int main(int argc, char** argv)
{
ros::init(argc, argv, "test_receiver", ros::init_options::AnonymousName);
ros::NodeHandle nh("~");
message_transport::MessageTransport<sensor_msgs::Image>
it(nh,"imagem_transport","sensor_msgs::Image");
std::string pkgname("imagem_transport");
transport = std::string((argc > 1) ? argv[1] : "imagem_transport/raw_img");
if (transport.compare(0,pkgname.length(),pkgname)) {
transport = pkgname + "/" + transport;
}
message_transport::Subscriber sub = it.subscribe("/image_source", 1, callback,
transport);
ROS_INFO("test_receiver started");
ros::spin();
}
void generate_code_csharp (batch *b) {
umlclasslist tmplist = b->classlist;
FILE *licensefile = NULL;
/* open license file */
if (b->license != NULL) {
licensefile = fopen (b->license, "r");
if (!licensefile) {
fprintf (stderr, "Can't open the license file.\n");
exit (1);
}
}
while (tmplist != NULL) {
char *tmpname;
char outfilename[SMALL_BUFFER];
umlclasslist used_classes;
if (is_present (b->classes, tmplist->key->name) ^ b->mask) {
tmplist = tmplist->next;
continue;
}
sprintf (outfilename, "%s.cs", tmplist->key->name);
spec = open_outfile (outfilename, b);
if (spec == NULL) {
tmplist = tmplist->next;
continue;
}
/* add license to the header */
if (b->license != NULL) {
char lc;
rewind (licensefile);
while ((lc = fgetc (licensefile)) != EOF)
print ("%c", lc);
}
emit ("%s", "using System;\n\n");
/* We generate the import clauses */
used_classes = list_classes (tmplist, b);
if (used_classes != NULL) {
while (used_classes != NULL) {
umlpackagelist pkg = make_package_list (used_classes->key->package);
if (pkg != NULL) {
if (strcmp (pkg->key->id, tmplist->key->package->id)) {
/* This class' package and our current class' package are
not the same */
emit ("using %s.%s;\n", pkgname (pkg), used_classes->key->name);
}
} else {
/* No info for this class' package, we include it directly */
/*emit ("import %s;\n",used_classes->key->name);*/
}
used_classes = used_classes->next;
}
emit ("\n");
}
if (tmplist->key->package != NULL) {
umlpackagelist pkg = make_package_list (tmplist->key->package);
emit ("namespace %s {\n\n", pkgname (pkg));
indentlevel++;
}
print ("public ");
tmpname = strtolower (tmplist->key->stereotype);
if (eq ("interface", tmpname)) {
emit ("interface ");
} else {
if (tmplist->key->isabstract)
{
emit ("interface ");
}
else
emit ("class ");
}
free (tmpname);
emit ("%s", tmplist->key->name);
if (tmplist->parents != NULL) {
umlclasslist parents = tmplist->parents;
while (parents != NULL) {
tmpname = strtolower (parents->key->stereotype);
if (eq (tmpname, "interface")) {
emit (" : ");
} else {
emit (" : ");
}
free (tmpname);
emit ("%s", parents->key->name);
parents = parents->next;
}
}
emit (" {\n\n");
indentlevel++;
if (tmplist->key->attributes != NULL) {
umlattrlist umla = tmplist->key->attributes;
print ("// Attributes and properties\n");
while (umla != NULL) {
switch (umla->key.visibility) {
case '0':
print ("public ");
break;
case '1':
print ("private ");
break;
case '2':
print ("protected ");
break;
}
if (umla->key.isstatic) {
emit ("static ");
}
emit ("%s %s", umla->key.type, umla->key.name);
if (umla->key.value[0] != 0) {
emit (" = %s", umla->key.value);
}
int wp = 0, rp = 0;
if (eq (umla->key.comment, "rproperty"))
rp = 1;
else if (eq (umla->key.comment, "wproperty"))
wp = 1;
else if (eq (umla->key.comment, "rwproperty"))
rp = wp = 1;
if (wp || rp) {
emit (" {\n");
indentlevel++;
if (rp)
print ("get;\n");
if (wp)
print ("set;\n");
indentlevel--;
print ("}\n");
}
else
emit (";\n");
umla = umla->next;
}
emit ("\n");
}
if (tmplist->associations != NULL) {
umlassoclist assoc = tmplist->associations;
print ("// Associations \n");
while (assoc != NULL)
{
/* Not sure how to do this actually...*/
if (assoc->composite )
print ("protected ");
else
print ("private ");
emit ("%s %s;\n", assoc->key->name, assoc->name);
assoc = assoc->next;
}
emit ("\n");
}
if (tmplist->key->operations != NULL) {
umloplist umlo = tmplist->key->operations;
while (umlo != NULL) {
umlattrlist tmpa = umlo->key.parameters;
print ("// Operation\n");
while (tmpa != NULL) {
print ("// param %s\n", tmpa->key.name);
tmpa = tmpa->next;
}
if (strcmp (umlo->key.attr.type, "void"))
print ("// return %s\n", umlo->key.attr.type);
print ("");
if (umlo->key.attr.isabstract)
{
/*emit ("public ");*/
umlo->key.attr.value[0] = '0';
}
else
{
switch (umlo->key.attr.visibility) {
case '0':
emit ("public ");
break;
case '1':
emit ("private ");
break;
case '2':
emit ("protected ");
break;
}
}
if (umlo->key.attr.isstatic) {
emit ("static ");
}
if (strlen (umlo->key.attr.type) > 0) {
emit ("%s ", umlo->key.attr.type);
}
emit ("%s (", umlo->key.attr.name);
tmpa = umlo->key.parameters;
while (tmpa != NULL) {
emit ("%s %s", tmpa->key.type, tmpa->key.name);
/*
if ( tmpa->key.value[0] != 0 ){
emit (" = %s",tmpa->key.value);
} */
tmpa = tmpa->next;
if (tmpa != NULL)
emit (", ");
}
emit (")");
if (umlo->key.attr.isabstract ) {
emit (";\n");
} else {
emit ("\n");
print ("{\n");
indentlevel++;
if (umlo->key.implementation != NULL) {
print ("%s\n", umlo->key.implementation);
} else if (strcmp (umlo->key.attr.type, "void") != 0) {
print ("%s\n", "throw new System.Exception (\"Not implemented yet!\");");
}
indentlevel--;
print ("}\n");
}
umlo = umlo->next;
}
emit ("\n");
}
indentlevel--;
print ("}\n\n");
if (tmplist->key->package != NULL) {
indentlevel--;
print ("}\n\n");
}
fclose (spec);
tmplist = tmplist->next;
}
}
