NodeHandle.java

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// author: Jason Wolfe

package ros;

import java.util.Collection;
import java.util.HashMap;
import java.util.Map;

import ros.communication.*;

public abstract class NodeHandle {
        
        // Node and master info
        public abstract NodeHandle copy();
        public abstract String getNamespace();
        public abstract String resolveName(String name);
        public abstract String getName();
        public abstract boolean isValid();
        public abstract void shutdown();
  public abstract boolean ok();

        public abstract boolean checkMaster();
        public abstract String getMasterHost();
        public abstract int getMasterPort();
        public abstract void setMasterRetryTimeout(int ms);

        
        // Getting and setting parameters
    // TODO: support for XmlRpc values
        
        public abstract boolean hasParam(String param);

        public abstract boolean getBooleanParam(String param, boolean useCache) throws RosException;
        public abstract int     getIntParam(String param, boolean useCache)     throws RosException;
        public abstract double  getDoubleParam(String param, boolean useCache)  throws RosException;
        public abstract String  getStringParam(String param, boolean useCache)  throws RosException;
        
        public boolean getBooleanParam(String param)  throws RosException {return getBooleanParam(param, false); }
        public int     getIntParam(String param)      throws RosException {return getIntParam(param, false); }
        public double  getDoubleParam(String param)   throws RosException {return getDoubleParam(param, false); }
        public String  getStringParam(String param)   throws RosException {return getStringParam(param, false); }

        public abstract void setParam(String param, boolean value) throws RosException;
        public abstract void setParam(String param, int     value);
        public abstract void setParam(String param, double  value);
        public abstract void setParam(String param, String  value);

        
        // Listing publications and subscriptions

        public abstract Collection<Topic> getTopics();
        public abstract Collection<String>  getAdvertisedTopics();
        public abstract Collection<String>  getSubscribedTopics();
        

        
        // Managing publications and subscriptions
        // TODO: support for custom callback queues or subscription callbacks
        
        public abstract <M extends Message> Publisher<M> advertise(String newTopic, M messageTemplate, int queueSize, boolean latch) throws RosException;
        
        public <M extends Message> Publisher<M> advertise(String newTopic, M messageTemplate, int queueSize) throws RosException {
                return advertise(newTopic, messageTemplate, queueSize, false);
        }

        public abstract <M extends Message> Subscriber<M> subscribe(String topic, M messageTemplate, Subscriber.Callback<M> callback, int queueSize)  throws RosException;

        public abstract <Q extends Message, A extends Message, S extends Service<Q, A> > ServiceServer<Q, A, S> 
                        advertiseService(String serviceName, S serviceTemplate, ServiceServer.Callback<Q,A> callback)  throws RosException;

        public abstract <Q extends Message, A extends Message, S extends Service<Q, A> > ServiceClient<Q, A, S> 
                                        serviceClient(String serviceName, S serviceTemplate, boolean isPersistant, Map<String, String> headerValues);

        public <Q extends Message, A extends Message, S extends Service<Q, A> > ServiceClient<Q, A, S> 
                    serviceClient(String serviceName, S serviceTemplate) {
                return serviceClient(serviceName, serviceTemplate, false);
        }

        public <Q extends Message, A extends Message, S extends Service<Q, A> > ServiceClient<Q, A, S> 
                    serviceClient(String serviceName, S serviceTemplate, boolean isPersistant) {
                return serviceClient(serviceName, serviceTemplate, isPersistant, new HashMap<String, String>());
        }

        // Convenience methods copied from Ros
        
        public abstract Time now();
        public abstract void spin();
        public abstract void spinOnce();
        public abstract void logDebug(String message);
        public abstract void logInfo(String message);
        public abstract void logWarn(String message);
        public abstract void logError(String message);
        public abstract void logFatal(String message);
}