Inheritance diagram for org.ros.internal.node.DefaultNode:

Public Member Functions
void	addListener (NodeListener listener)
	DefaultNode (NodeConfiguration nodeConfiguration, Collection< NodeListener > nodeListeners, ScheduledExecutorService scheduledExecutorService)
void	executeCancellableLoop (final CancellableLoop cancellableLoop)
Time	getCurrentTime ()
Log	getLog ()
URI	getMasterUri ()
MessageSerializationFactory	getMessageSerializationFactory ()
GraphName	getName ()
ParameterTree	getParameterTree ()
NodeNameResolver	getResolver ()
ScheduledExecutorService	getScheduledExecutorService ()
MessageFactory	getServiceRequestMessageFactory ()
MessageFactory	getServiceResponseMessageFactory ()
MessageFactory	getTopicMessageFactory ()
URI	getUri ()
URI	lookupServiceUri (GraphName serviceName)
URI	lookupServiceUri (String serviceName)
GraphName	resolveName (GraphName name)
GraphName	resolveName (String name)
void	shutdown ()
Package Functions
InetSocketAddress	getAddress ()
Registrar	getRegistrar ()
public< T, S > ServiceServer < T, S >	getServiceServer (GraphName serviceName)
public< T, S > ServiceServer < T, S >	getServiceServer (String serviceName)
private< T > MessageDeserializer< T >	newMessageDeserializer (String messageType)
private< T > org.ros.message.MessageSerializer < T >	newMessageSerializer (String messageType)
public< T > Publisher< T >	newPublisher (GraphName topicName, String messageType)
public< T > Publisher< T >	newPublisher (String topicName, String messageType)
public< T, S > ServiceClient < T, S >	newServiceClient (GraphName serviceName, String serviceType) throws ServiceNotFoundException
public< T, S > ServiceClient < T, S >	newServiceClient (String serviceName, String serviceType) throws ServiceNotFoundException
private< T > MessageDeserializer< T >	newServiceRequestDeserializer (String serviceType)
private< T > MessageSerializer< T >	newServiceRequestSerializer (String serviceType)
private< T > MessageDeserializer< T >	newServiceResponseDeserializer (String serviceType)
private< T > MessageSerializer< T >	newServiceResponseSerializer (String serviceType)
public< T, S > ServiceServer < T, S >	newServiceServer (GraphName serviceName, String serviceType, ServiceResponseBuilder< T, S > responseBuilder)
public< T, S > ServiceServer < T, S >	newServiceServer (String serviceName, String serviceType, ServiceResponseBuilder< T, S > responseBuilder)
public< T > Subscriber< T >	newSubscriber (GraphName topicName, String messageType)
public< T > Subscriber< T >	newSubscriber (String topicName, String messageType)
Private Member Functions
void	signalOnError (final Throwable throwable)
void	signalOnShutdown ()
void	signalOnShutdownComplete ()
void	signalOnStart ()
void	start ()
Private Attributes
RosoutLogger	log
final MasterClient	masterClient
final URI	masterUri
final NodeConfiguration	nodeConfiguration
final ListenerGroup< NodeListener >	nodeListeners
final GraphName	nodeName
final ParameterManager	parameterManager
final ParameterTree	parameterTree
final PublisherFactory	publisherFactory
final Registrar	registrar
final NodeNameResolver	resolver
final ScheduledExecutorService	scheduledExecutorService
final ServiceFactory	serviceFactory
final ServiceManager	serviceManager
final SlaveServer	slaveServer
final SubscriberFactory	subscriberFactory
TimeProvider	timeProvider
final TopicParticipantManager	topicParticipantManager
Static Private Attributes
static final boolean	DEBUG = false
static final int	MAX_SHUTDOWN_DELAY_DURATION = 5
static final TimeUnit	MAX_SHUTDOWN_DELAY_UNITS = TimeUnit.SECONDS

Detailed Description

The default implementation of a Node.

Author:: ethan.rublee@gmail.com (Ethan Rublee); kwc@willowgarage.com (Ken Conley); damonkohler@google.com (Damon Kohler)

Definition at line 85 of file DefaultNode.java.

Constructor & Destructor Documentation

org.ros.internal.node.DefaultNode.DefaultNode	(	NodeConfiguration	nodeConfiguration,
		Collection< NodeListener >	nodeListeners,
		ScheduledExecutorService	scheduledExecutorService
	)		`[inline]`

DefaultNodes should only be constructed using the DefaultNodeFactory.

Parameters:

nodeConfiguration	the NodeConfiguration for this Node
nodeListeners	a Collection of NodeListeners that will be added to this Node before it starts

Definition at line 128 of file DefaultNode.java.

