CppPublisher.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.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): Maintained by Gheorghe Lisca (lisca@cs.uni-bremen.de) and developed by Jason Wolfe (jawolfe@willowgarage.com), Nicholas Butko (nbutko@cogsci.ucsd.edu), Lorenz Moesenlechner (moesenle@in.tum.de)
autogenerated on Sun Oct 5 2014 22:54:14