Handling DEECo inter-project dependencies using maven.

ROS configuration taken from environment at runtime.
d3scomp · Jul 15, 2015 · 6f84516 · 6f84516
1 parent 4a4730c
commit 6f84516
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Showing 3 changed files with 34 additions and 17 deletions.
diff --git a/jdeeco-ros/src/cz/cuni/mff/d3s/jdeeco/ros/RosServices.java b/jdeeco-ros/src/cz/cuni/mff/d3s/jdeeco/ros/RosServices.java
@@ -28,15 +28,6 @@
  */
 public class RosServices extends AbstractNodeMain implements DEECoPlugin {
 
-	/**
-	 * The address of the host where the DEECo is running.
-	 */
-	private static final String ROS_HOST = "192.168.0.102";
-	/**
-	 * The address of where the ROS master is running.
-	 */
-	private static final String ROS_MASTER = "http://192.168.0.200:11311";
-
 	/**
 	 * The timeout in milliseconds to wait for the ROS topic subscription.
 	 */
@@ -71,13 +62,13 @@ public class RosServices extends AbstractNodeMain implements DEECoPlugin {
 	 * there is a problem with their creation an {@link RuntimeException}
 	 * arises.
 	 */
-	public RosServices() {
+	public RosServices(String ros_master, String ros_host) {
 		try {
-			rosNodeConfig = NodeConfiguration.newPublic(ROS_HOST, new URI(
-					ROS_MASTER));
+			rosNodeConfig = NodeConfiguration.newPublic(ros_host, new URI(
+					ros_master));
 			rosNode = DefaultNodeMainExecutor.newDefault();
 		} catch (URISyntaxException e) {
-			throw new RuntimeException("Malformed URI: " + ROS_MASTER, e);
+			throw new RuntimeException("Malformed URI: " + ros_master, e);
 		}
 	}
 

diff --git a/jdeeco-turtlebot/pom.xml b/jdeeco-turtlebot/pom.xml
@@ -35,6 +35,21 @@
 				</includes>
 			</resource>
 		</resources>
+		<plugins>
+			<plugin>
+				<artifactId>maven-assembly-plugin</artifactId>
+				<configuration>
+					<archive>
+						<manifest>
+							<mainClass>cz.cuni.mff.d3s.jdeeco.turtlebot.simpleexchange.Run</mainClass>
+						</manifest>
+					</archive>
+					<descriptorRefs>
+						<descriptorRef>jar-with-dependencies</descriptorRef>
+					</descriptorRefs>
+				</configuration>
+			</plugin>
+		</plugins>
 	</build>
 
 	<dependencies>
@@ -58,13 +73,18 @@
 		<dependency>
 			<groupId>cz.cuni.mff.d3s.jdeeco</groupId>
 			<artifactId>cz.cuni.mff.d3s.jdeeco.network</artifactId>
-			<version>3.0.1</version>
+			<version>${project.version}</version>
 		</dependency>
 		<dependency>
 			<groupId>org.ros.rosjava_core</groupId>
 			<artifactId>rosjava</artifactId>
 			<version>0.2.1</version>
 		</dependency>
+		<dependency>
+			<groupId>cz.cuni.mff.d3s.jdeeco</groupId>
+			<artifactId>cz.cuni.mff.d3s.jdeeco.ros</artifactId>
+			<version>${project.version}</version>
+		</dependency>
 		<dependency>
 			<groupId>org.ros.rosjava_messages</groupId>
 			<artifactId>kobuki_msgs</artifactId>

diff --git a/jdeeco-turtlebot/src/cz/cuni/mff/d3s/jdeeco/turtlebot/simpleexchange/Run.java b/jdeeco-turtlebot/src/cz/cuni/mff/d3s/jdeeco/turtlebot/simpleexchange/Run.java
@@ -1,5 +1,8 @@
 package cz.cuni.mff.d3s.jdeeco.turtlebot.simpleexchange;
 
+import java.net.InetAddress;
+import java.util.Random;
+
 import cz.cuni.mff.d3s.deeco.logging.Log;
 import cz.cuni.mff.d3s.deeco.runtime.DEECoNode;
 import cz.cuni.mff.d3s.deeco.timer.WallTimeTimer;
@@ -35,13 +38,16 @@ public static void main(String[] args) {
 			System.exit(1);
 		}
 
+		Random rand = new Random();
 		WallTimeTimer t = new WallTimeTimer();
 		try {
 			DEECoNode node;
-			RosServices services = new RosServices();
+			RosServices services = new RosServices(
+					 System.getenv("ROS_MASTER_URI"),
+					 InetAddress.getLocalHost().getHostName());
 			switch (args[0]) {
 			case SENSE_SWITCH:
-				node = new DEECoNode(0, t, services, new Network(),
+				node = new DEECoNode(rand.nextInt(), t, services, new Network(),
 						new BeeClickComm(), new DefaultKnowledgePublisher());
 
 				SensingComponent snsComponent = new SensingComponent(
@@ -61,7 +67,7 @@ public static void main(String[] args) {
 
 				break;
 			case RECEIVE_SWITCH:
-				node = new DEECoNode(0, t, services, new Network(), new BeeClickComm(),
+				node = new DEECoNode(rand.nextInt(), t, services, new Network(), new BeeClickComm(),
 						new DefaultKnowledgePublisher());
 
 				ReceivingComponent recvComponent = new ReceivingComponent(