Public Member Functions
Collection < ServiceRegistrationInfo >	getAllServices ()
Collection< TopicRegistrationInfo >	getAllTopics ()
NodeRegistrationInfo	getNodeRegistrationInfo (GraphName nodeName)
ServiceRegistrationInfo	getServiceRegistrationInfo (GraphName serviceName)
TopicRegistrationInfo	getTopicRegistrationInfo (GraphName topicName)
	MasterRegistrationManagerImpl (MasterRegistrationListener listener)
TopicRegistrationInfo	registerPublisher (GraphName nodeName, URI nodeSlaveUri, GraphName topicName, String topicMessageType)
ServiceRegistrationInfo	registerService (GraphName nodeName, URI nodeSlaveUri, GraphName serviceName, URI serviceUri)
TopicRegistrationInfo	registerSubscriber (GraphName nodeName, URI nodeSlaveUri, GraphName topicName, String topicMessageType)
boolean	unregisterPublisher (GraphName nodeName, GraphName topicName)
boolean	unregisterService (GraphName nodeName, GraphName serviceName, URI serviceUri)
boolean	unregisterSubscriber (GraphName nodeName, GraphName topicName)
Private Member Functions
void	cleanupNode (NodeRegistrationInfo node)
NodeRegistrationInfo	obtainNodeRegistrationInfo (GraphName nodeName, URI nodeSlaveUri)
TopicRegistrationInfo	obtainTopicRegistrationInfo (GraphName topicName, boolean shouldCreate)
void	potentiallyDeleteNode (NodeRegistrationInfo node)
Private Attributes
final MasterRegistrationListener	listener
final Map< GraphName, NodeRegistrationInfo >	nodes
final Map< GraphName, ServiceRegistrationInfo >	services
final Map< GraphName, TopicRegistrationInfo >	topics
Static Private Attributes
static final Log	log = LogFactory.getLog(MasterRegistrationManagerImpl.class)

Detailed Description

Manages all registration logic for the MasterServer.

This class is not thread-safe.

Author:: khughes@google.com (Keith M. Hughes)

Definition at line 41 of file MasterRegistrationManagerImpl.java.

Constructor & Destructor Documentation

org.ros.internal.node.server.master.MasterRegistrationManagerImpl.MasterRegistrationManagerImpl ( MasterRegistrationListener listener ) [inline]

Definition at line 67 of file MasterRegistrationManagerImpl.java.

Member Function Documentation

void org.ros.internal.node.server.master.MasterRegistrationManagerImpl.cleanupNode ( NodeRegistrationInfo node ) [inline, private]

A node is being replaced. Clean it up. This includes unregistering from topic objects.

Parameters:

node	the node being replaced

Definition at line 452 of file MasterRegistrationManagerImpl.java.

Collection<ServiceRegistrationInfo> org.ros.internal.node.server.master.MasterRegistrationManagerImpl.getAllServices ( ) [inline]

Get all services registered.

Returns:: An immutable collection of services.

Definition at line 368 of file MasterRegistrationManagerImpl.java.

Collection<TopicRegistrationInfo> org.ros.internal.node.server.master.MasterRegistrationManagerImpl.getAllTopics ( ) [inline]

Get all topics registered.

Returns:: An immutable collection of topics.

Definition at line 333 of file MasterRegistrationManagerImpl.java.

NodeRegistrationInfo org.ros.internal.node.server.master.MasterRegistrationManagerImpl.getNodeRegistrationInfo ( GraphName nodeName ) [inline]

Get the information known about a node.

Parameters:

nodeName the name of the node

Returns:

The information about the node. Can be

 null

if no topic was ever registered for the node.

Definition at line 359 of file MasterRegistrationManagerImpl.java.

ServiceRegistrationInfo org.ros.internal.node.server.master.MasterRegistrationManagerImpl.getServiceRegistrationInfo ( GraphName serviceName ) [inline]

Get the information known about a service.

Parameters:

serviceName the name of the service

Returns:

The information about the service. Can be

 null

if there is no service registered with the given name.

Definition at line 381 of file MasterRegistrationManagerImpl.java.

