>org.athenian</groupId>
     <artifactId>ros-grpc-bridge</artifactId>
-    <version>1.0.4-SNAPSHOT</version>
+    <version>1.0.5-SNAPSHOT</version>
 
 
     <properties>

src/main/java/org/athenian/core/RosBridgeServiceImpl.java

@@ -82,10 +82,10 @@ public void onCompleted() {
   }
 
   @Override
-  public void readEncoderData(EncoderDesc request, StreamObserver<EncoderData> responseObserver) {
+  public void readEncoderData(EncoderDesc request, StreamObserver<EncoderData> observer) {
     logger.info("Returning encoder data for: " + request.getName());
     for (int i = 0; i < 20; i++)
-      responseObserver.onNext(EncoderData.newBuilder().setValue(i).build());
-    responseObserver.onCompleted();
+      observer.onNext(EncoderData.newBuilder().setValue(i).build());
+    observer.onCompleted();
   }
 }

src/main/python/ros_rosbridge_example.py

@@ -1,10 +1,12 @@
 import logging
 import rospy
+from arc852.utils import setup_logging
 from geometry_msgs.msg import Twist
 
 from rosbridge_client import RosBridgeClient
 
 logger = logging.getLogger(__name__)
+setup_logging()
 
 
 def main():

src/main/python/rosbridge_client.py

@@ -26,18 +26,21 @@ def write_twist(self, twist_data):
             self.__stub.writeTwistData(twist_data)
         except BaseException as e:
             self.__log_error("Failed to reach gRPC server at {0} [{1}]".format(self.__hostname, e))
+            raise e
 
     def stream_twist(self, iter_val):
         try:
             self.__stub.streamTwistData(iter_val)
         except BaseException as e:
             self.__log_error("Failed to reach gRPC server at {0} [{1}]".format(self.__hostname, e))
+            raise e
 
     def read_encoder(self, encoder_name):
         try:
             return self.__stub.readEncoderData(EncoderDesc(name=encoder_name))
         except BaseException as e:
             self.__log_error("Failed to reach gRPC server at {0} [{1}]".format(self.__hostname, e))
+            raise e
 
     @staticmethod
     def newTwistData(lin, ang):

src/main/python/rosbridge_test.py

@@ -1,10 +1,11 @@
+import logging
 import time
+from arc852.utils import setup_logging
 
 from rosbridge_client import RosBridgeClient
 
-
-# logger = logging.getLogger(__name__)
-
+logger = logging.getLogger(__name__)
+setup_logging()
 
 def main():
     bridge = RosBridgeClient("localhost:50051")
@@ -15,28 +16,26 @@ def main():
     start1 = time.time()
     for i in range(count):
         twist_data = RosBridgeClient.newTwistData(i, i + 3)
-        # print("Sending data")
         bridge.write_twist(twist_data)
     end1 = time.time()
-    print("Non-streaming elapsed: " + str(end1 - start1))
+    logger.info("Non-streaming elapsed: " + str(end1 - start1))
 
     # Streaming version
     def twist_gen(cnt):
         for i in range(cnt):
             twist_data = RosBridgeClient.newTwistData(i, i + 2)
-            # print("Streaming data")
             yield twist_data
 
     start2 = time.time()
     bridge.stream_twist(twist_gen(count))
     end2 = time.time()
-    print("Streaming elapsed: " + str(end2 - start2))
+    logger.info("Streaming elapsed: " + str(end2 - start2))
 
     time.sleep(2)
 
     # Read streming encoder values
     for data in bridge.read_encoder("wheel2"):
-        print("Read encoder value: " + str(data.value))
+        logger.info("Read encoder value: " + str(data.value))
 
 
 if __name__ == "__main__":