RosCpp.java

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/*
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// author: Jason Wolfe


package ros.roscpp;

import java.util.Map;
import java.util.concurrent.ExecutionException;

import ros.NodeHandle;
import ros.Publisher;
import ros.Ros;
import ros.RosException;
import ros.ServiceClient;
import ros.ServiceServer;
import ros.Subscriber;
import ros.Topic;
import ros.communication.Time;

public class RosCpp extends Ros {
    private static class SingletonHolder { 
        private static final RosCpp instance = new RosCpp();
    }
    
    private boolean isInitialized;
    
    private RosCpp() {}
    
        public static RosCpp getInstance() {return SingletonHolder.instance; }

    
        @Override
        public void init(String name, boolean noSigintHandler, boolean anonymousName, boolean noRosout, String [] args) {
                if (isInitialized) throw new IllegalArgumentException("ROS has already been initialized.");
                if (args == null) args = new String[0];
                JNI.init(name, noSigintHandler, anonymousName, noRosout, args);
                isInitialized = true;
        }
    
        @Override
  public boolean isInitialized() {
    return isInitialized;
  }

  @Override
  public boolean ok() { return JNI.rosOk(); }
  
  @Override
        public NodeHandle createNodeHandle(String ns, Map<String, String> remappings) {
                if (!isInitialized) throw new IllegalArgumentException("ROS has not been initialized.");
                return new CppNodeHandle(this, ns, remappings);
        }

        @Override
        public Time now() { return JNI.now(); }

        @Override
        public void spin() { JNI.spin(); }

        @Override
        public void spinOnce() { JNI.spinOnce(); }
        
        @Override
        public String getPackageLocation(String pkgName) {return JNI.getPackageLocation(pkgName);} 
        
        
        public void logDebug(String message) { JNI.logDebug(message); }
        public void logInfo(String message)  { JNI.logInfo(message); }
        public void logWarn(String message)  { JNI.logWarn(message); }
        public void logError(String message) { JNI.logError(message); }
        public void logFatal(String message) { JNI.logFatal(message); }

}