CppSubscriber.java
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00001 /*
00002  * Software License Agreement (BSD License)
00003  *
00004  *  Copyright (c) 2008, Willow Garage, Inc.
00005  *  All rights reserved.
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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
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00021  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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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): 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