CppPublisher.java
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00001 /*
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00012  *     notice, this list of conditions and the following disclaimer.
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00034 
00035 // author: Jason Wolfe
00036 
00037 
00038 package ros.roscpp;
00039 
00040 import ros.Publisher;
00041 import ros.RosException;
00042 import ros.communication.Message;
00043 
00044 public class CppPublisher<M extends Message> implements Publisher<M> {
00045         private String topic;
00046         private M msgTemplate;
00047         private long cppPublisher;
00048         
00049         private CppPublisher() {}
00050         
00051         protected static <M extends Message> CppPublisher<M> create(long cppHandle, String topic, M msgTemplate, int queueSize, boolean latch) throws RosException {
00052                 CppPublisher<M> that = new CppPublisher<M>();
00053                 that.topic = topic;
00054                 that.msgTemplate = msgTemplate;
00055                 that.cppPublisher = JNI.advertise(cppHandle, topic, msgTemplate, queueSize, latch);
00056                 if (that.cppPublisher == 0) throw new RosException("Could not advertise topic " + topic);
00057                 return that;
00058         }
00059         
00060         public String getTopic() { return topic; }
00061 
00062         public int getNumSubscribers() {
00063                 return JNI.getNumSubscribers(cppPublisher);
00064         }
00065 
00066         public void publish(M m) {
00067                 if (cppPublisher == 0) throw new RuntimeException("This publication was already shutdown");
00068                 if (m.getClass() != msgTemplate.getClass()) throw new RuntimeException("This message does not match the advertised type.");
00069                 JNI.publish(cppPublisher, m);
00070         }
00071 
00072         public boolean isValid() { return (cppPublisher != 0) && JNI.isPublisherValid(cppPublisher);} 
00073 
00074         public void shutdown() {
00075                 JNI.shutdownPublisher(cppPublisher);
00076                 cppPublisher = 0;
00077         }
00078 }


rosjava_jni
Author(s): Jason Wolfe (jawolfe@willowgarage.com), Nicholas Butko (nbutko@cogsci.ucsd.edu), Lorenz Moesenlechner (moesenle@in.tum.de)
autogenerated on Thu Jan 2 2014 11:07:00