Node.java

Go to the documentation of this file.

/*
 * 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.apache.commons.logging.Log;
import org.ros.concurrent.CancellableLoop;
import org.ros.internal.node.xmlrpc.MasterXmlRpcEndpoint;
import org.ros.message.MessageFactory;
import org.ros.message.MessageSerializationFactory;
import org.ros.namespace.GraphName;
import org.ros.namespace.NodeNameResolver;

import java.net.URI;
import java.util.concurrent.ScheduledExecutorService;

public interface Node {

  GraphName getName();

  GraphName resolveName(GraphName name);

  GraphName resolveName(String name);

  NodeNameResolver getResolver();

  URI getUri();

  URI getMasterUri();

  Log getLog();

  MessageSerializationFactory getMessageSerializationFactory();

  MessageFactory getTopicMessageFactory();

  MessageFactory getServiceResponseMessageFactory();

  MessageFactory getServiceRequestMessageFactory();

  void addListener(NodeListener listener);

  ScheduledExecutorService getScheduledExecutorService();

  void executeCancellableLoop(CancellableLoop cancellableLoop);

  void shutdown();
}