io.github.twinklekhj.ros.op.RosAdvertiseService Maven / Gradle / Ivy

Go to download

Show more of this group Show more artifacts with this name
Show all versions of rosbridge Show documentation

RosBridge library for Java implementing ros bridge protocol

There is a newer version: 1.4.2

package io.github.twinklekhj.ros.op;


import io.vertx.core.json.JsonObject;
import lombok.Builder;
import lombok.NonNull;
import lombok.RequiredArgsConstructor;
import lombok.ToString;

/**
 * Advertise Service
 * 
 * topic - 게시를 알릴 service
 * type - service 유형
 * id - 공고할 ID
 */
@Builder
@RequiredArgsConstructor
@ToString
public class RosAdvertiseService implements RosOperation {
    private final Type op = Type.ADVERTISE_SERVICE;
    @Builder.Default
    private final String id = String.format("advertise_service_%s", RosOperation.current());
    @NonNull
    private final String service;
    @NonNull
    private final String type;

    private static RosAdvertiseServiceBuilder builder() {
        return new RosAdvertiseServiceBuilder();
    }

    public static RosAdvertiseServiceBuilder builder(String service, String type) {
        return builder().service(service).type(type);
    }

    public String getId() {
        return id;
    }

    @Override
    public String toJson() {
        return new JsonObject().put("op", this.op.code).put("service", this.service).put("type", this.type).put("id", this.id).toString();
    }

    @Override
    public Type getOperation() {
        return this.op;
    }
}