Package org.hypermedea.ros

Class ROSCancelOperation

java.lang.Object

org.hypermedea.op.BaseOperation

org.hypermedea.ros.ROSOperation

org.hypermedea.ros.ROSCancelOperation

All Implemented Interfaces:

org.hypermedea.op.Operation

public class ROSCancelOperation
extends ROSOperation

Field Summary

Fields

Modifier and Type	Field	Description
static final String	GOAL_ID_MSG_TYPE	See actionlib_msgs/GoalID.

Fields inherited from class org.hypermedea.ros.ROSOperation

DEFAULT_MESSAGE_TYPE, topic

Fields inherited from class org.hypermedea.op.BaseOperation

DEFAULT_TIMEOUT, form, operationStarted, payload, target

Fields inherited from interface org.hypermedea.op.Operation

DELETE, GET, METHOD_NAME_FIELD, PATCH, POST, PUT, WATCH

Constructor Summary

Constructors

Constructor	Description
ROSCancelOperation(String targetURI, Map<String,Object> formFields)

Method Summary

Modifier and Type	Method	Description
protected String	getTopicName(String path)	Map the path element of the operation's target URI to a ROS topic.
protected void	sendSingleRequest()	Publish message of type "actionlib_msgs/GoalID" to the cancel topic of the action server declared in form.

Methods inherited from class org.hypermedea.ros.ROSOperation

buildJson, getDefaultMessageType, parseJson, parseJsonNumber

Methods inherited from class org.hypermedea.op.BaseOperation

end, getForm, getMethod, getPayload, getResponse, getTargetURI, isAsync, isIdempotent, isSafe, onError, onResponse, registerResponseCallback, sendRequest, setPayload, setPayload, setTimeout, toString, unregisterResponseCallback

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Field Details

GOAL_ID_MSG_TYPE

public static final String GOAL_ID_MSG_TYPE

See actionlib_msgs/GoalID.

See Also:

• Constant Field Values

Constructor Details

ROSCancelOperation

public ROSCancelOperation(String targetURI,
 Map<String,Object> formFields)

Method Details

sendSingleRequest

protected void sendSingleRequest()
                          throws IOException

Publish message of type "actionlib_msgs/GoalID" to the cancel topic of the action server declared in form. Note that the rosbridge protocol provides no guarantee that the request was indeed received by the Thing. The operation thus builds an empty response immediately after sending the request.

Overrides:

sendSingleRequest in class ROSOperation

Throws:

IOException

getTopicName

protected String getTopicName(String path)

Description copied from class: ROSOperation

Map the path element of the operation's target URI to a ROS topic.

Specified by:

getTopicName in class ROSOperation

Parameters:

path - path of the target URI declared in the input form

Returns:

a full topic name for the operation