PacketRouter<PacketDestination> packetRouter = new PacketRouter<>(PacketDestination.class); packetRouter.attachPacketCommunicator(PacketDestination.ROS_API, rosAPI_communicator_client); packetRouter.attachPacketCommunicator(PacketDestination.CONTROLLER, controllerCommunicatorClient);
public DRCNetworkProcessor(DRCRobotModel robotModel, DRCNetworkModuleParameters params) { packetRouter = new PacketRouter<>(PacketDestination.class); try { setupControllerCommunicator(params); setupUiModule(params); setupSensorModule(robotModel, params); setupBehaviorModule(robotModel, params); setupHandModules(robotModel, params); setupRosModule(robotModel, params); setupROSAPIModule(params); setupMocapModule(params); setupZeroPoseRobotConfigurationPublisherModule(robotModel, params); setupMultisenseManualTestModule(robotModel, params); setupDrillDetectionModule(params); setupKinematicsToolboxModule(robotModel, params); addRobotSpecificModuleCommunicators(params.getRobotSpecificModuleCommunicatorPorts()); addTextToSpeechEngine(params); setupRobotEnvironmentAwarenessModule(params); } catch (IOException e) { throw new RuntimeException(e); } }
public DRCNetworkProcessor(DRCRobotModel robotModel, DRCNetworkModuleParameters params) { packetRouter = new PacketRouter<>(PacketDestination.class); try { setupControllerCommunicator(params); setupUiModule(params); setupSensorModule(robotModel, params); setupBehaviorModule(robotModel, params); setupHandModules(robotModel, params); setupRosModule(robotModel, params); setupROSAPIModule(params); setupMocapModule(params); setupZeroPoseRobotConfigurationPublisherModule(robotModel, params); setupMultisenseManualTestModule(robotModel, params); setupDrillDetectionModule(params); setupKinematicsToolboxModule(robotModel, params); setupFootstepPlanningToolboxModule(robotModel, params); addRobotSpecificModuleCommunicators(params.getRobotSpecificModuleCommunicatorPorts()); addTextToSpeechEngine(params); setupHeightQuadTreeToolboxModule(robotModel, params); setupLidarScanLogger(); setupRemoteObjectDetectionFeedbackEndpoint(params); } catch (IOException e) { throw new RuntimeException(e); } }