Bring in Messenger

Messenger/MessengerClient/MessengerClient-Python/messenger_test.py

@@ -0,0 +1,35 @@
+from messenger import *
+from time import sleep
+
+host = 'localhost'
+port = 5805
+
+
+def main():
+ client = MessengerClient(host, port, 'test') # Start up a connections
+ while not client.is_connected(): # Wait until it connects
+ time.sleep(0.1)
+
+ client.add_handler('Test', handler)
+
+ # Add 5 numbers to the messenger
+ for i in range(5):
+ client.prepare('Test')\
+ .add_int(i)\
+ .send()
+ sleep_with_read()
+
+ client.disconnect()
+ print("Done")
+
+# Just print out what is going on
+def handler(type, reader):
+ print(type, reader.read_int())
+
+def sleep_with_read(client):
+ for _ in range(10):
+ client.read_messages()
+ time.sleep(0.1)
+
+if __name__ == '__main__':
+ main()

Messenger/MessengerClient/build.gradle

@@ -0,0 +1,11 @@
+plugins {
+ id 'java'
+}
+
+group 'com.swrobotics'
+version '2023'
+
+compileJava {
+ sourceCompatibility = '11'
+ targetCompatibility = '11'
+}

Messenger/MessengerClient/src/main/java/com/swrobotics/messenger/client/MessageBuilder.java

@@ -0,0 +1,183 @@
+package com.swrobotics.messenger.client;
+
+import java.io.ByteArrayOutputStream;
+import java.io.DataOutputStream;
+import java.io.IOException;
+
+/**
+ * Allows easy storage of data into a message.
+ *
+ * @author rmheuer
+ */
+public final class MessageBuilder {
+ private final MessengerClient client;
+ private final String type;
+ private final ByteArrayOutputStream b;
+ private final DataOutputStream out;
+
+ public MessageBuilder(MessengerClient client, String type) {
+ this.client = client;
+ this.type = type;
+ b = new ByteArrayOutputStream();
+ out = new DataOutputStream(b);
+ }
+
+ /** Sends the message with the type and data. */
+ public void send() {
+ client.sendMessage(type, b.toByteArray());
+ }
+
+ /**
+ * Adds a {@code boolean} to this message.
+ *
+ * @param b boolean to add
+ * @return this
+ */
+ public MessageBuilder addBoolean(boolean b) {
+ try {
+ out.writeBoolean(b);
+ } catch (IOException e) {
+ throw new RuntimeException("Failed to write boolean", e);
+ }
+ return this;
+ }
+
+ /**
+ * Adds a {@code String} to this message.
+ *
+ * @param s String to add
+ * @return this
+ */
+ public MessageBuilder addString(String s) {
+ try {
+ MessengerClient.writeStringUtf8(out, s);
+ } catch (IOException e) {
+ throw new RuntimeException("Failed to write String", e);
+ }
+ return this;
+ }
+
+ /**
+ * Adds a {@code char} to this message.
+ *
+ * @param c char to add
+ * @return this
+ */
+ public MessageBuilder addChar(char c) {
+ try {
+ out.writeChar(c);
+ } catch (IOException e) {
+ throw new RuntimeException("Failed to write char", e);
+ }
+ return this;
+ }
+
+ /**
+ * Adds a {@code byte} to this message.
+ *
+ * @param b byte to add
+ * @return this
+ */
+ public MessageBuilder addByte(byte b) {
+ try {
+ out.writeByte(b);
+ } catch (IOException e) {
+ throw new RuntimeException("Failed to write byte", e);
+ }
+ return this;
+ }
+
+ /**
+ * Adds a {@code short} to this message.
+ *
+ * @param s short to add
+ * @return this
+ */
+ public MessageBuilder addShort(short s) {
+ try {
+ out.writeShort(s);
+ } catch (IOException e) {
+ throw new RuntimeException("Failed to write short", e);
+ }
+ return this;
+ }
+
+ /**
+ * Adds an {@code int} to this message.
+ *
+ * @param i int to add
+ * @return this
+ */
+ public MessageBuilder addInt(int i) {
+ try {
+ out.writeInt(i);
+ } catch (IOException e) {
+ throw new RuntimeException("Failed to write int", e);
+ }
+ return this;
+ }
+
+ /**
+ * Adds a {@code long} to this message.
+ *
+ * @param l long to add
+ * @return this
+ */
+ public MessageBuilder addLong(long l) {
+ try {
+ out.writeLong(l);
+ } catch (IOException e) {
+ throw new RuntimeException("Failed to write long", e);
+ }
+ return this;
+ }
+
+ /**
+ * Adds a {@code float} to this message.
+ *
+ * @param f float to add
+ * @return this
+ */
+ public MessageBuilder addFloat(float f) {
+ try {
+ out.writeFloat(f);
+ } catch (IOException e) {
+ throw new RuntimeException("Failed to write float", e);
+ }
+ return this;
+ }
+
+ /**
+ * Adds a {@code double} to this message.
+ *
+ * @param d double to add
+ * @return this
+ */
+ public MessageBuilder addDouble(double d) {
+ try {
+ out.writeDouble(d);
+ } catch (IOException e) {
+ throw new RuntimeException("Failed to write double", e);
+ }
+ return this;
+ }
+
+ /**
+ * Adds raw data to this message.
+ *
+ * @param b data to add
+ * @return self
+ */
+ public MessageBuilder addRaw(byte[] b) {
+ try {
+ out.write(b);
+ } catch (IOException e) {
+ throw new RuntimeException("Failed to write raw data", e);
+ }
+ return this;
+ }
+
+ public byte[] getData() {
+ return b.toByteArray();
+ }
+}

Messenger/MessengerClient/src/main/java/com/swrobotics/messenger/client/MessageHandler.java

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+package com.swrobotics.messenger.client;
+
+/**
+ * Represents a function called when a message is received.
+ *
+ * @author rmheuer
+ */
+@FunctionalInterface
+public interface MessageHandler {
+ /**
+ * Called when a matching message is received.
+ *
+ * @param type message type
+ * @param reader message data reader
+ */
+ void handle(String type, MessageReader reader);
+}