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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2008, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 */ 00034 00035 // author: Jason Wolfe 00036 00037 00038 package ros.roscpp; 00039 00040 import ros.ServiceServer; 00041 import ros.Subscriber; 00042 import ros.communication.Message; 00043 import ros.communication.Time; 00044 00045 class JNI { 00046 private JNI() {} 00047 static { 00048 System.loadLibrary("rosjava"); 00049 } 00050 00051 /************************************************************ 00052 * Startup, Shutdown, Running, and Node info 00053 ************************************************************/ 00054 00055 public static native void init(String name, boolean noSigintHandler, boolean anonymousName, boolean noRosout, String[] args); 00056 00057 public static native long createNodeHandle(String ns, Object[] remappings); 00058 public static native void shutdown(long cppHandle); 00059 public static native boolean nhOk(long cppHandle); 00060 public static native boolean rosOk(); 00061 00062 public static native void spin(); 00063 public static native void spinOnce(); 00064 00065 public static native boolean checkMaster(long cppHandle); 00066 public static native String getMasterHost(long cppHandle); 00067 public static native int getMasterPort(long cppHandle); 00068 public static native void setMasterRetryTimeout(long cppHandle, int ms); 00069 00070 public static native String getName(long cppHandle); 00071 public static native String mapName(long cppHandle, String name); 00072 00073 public static native String getPackageLocation(String name); 00074 00075 00076 /************************************************************ 00077 * Logging 00078 ************************************************************/ 00079 00080 public static native void logDebug(String message); 00081 public static native void logInfo(String message); 00082 public static native void logWarn(String message); 00083 public static native void logError(String message); 00084 public static native void logFatal(String message); 00085 00086 00087 /************************************************************ 00088 * Miscellaneous getters 00089 ************************************************************/ 00090 00091 public static native Time now(); 00092 00093 public static native String [] getSubscribedTopics(long cppHandle); 00094 public static native String [] getAdvertisedTopics(long cppHandle); 00095 public static native String [] getPublishedTopics(long cppHandle); 00096 00097 /************************************************************ 00098 * Parameter server calls 00099 ************************************************************/ 00100 00101 public static native boolean hasParam(long cppHandle, String param); 00102 00103 public static native boolean getBooleanParam(long cppHandle, String param, boolean useCache); 00104 public static native int getIntParam(long cppHandle, String param, boolean useCache); 00105 public static native double getDoubleParam(long cppHandle, String param, boolean useCache); 00106 public static native String getStringParam(long cppHandle, String param, boolean useCache); 00107 00108 public static native boolean setParam(long cppHandle, String param, boolean value); 00109 public static native boolean setParam(long cppHandle, String param, int value); 00110 public static native boolean setParam(long cppHandle, String param, double value); 00111 public static native boolean setParam(long cppHandle, String param, String value); 00112 00113 /************************************************************ 00114 * Subscriptions and Publications 00115 ************************************************************/ 00116 00117 @SuppressWarnings("unchecked") 00118 public static native long createSubCallback(Subscriber.Callback cb, Message template); 00119 public static native void deleteSubCallback(long cppCallback); 00120 public static native long subscribe(long cppHandle, String topic, long cppCallback, int queueSize); 00121 public static native boolean isSubscriberValid(long cppSubscriber); 00122 public static native void shutdownSubscriber(long cppSubscriber); 00123 00124 public static native long advertise(long cppHandle, String topic, Message msgTemplate, int queueSize, boolean latch); 00125 public static native int getNumSubscribers(long cppPublisher); 00126 public static native void publish(long cppPublisher, Message m); 00127 public static native boolean isPublisherValid(long cppPublisher); 00128 public static native void shutdownPublisher(long cppPublisher); 00129 00130 /************************************************************ 00131 * Service Clients and Servers 00132 ************************************************************/ 00133 00134 public static native long serviceClient(long cppHandle, String name, String md5, boolean isPersistant, Object [] headerValues); 00135 public static native boolean callService(long cppServiceClient, Message request, Message response, String md5); 00136 public static native void shutdownServiceClient(long cppServiceClient); 00137 00138 @SuppressWarnings("unchecked") 00139 public static native long createSrvCallback(ServiceServer.Callback cb, String serviceMD5, String serviceDataType, Message reqTemplate, Message resTemplate); 00140 public static native void deleteSrvCallback(long cppCallback); 00141 public static native long advertiseService(long cppHandle, String name, long cppCallback); 00142 public static native boolean isServiceServerValid(long cppServiceServer); 00143 public static native void shutdownServiceServer(long cppServiceServer); 00144 00145 }