CppSubscriber.java
Go to the documentation of this file.
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.RosException;
00041 import ros.Subscriber;
00042 import ros.communication.Message;
00043 
00044 public class CppSubscriber<M extends Message> implements Subscriber<M> {
00045         private String topic;
00046         private long   cppCallback;
00047         private long   cppSubscriber;
00048 
00049         private CppSubscriber() {}
00050         
00051         protected static <M extends Message> CppSubscriber<M> create(long cppHandle, String topic, M messageTemplate, Callback<M> callback, int queueSize) throws RosException {
00052                 CppSubscriber<M> that = new CppSubscriber<M>();
00053                 that.topic = topic;
00054                 that.cppCallback = JNI.createSubCallback(callback, messageTemplate);
00055                 if (that.cppCallback == 0) throw new RuntimeException("Could not create callback wrapper.");
00056                 that.cppSubscriber = JNI.subscribe(cppHandle, topic, that.cppCallback, queueSize);
00057                 if (that.cppSubscriber == 0) {
00058                         JNI.deleteSubCallback(that.cppCallback);
00059                         throw new RosException("Could not subscribe to topic " + topic);
00060                 }
00061                 return that;
00062         }
00063         
00064         public String getTopic() { return topic; }
00065 
00066         public boolean isValid() { return (cppSubscriber != 0) && JNI.isSubscriberValid(cppSubscriber); } 
00067 
00068         public void shutdown() {
00069                 if (!isValid()) return;
00070                 JNI.shutdownSubscriber(cppSubscriber);
00071                 JNI.deleteSubCallback(cppCallback);
00072 
00073                 cppSubscriber = 0;
00074         }
00075 }


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