JNI.java

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// author: Jason Wolfe


package ros.roscpp;

import ros.ServiceServer;
import ros.Subscriber;
import ros.communication.Message;
import ros.communication.Time;

class JNI {
        private JNI() {}
        static { 
                System.loadLibrary("rosjava");
        }

        /************************************************************
         *   Startup,  Shutdown, Running, and Node info
         ************************************************************/

        public static native void init(String name, boolean noSigintHandler, boolean anonymousName, boolean noRosout, String[] args);

        public static native long createNodeHandle(String ns, Object[] remappings);
        public static native void shutdown(long cppHandle);
  public static native boolean nhOk(long cppHandle);
  public static native boolean rosOk();
        
        public static native void spin();
        public static native void spinOnce();

        public static native boolean checkMaster(long cppHandle);
        public static native String getMasterHost(long cppHandle);
        public static native int getMasterPort(long cppHandle);
        public static native void setMasterRetryTimeout(long cppHandle, int ms);

        public static native String getName(long cppHandle);
        public static native String mapName(long cppHandle, String name);
        
        public static native String getPackageLocation(String name);

        
        /************************************************************
         *   Logging
         ************************************************************/

        public static native void logDebug(String message);
        public static native void logInfo(String message);
        public static native void logWarn(String message);
        public static native void logError(String message);
        public static native void logFatal(String message);


        /************************************************************
         *   Miscellaneous getters
         ************************************************************/

        public static native Time now();

        public static native String [] getSubscribedTopics(long cppHandle);
        public static native String [] getAdvertisedTopics(long cppHandle);
        public static native String [] getPublishedTopics(long cppHandle);
        
        /************************************************************
         *   Parameter server calls
         ************************************************************/

        public static native boolean hasParam(long cppHandle, String param);

        public static native boolean getBooleanParam(long cppHandle, String param, boolean useCache);
        public static native int     getIntParam(long cppHandle, String param,    boolean useCache);
        public static native double  getDoubleParam(long cppHandle, String param, boolean useCache);
        public static native String  getStringParam(long cppHandle, String param, boolean useCache);
        
        public static native boolean setParam(long cppHandle, String param, boolean value);
        public static native boolean setParam(long cppHandle, String param, int     value);
        public static native boolean setParam(long cppHandle, String param, double  value);
        public static native boolean setParam(long cppHandle, String param, String  value);

        /************************************************************
         *   Subscriptions and Publications
         ************************************************************/

        @SuppressWarnings("unchecked")
        public static native long createSubCallback(Subscriber.Callback cb, Message template);
        public static native void deleteSubCallback(long cppCallback);
        public static native long subscribe(long cppHandle, String topic, long cppCallback, int queueSize);
        public static native boolean isSubscriberValid(long cppSubscriber);
        public static native void shutdownSubscriber(long cppSubscriber);

        public static native long advertise(long cppHandle, String topic, Message msgTemplate, int queueSize, boolean latch);
        public static native int getNumSubscribers(long cppPublisher);
        public static native void publish(long cppPublisher, Message m);
        public static native boolean isPublisherValid(long cppPublisher);
        public static native void shutdownPublisher(long cppPublisher);

        /************************************************************
         *   Service Clients and Servers
         ************************************************************/
        
        public static native long serviceClient(long cppHandle, String name, String md5, boolean isPersistant, Object [] headerValues);
        public static native boolean callService(long cppServiceClient, Message request, Message response, String md5);
        public static native void shutdownServiceClient(long cppServiceClient);

        @SuppressWarnings("unchecked")
        public static native long createSrvCallback(ServiceServer.Callback cb, String serviceMD5, String serviceDataType, Message reqTemplate, Message resTemplate);
        public static native void deleteSrvCallback(long cppCallback);
        public static native long advertiseService(long cppHandle, String name, long cppCallback);
        public static native boolean isServiceServerValid(long cppServiceServer);
        public static native void shutdownServiceServer(long cppServiceServer);

}