org.ros.rosserial.ROSSerial Class Reference

List of all members.

Classes
enum	PACKET_STATE
Public Member Functions
TopicInfo[]	getPublications ()
TopicInfo[]	getSubscriptions ()
	ROSSerial (Node nh, InputStream input, OutputStream output)
void	run ()
void	setOnNewPublication (TopicRegistrationListener listener)
void	setOnNewSubcription (TopicRegistrationListener listener)
void	shutdown ()
Static Public Attributes
static final byte[]	FLAGS = { (byte) 0xff, (byte) 0xff }
Package Attributes
Timer	packet_timeout_timer
Protocol.PacketHandler	sendHandler
Private Member Functions
boolean	handleByte (byte b)
void	resetPacket ()
Private Attributes
int	byte_index = 0
byte[]	data = new byte[MAX_MSG_DATA_SIZE]
int	data_len = 0
byte[]	header = new byte[4]
InputStream	istream
Node	node
OutputStream	ostream
PACKET_STATE	packet_state
Protocol	protocol
boolean	running = false
Static Private Attributes
static final int	MAX_MSG_DATA_SIZE = 512

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Detailed Description

The host computer endpoint for a rosserial connection.

Author:

Adam Stambler

Definition at line 49 of file ROSSerial.java.

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Constructor & Destructor Documentation

org.ros.rosserial.ROSSerial.ROSSerial	(	Node	nh,
		InputStream	input,
		OutputStream	output
	)		[inline]

Definition at line 149 of file ROSSerial.java.

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Member Function Documentation

TopicInfo [] org.ros.rosserial.ROSSerial.getPublications

(

)

[inline]

Definition at line 104 of file ROSSerial.java.

TopicInfo [] org.ros.rosserial.ROSSerial.getSubscriptions

(

)

[inline]

Definition at line 100 of file ROSSerial.java.

boolean org.ros.rosserial.ROSSerial.handleByte

(

byte

b

)

[inline, private]

Definition at line 234 of file ROSSerial.java.

void org.ros.rosserial.ROSSerial.resetPacket

(

)

[inline, private]

Definition at line 223 of file ROSSerial.java.

void org.ros.rosserial.ROSSerial.run

(

)

[inline]

Start running the endpoint.

Definition at line 175 of file ROSSerial.java.

void org.ros.rosserial.ROSSerial.setOnNewPublication

(

TopicRegistrationListener

listener

)

[inline]

Set a new topic registration listener for publications.

Parameters:

listener

Definition at line 86 of file ROSSerial.java.

void org.ros.rosserial.ROSSerial.setOnNewSubcription

(

TopicRegistrationListener

listener

)

[inline]

Set a new topic registration listener for subscriptions.

Parameters:

listener

Definition at line 95 of file ROSSerial.java.

void org.ros.rosserial.ROSSerial.shutdown

(

)

[inline]

Shut this endpoint down.

Definition at line 161 of file ROSSerial.java.

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Member Data Documentation

int org.ros.rosserial.ROSSerial.byte_index = 0 [private]

Definition at line 122 of file ROSSerial.java.

byte [] org.ros.rosserial.ROSSerial.data = new byte[MAX_MSG_DATA_SIZE] [private]

Definition at line 120 of file ROSSerial.java.

int org.ros.rosserial.ROSSerial.data_len = 0 [private]

Definition at line 121 of file ROSSerial.java.

final byte [] org.ros.rosserial.ROSSerial.FLAGS = { (byte) 0xff, (byte) 0xff } [static]

Flags for marking beginning of packet transmission

Definition at line 53 of file ROSSerial.java.

byte [] org.ros.rosserial.ROSSerial.header = new byte[4] [private]

Definition at line 119 of file ROSSerial.java.

InputStream org.ros.rosserial.ROSSerial.istream [private]

Input stream for the serial line used for communication.

Definition at line 69 of file ROSSerial.java.

final int org.ros.rosserial.ROSSerial.MAX_MSG_DATA_SIZE = 512 [static, private]

Maximum size for the incomming message data in bytes Same as Message out buffer size in rosserial_arduino

Definition at line 59 of file ROSSerial.java.

Node org.ros.rosserial.ROSSerial.node [private]

The node which is hosting the publishers and subscribers.

Definition at line 74 of file ROSSerial.java.

OutputStream org.ros.rosserial.ROSSerial.ostream [private]

Output stream for the serial line used for communication.

Definition at line 64 of file ROSSerial.java.

PACKET_STATE org.ros.rosserial.ROSSerial.packet_state [private]

Definition at line 116 of file ROSSerial.java.

Timer org.ros.rosserial.ROSSerial.packet_timeout_timer [package]

This timer watches when a packet starts. If the packet does not complete itself within 30 milliseconds the message is thrown away.

Definition at line 170 of file ROSSerial.java.

Protocol org.ros.rosserial.ROSSerial.protocol [private]

Protocol handler being used for this connection.

Definition at line 79 of file ROSSerial.java.

boolean org.ros.rosserial.ROSSerial.running = false [private]

True if this endpoint is running, false otherwise.

Definition at line 111 of file ROSSerial.java.

Protocol.PacketHandler org.ros.rosserial.ROSSerial.sendHandler [package]

Initial value:

 new Protocol.PacketHandler() {

                @Override
                public void send(byte[] data) {
                        
                        int chk = 0;
                        for (int i = 0; i < data.length; i++)
                                chk += 0xff & data[i];
                        chk = 255 - chk % 256;

                        try {
                                ostream.write(FLAGS);
                                ostream.write(data);
                                ostream.write((byte) chk);
                        } catch (IOException e) {
                                System.out.println("Exception sending :"
                                                + BinaryUtils.byteArrayToHexString(data));
                                e.printStackTrace();
                        }
                }
        }

Packet handler for writing to the other endpoint.

Definition at line 127 of file ROSSerial.java.

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The documentation for this class was generated from the following file:

• ROSSerial.java