Member Function Documentation

void org.ros.internal.node.DefaultNode.addListener ( NodeListener listener ) [inline]

Add a new NodeListener to the Node.

Parameters:

listener the NodeListener to add

Implements org.ros.node.Node.

Definition at line 476 of file DefaultNode.java.

void org.ros.internal.node.DefaultNode.executeCancellableLoop ( final CancellableLoop cancellableLoop ) [inline]

Definition at line 564 of file DefaultNode.java.

InetSocketAddress org.ros.internal.node.DefaultNode.getAddress ( ) [inline, package]

Definition at line 554 of file DefaultNode.java.

Time org.ros.internal.node.DefaultNode.getCurrentTime ( ) [inline]

In ROS, time can be wallclock (actual) or simulated, so it is important to use ConnectedNode#getCurrentTime() instead of using the standard Java routines for determining the current time.

Returns:: the current time

Implements org.ros.node.ConnectedNode.

Definition at line 376 of file DefaultNode.java.

Log org.ros.internal.node.DefaultNode.getLog ( ) [inline]

Returns:: Logger for this node, which will also perform logging to /rosout.

Implements org.ros.node.Node.

Definition at line 386 of file DefaultNode.java.

URI org.ros.internal.node.DefaultNode.getMasterUri ( ) [inline]

Returns:: URI of MasterXmlRpcEndpoint that this node is attached to.

Implements org.ros.node.Node.

Definition at line 436 of file DefaultNode.java.

MessageSerializationFactory org.ros.internal.node.DefaultNode.getMessageSerializationFactory ( ) [inline]

Returns:: the MessageSerializationFactory used by this node

Implements org.ros.node.Node.

Definition at line 456 of file DefaultNode.java.

GraphName org.ros.internal.node.DefaultNode.getName ( ) [inline]

Returns:: the fully resolved name of this Node, e.g. "/foo/bar/boop"

Implements org.ros.node.Node.

Definition at line 381 of file DefaultNode.java.

ParameterTree org.ros.internal.node.DefaultNode.getParameterTree ( ) [inline]

Create a ParameterTree to query and set parameters on the ROS parameter server.

Returns:: ParameterTree with NameResolver in this namespace.

Implements org.ros.node.ConnectedNode.

Definition at line 446 of file DefaultNode.java.

Registrar org.ros.internal.node.DefaultNode.getRegistrar ( ) [inline, package]

Definition at line 229 of file DefaultNode.java.

NodeNameResolver org.ros.internal.node.DefaultNode.getResolver ( ) [inline]

Returns:: NodeNameResolver for this namespace

Implements org.ros.node.Node.

Definition at line 441 of file DefaultNode.java.

ScheduledExecutorService org.ros.internal.node.DefaultNode.getScheduledExecutorService ( ) [inline]

Returns:: the ScheduledExecutorService that this Node uses

Implements org.ros.node.Node.

Definition at line 559 of file DefaultNode.java.

MessageFactory org.ros.internal.node.DefaultNode.getServiceRequestMessageFactory ( ) [inline]

Returns:: the MessageFactory used by this node for service requests

Implements org.ros.node.Node.

Definition at line 466 of file DefaultNode.java.

MessageFactory org.ros.internal.node.DefaultNode.getServiceResponseMessageFactory ( ) [inline]

Returns:: the MessageFactory used by this node for service responses

Implements org.ros.node.Node.

Definition at line 471 of file DefaultNode.java.

public<T, S> ServiceServer<T, S> org.ros.internal.node.DefaultNode.getServiceServer ( GraphName serviceName ) [inline, package]

Parameters:

serviceName the GraphName of the ServiceServer

Returns:

the ServiceServer with the given name or

 null

if it does not exist

Implements org.ros.node.ConnectedNode.

Definition at line 324 of file DefaultNode.java.

public<T, S> ServiceServer<T, S> org.ros.internal.node.DefaultNode.getServiceServer ( String serviceName ) [inline, package]

See also:: ConnectedNode::getServiceServer(GraphName)

Implements org.ros.node.ConnectedNode.

Definition at line 329 of file DefaultNode.java.

MessageFactory org.ros.internal.node.DefaultNode.getTopicMessageFactory ( ) [inline]

Returns:: the MessageFactory used by this node

Implements org.ros.node.Node.

Definition at line 461 of file DefaultNode.java.

URI org.ros.internal.node.DefaultNode.getUri ( ) [inline]

Returns:: the URI of this Node

Implements org.ros.node.Node.

Definition at line 451 of file DefaultNode.java.

URI org.ros.internal.node.DefaultNode.lookupServiceUri ( GraphName serviceName ) [inline]

Parameters:

serviceName the GraphName of the service URI to lookup

Returns:

the URI of the service or

 null

if it does not exist

Implements org.ros.node.ConnectedNode.

