Merge pull request #27 from rgleichman/master

Issue #26 quick fix and add service client example

Examples/AddTwoIntsClient/AddTwoIntsClient.cabal

@@ -0,0 +1,15 @@
+Name:              ROS-AddTwoIntsClient
+Version:           0.0
+Synopsis:          I am code
+Cabal-version:     >=1.6
+Category:          Robotics
+Build-type:        Custom
+
+Executable AddTwoIntsClient
+  Build-Depends:   base >= 4.2 && < 6,
+                   roshask == 0.2.*,
+                   ROS-rospy-tutorials-msgs
+
+  GHC-Options:     -O2
+  Hs-Source-Dirs:  src
+  Main-Is:         Main.hs

Examples/AddTwoIntsClient/CMakeLists.txt

@@ -0,0 +1,32 @@
+cmake_minimum_required(VERSION 2.4.6)
+include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
+
+# Set the build type.  Options are:
+#  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage
+#  Debug          : w/ debug symbols, w/o optimization
+#  Release        : w/o debug symbols, w/ optimization
+#  RelWithDebInfo : w/ debug symbols, w/ optimization
+#  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
+#set(ROS_BUILD_TYPE RelWithDebInfo)
+
+rosbuild_init()
+
+#set the default path for built executables to the "bin" directory
+set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
+#set the default path for built libraries to the "lib" directory
+set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
+
+#uncomment if you have defined messages
+#rosbuild_genmsg()
+#uncomment if you have defined services
+#rosbuild_gensrv()
+
+#common commands for building c++ executables and libraries
+#rosbuild_add_library(${PROJECT_NAME} src/example.cpp)
+#target_link_libraries(${PROJECT_NAME} another_library)
+#rosbuild_add_boost_directories()
+#rosbuild_link_boost(${PROJECT_NAME} thread)
+#rosbuild_add_executable(example examples/example.cpp)
+#target_link_libraries(example ${PROJECT_NAME})
+
+add_custom_target(roshask ALL roshask dep ${PROJECT_SOURCE_DIR} COMMAND cd ${PROJECT_SOURCE_DIR} && cabal install)

Examples/AddTwoIntsClient/Makefile

@@ -0,0 +1 @@
+include $(shell rospack find mk)/cmake.mk

Examples/AddTwoIntsClient/README.txt

@@ -0,0 +1,12 @@
+This project shows the simple interface to the service client. Main.hs calls the AddTwoInts service from the ROS tutorials (http://wiki.ros.org/ROS/Tutorials/WritingServiceClient). You can find service definition and the original server code in the rospy_tutorials ROS package.
+
+Before you begin, install roshask. Directions are on the GitHub wiki: https://github.com/acowley/roshask/wiki
+
+To run src/Main.hs:
+
+1. cd <path to roshask>/Examples/AddTwoIntsClient
+2. run "roshask dep" (this generates the Haskell Request and Response types from rospy_tutorials/srv/AddTwoInts.srv)
+3. In another terminal run "roscore": This starts the ROS master.
+4.a In another terminal cd <path to roshask>/Examples/AddTwoIntsClient/src
+4.b run "python add_two_ints.py": This starts the add_two_ints server.
+3. In the original terminal run "cabal run": This compiles and runs "Main.hs". You should see "Right (AddTwoIntsResponse {sum = 15})" printed out. In the termial where add_two_ints_server.py is running you should see "Returning [10 + 5 = 15]". You can also do "runhaskell Main.hs" in Examples/AddTwoIntsClient/src.

Examples/AddTwoIntsClient/Setup.hs

@@ -0,0 +1,5 @@
+import Distribution.Simple
+import Ros.Internal.SetupUtil
+
+main = defaultMainWithHooks $
+       simpleUserHooks { confHook = rosConf }

Examples/AddTwoIntsClient/mainpage.dox

@@ -0,0 +1,14 @@
+/**
+\mainpage
+\htmlinclude manifest.html
+
+\b AddTwoIntsClient 
+
+<!-- 
+Provide an overview of your package.
+-->
+
+-->
+
+
+*/

Examples/AddTwoIntsClient/manifest.xml

@@ -0,0 +1,15 @@
+<package>
+  <description brief="AddTwoIntsClient">
+
+     AddTwoIntsClient
+
+  </description>
+  <author>robbie</author>
+  <license>BSD</license>
+  <review status="unreviewed" notes=""/>
+  <url>http://ros.org/wiki/AddTwoIntsClient</url>
+  <depend package="rospy_tutorials"/>
+
+</package>
+
+

Examples/AddTwoIntsClient/src/Main.hs

@@ -0,0 +1,12 @@
+module Main (main) where
+import qualified Ros.Rospy_tutorials.AddTwoIntsRequest as Req
+import qualified Ros.Rospy_tutorials.AddTwoIntsResponse as Res
+import Ros.Service (callService)
+import Ros.Service.ServiceTypes
+
+type Response a = IO (Either ServiceResponseExcept a)
+
+main :: IO ()
+main = do
+  response <- callService "/add_two_ints" Req.AddTwoIntsRequest{Req.a=10, Req.b=5} :: Response  Res.AddTwoIntsResponse
+  print response

Examples/AddTwoIntsClient/src/add_two_ints_server.py

@@ -0,0 +1,56 @@
+#!/usr/bin/env python
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2008, Willow Garage, Inc.
+# 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 Willow Garage, Inc. 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.
+#
+# Revision $Id$
+
+## Simple demo of a rospy service that add two integers
+
+NAME = 'add_two_ints_server'
+
+# import the AddTwoInts service
+from rospy_tutorials.srv import *
+import rospy 
+
+def add_two_ints(req):
+    print("Returning [%s + %s = %s]" % (req.a, req.b, (req.a + req.b)))
+    return AddTwoIntsResponse(req.a + req.b)
+
+def add_two_ints_server():
+    rospy.init_node(NAME)
+    s = rospy.Service('add_two_ints', AddTwoInts, add_two_ints)
+
+    # spin() keeps Python from exiting until node is shutdown
+    rospy.spin()
+
+if __name__ == "__main__":
+    add_two_ints_server()

src/executable/PkgInit.hs

@@ -56,7 +56,7 @@ prepCabal pkgName rosDeps = B.writeFile (pkgName</>(pkgName++".cabal")) $
                    , "                   vector > 0.7,"
                    , "                   time >= 1.1,"
                    , "                   ROS-rosgraph-msgs,"
-                   , B.append "                   roshask == 0.1.*" moreDeps
+                   , B.append "                   roshask == 0.2.*" moreDeps
                    , rosDeps
                    , "  GHC-Options:     -O2"
                    , "  Hs-Source-Dirs:  src"
@@ -67,7 +67,7 @@ prepCabal pkgName rosDeps = B.writeFile (pkgName</>(pkgName++".cabal")) $
                 , "  Build-Depends:   base >= 4.2 && < 6,"
                 , "                   vector > 0.7,"
                 , "                   time >= 1.1,"
-                , B.append "                   roshask == 0.1.*" moreDeps
+                , B.append "                   roshask == 0.2.*" moreDeps
                 , rosDeps
                 , "  GHC-Options:     -O2"
                 , B.concat ["  Exposed-Modules: ", pkgName']
@@ -109,4 +109,3 @@ prepLib pkgName = writeFile (pkgName</>"src"</>pkgName'++".hs") . concat $
                   , nodeName++" = return ()\n"]
   where pkgName' = toUpper (head pkgName) : tail pkgName
         nodeName = toLower (head pkgName) : tail pkgName
-