$search

RosCpp.java

Go to the documentation of this file.

/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2008, Willow Garage, Inc.
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Willow Garage, Inc. nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 */

// author: Jason Wolfe


package ros.roscpp;

import java.util.Map;
import java.util.concurrent.ExecutionException;

import ros.NodeHandle;
import ros.Publisher;
import ros.Ros;
import ros.RosException;
import ros.ServiceClient;
import ros.ServiceServer;
import ros.Subscriber;
import ros.Topic;
import ros.communication.Time;

public class RosCpp extends Ros {
    private static class SingletonHolder { 
        private static final RosCpp instance = new RosCpp();
    }
    
    private boolean isInitialized;
    
    private RosCpp() {}
    
        public static RosCpp getInstance() {return SingletonHolder.instance; }

    
        @Override
        public void init(String name, boolean noSigintHandler, boolean anonymousName, boolean noRosout, String [] args) {
                if (isInitialized) throw new IllegalArgumentException("ROS has already been initialized.");
                if (args == null) args = new String[0];
                JNI.init(name, noSigintHandler, anonymousName, noRosout, args);
                isInitialized = true;
        }
    
        @Override
  public boolean isInitialized() {
    return isInitialized;
  }

  @Override
  public boolean ok() { return JNI.rosOk(); }
  
  @Override
        public NodeHandle createNodeHandle(String ns, Map<String, String> remappings) {
                if (!isInitialized) throw new IllegalArgumentException("ROS has not been initialized.");
                return new CppNodeHandle(this, ns, remappings);
        }

        @Override
        public Time now() { return JNI.now(); }

        @Override
        public void spin() { JNI.spin(); }

        @Override
        public void spinOnce() { JNI.spinOnce(); }
        
        @Override
        public String getPackageLocation(String pkgName) {return JNI.getPackageLocation(pkgName);} 
        
        
        public void logDebug(String message) { JNI.logDebug(message); }
        public void logInfo(String message)  { JNI.logInfo(message); }
        public void logWarn(String message)  { JNI.logWarn(message); }
        public void logError(String message) { JNI.logError(message); }
        public void logFatal(String message) { JNI.logFatal(message); }

}

---

rosjava_jni
Author(s): Jason Wolfe (jawolfe@willowgarage.com), Nicholas Butko (nbutko@cogsci.ucsd.edu), Lorenz Moesenlechner (moesenle@in.tum.de)
autogenerated on Fri Mar 1 14:33:53 2013