com.github.jy2.commandline.picocli.tf.TfWhoCommand Maven / Gradle / Ivy

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package com.github.jy2.commandline.picocli.tf;

import java.util.ArrayList;
import java.util.HashSet;
import java.util.function.Predicate;

import com.github.jy2.commandline.picocli.Main;
import com.github.jy2.commandline.picocli.tf.completion.TfChildPositionalCompletionCandidates;
import com.github.jy2.commandline.picocli.tf.completion.TfParentPositionalCompletionCandidates;

import go.jyroscope.ros.geometry_msgs.TransformStamped;
import go.jyroscope.ros.tf2_msgs.TFMessage;
import picocli.CommandLine.Command;
import picocli.CommandLine.Option;
import picocli.CommandLine.Parameters;
import picocli.CommandLine.ParentCommand;

@Command(name = "who", description = "List of members who publish to the topic")
public class TfWhoCommand implements Runnable {

	@ParentCommand
	TfCommand parent;

	@Parameters(index = "0", description = "Parent frame id", completionCandidates = TfParentPositionalCompletionCandidates.class)
	String parentFrameId;

	@Parameters(index = "1", description = "Child frame id", completionCandidates = TfChildPositionalCompletionCandidates.class)
	String childFrameId;

	@Option(names = { "--waitTime" }, description = "Define how long to wait for transforms in seconds")
	double waitTime = 1.5;

	public void run() {
		System.out.println("Pausing for " + waitTime + " second(s) to collect transform publishers");
		Predicate