ConnectedNode.java

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/*
 * Copyright (C) 2011 Google Inc.
 * 
 * Licensed under the Apache License, Version 2.0 (the "License"); you may not
 * use this file except in compliance with the License. You may obtain a copy of
 * the License at
 * 
 * http://www.apache.org/licenses/LICENSE-2.0
 * 
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
 * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
 * License for the specific language governing permissions and limitations under
 * the License.
 */

package org.ros.node;

import org.ros.exception.ServiceNotFoundException;
import org.ros.message.Time;
import org.ros.namespace.GraphName;
import org.ros.namespace.NameResolver;
import org.ros.node.parameter.ParameterTree;
import org.ros.node.service.ServiceClient;
import org.ros.node.service.ServiceResponseBuilder;
import org.ros.node.service.ServiceServer;
import org.ros.node.topic.Publisher;
import org.ros.node.topic.Subscriber;

import java.net.URI;

public interface ConnectedNode extends Node {

  Time getCurrentTime();

  <T> Publisher<T> newPublisher(GraphName topicName, String messageType);

  <T> Publisher<T> newPublisher(String topicName, String messageType);

  <T> Subscriber<T> newSubscriber(GraphName topicName, String messageType);

  <T> Subscriber<T> newSubscriber(String topicName, String messageType);

  <T, S> ServiceServer<T, S> newServiceServer(GraphName serviceName, String serviceType,
      ServiceResponseBuilder<T, S> serviceResponseBuilder);

  <T, S> ServiceServer<T, S> newServiceServer(String serviceName, String serviceType,
      ServiceResponseBuilder<T, S> serviceResponseBuilder);

  <T, S> ServiceServer<T, S> getServiceServer(GraphName serviceName);

  <T, S> ServiceServer<T, S> getServiceServer(String serviceName);

  URI lookupServiceUri(GraphName serviceName);

  URI lookupServiceUri(String serviceName);

  <T, S> ServiceClient<T, S> newServiceClient(GraphName serviceName, String serviceType)
      throws ServiceNotFoundException;

  <T, S> ServiceClient<T, S> newServiceClient(String serviceName, String serviceType)
      throws ServiceNotFoundException;

  ParameterTree getParameterTree();
}