Definition at line 334 of file DefaultNode.java.

URI org.ros.internal.node.DefaultNode.lookupServiceUri ( String serviceName ) [inline]

See also:: lookupServiceUri(GraphName)

Implements org.ros.node.ConnectedNode.

Definition at line 346 of file DefaultNode.java.

private<T> MessageDeserializer<T> org.ros.internal.node.DefaultNode.newMessageDeserializer ( String messageType ) [inline, package]

Definition at line 238 of file DefaultNode.java.

private<T> org.ros.message.MessageSerializer<T> org.ros.internal.node.DefaultNode.newMessageSerializer ( String messageType ) [inline, package]

Definition at line 233 of file DefaultNode.java.

public<T> Publisher<T> org.ros.internal.node.DefaultNode.newPublisher	(	GraphName	topicName,
		String	messageType
	)		`[inline, package]`

Parameters:

<T>	the message type to create the publisher for
topicName	the topic name, will be pushed down under this namespace unless '/' is prepended.
messageType	the message data type (e.g. "std_msgs/String")

Returns:: a Publisher for the specified topic

Implements org.ros.node.ConnectedNode.

Definition at line 268 of file DefaultNode.java.

public<T> Publisher<T> org.ros.internal.node.DefaultNode.newPublisher	(	String	topicName,
		String	messageType
	)		`[inline, package]`

See also:: newPublisher(GraphName, String)

Implements org.ros.node.ConnectedNode.

Definition at line 279 of file DefaultNode.java.

public<T, S> ServiceClient<T, S> org.ros.internal.node.DefaultNode.newServiceClient	(	GraphName	serviceName,
		String	serviceType
	)		throws ServiceNotFoundException `[inline, package]`

Create a ServiceClient.

Parameters:

serviceName	the name of the service
serviceType	the type of the service (e.g. "rosjava_test_msgs/AddTwoInts")

Returns:: a ServiceClient

Exceptions:

ServiceNotFoundException thrown if no matching service could be found

Implements org.ros.node.ConnectedNode.

Definition at line 351 of file DefaultNode.java.

public<T, S> ServiceClient<T, S> org.ros.internal.node.DefaultNode.newServiceClient	(	String	serviceName,
		String	serviceType
	)		throws ServiceNotFoundException `[inline, package]`

See also:: newServiceClient(GraphName, String)

Implements org.ros.node.ConnectedNode.

Definition at line 370 of file DefaultNode.java.

private<T> MessageDeserializer<T> org.ros.internal.node.DefaultNode.newServiceRequestDeserializer ( String serviceType ) [inline, package]

Definition at line 262 of file DefaultNode.java.

private<T> MessageSerializer<T> org.ros.internal.node.DefaultNode.newServiceRequestSerializer ( String serviceType ) [inline, package]

Definition at line 256 of file DefaultNode.java.

private<T> MessageDeserializer<T> org.ros.internal.node.DefaultNode.newServiceResponseDeserializer ( String serviceType ) [inline, package]

Definition at line 250 of file DefaultNode.java.

private<T> MessageSerializer<T> org.ros.internal.node.DefaultNode.newServiceResponseSerializer ( String serviceType ) [inline, package]

Definition at line 244 of file DefaultNode.java.

public<T, S> ServiceServer<T, S> org.ros.internal.node.DefaultNode.newServiceServer	(	GraphName	serviceName,
		String	serviceType,
		ServiceResponseBuilder< T, S >	serviceResponseBuilder
	)		`[inline, package]`

Create a new ServiceServer.

Parameters:

serviceName	the name of the service
serviceType	the type of the service (e.g. "rosjava_test_msgs/AddTwoInts")
serviceResponseBuilder	called for every request to build a response

Returns:: a ServiceServer

Implements org.ros.node.ConnectedNode.

Definition at line 301 of file DefaultNode.java.

public<T, S> ServiceServer<T, S> org.ros.internal.node.DefaultNode.newServiceServer	(	String	serviceName,
		String	serviceType,
		ServiceResponseBuilder< T, S >	serviceResponseBuilder
	)		`[inline, package]`

See also:: ConnectedNode::newServiceServer(GraphName, String, ServiceResponseBuilder)

Implements org.ros.node.ConnectedNode.

Definition at line 317 of file DefaultNode.java.

public<T> Subscriber<T> org.ros.internal.node.DefaultNode.newSubscriber	(	GraphName	topicName,
		String	messageType
	)		`[inline, package]`

Parameters:

<T>	the message type to create the Subscriber for
topicName	the topic name to be subscribed to, this will be auto resolved
messageType	the message data type (e.g. "std_msgs/String")