TopicRegistrationInfo org.ros.internal.node.server.master.MasterRegistrationManagerImpl.getTopicRegistrationInfo ( GraphName topicName ) [inline]

Get the information known about a topic.

Parameters:

topicName the name of the topic

Returns:

The information about the topic. Can be

 null

if the topic was never registered.

Definition at line 346 of file MasterRegistrationManagerImpl.java.

NodeRegistrationInfo org.ros.internal.node.server.master.MasterRegistrationManagerImpl.obtainNodeRegistrationInfo	(	GraphName	nodeName,
		URI	nodeSlaveUri
	)		`[inline, private]`

Get the NodeRegistrationInfo for the given node slave identifier.

Parameters:

nodeName	the name of the node
nodeSlaveUri	the URI for the node's slave server

Returns:: The registration info for the node. A new one will be created if none exists.

Definition at line 418 of file MasterRegistrationManagerImpl.java.

TopicRegistrationInfo org.ros.internal.node.server.master.MasterRegistrationManagerImpl.obtainTopicRegistrationInfo	(	GraphName	topicName,
		boolean	shouldCreate
	)		`[inline, private]`

Get the TopicRegistrationInfo for the given topic name.

Parameters:

topicName	the name of the topic
shouldCreate	true if a new one should be created if it isn't found

Returns:: The registration info for the topic. A new one will be created if none exists and on.

Definition at line 396 of file MasterRegistrationManagerImpl.java.

void org.ros.internal.node.server.master.MasterRegistrationManagerImpl.potentiallyDeleteNode ( NodeRegistrationInfo node ) [inline, private]

Remove a node from registration if it no longer has any registrations.

Parameters:

node	the node to possibly remove

Definition at line 472 of file MasterRegistrationManagerImpl.java.

TopicRegistrationInfo org.ros.internal.node.server.master.MasterRegistrationManagerImpl.registerPublisher	(	GraphName	nodeName,
		URI	nodeSlaveUri,
		GraphName	topicName,
		String	topicMessageType
	)		`[inline]`

Register a publisher.

Parameters:

nodeName	name of the node with the publisher
nodeSlaveUri	URI of the slave server on the node
topicName	then name of the topic
topicMessageType	message type of the topic

Returns:: The registration information for the topic.

Definition at line 88 of file MasterRegistrationManagerImpl.java.

ServiceRegistrationInfo org.ros.internal.node.server.master.MasterRegistrationManagerImpl.registerService	(	GraphName	nodeName,
		URI	nodeSlaveUri,
		GraphName	serviceName,
		URI	serviceUri
	)		`[inline]`

Register a service.

Parameters:

nodeName	name of the node with the service
nodeSlaveUri	URI of the slave server on the node
serviceName	the name of the service
serviceUri	URI of the service server on the node

Returns:: The registration information for the service.

Definition at line 238 of file MasterRegistrationManagerImpl.java.

TopicRegistrationInfo org.ros.internal.node.server.master.MasterRegistrationManagerImpl.registerSubscriber	(	GraphName	nodeName,
		URI	nodeSlaveUri,
		GraphName	topicName,
		String	topicMessageType
	)		`[inline]`

Register a subscriber.

Parameters:

nodeName	name of the node with the subscriber
nodeSlaveUri	URI of the slave server on the node
topicName	then name of the topic
topicMessageType	message type of the topic

Returns:: The registration information for the topic.

Definition at line 165 of file MasterRegistrationManagerImpl.java.

boolean org.ros.internal.node.server.master.MasterRegistrationManagerImpl.unregisterPublisher	(	GraphName	nodeName,
		GraphName	topicName
	)		`[inline]`

Unregister a publisher.

Parameters:

nodeName	name of the node which has the publisher
topicName	name of the publisher's topic

Returns:

 true

if the publisher was actually registered before the call.

Definition at line 115 of file MasterRegistrationManagerImpl.java.

boolean org.ros.internal.node.server.master.MasterRegistrationManagerImpl.unregisterService	(	GraphName	nodeName,
		GraphName	serviceName,
		URI	serviceUri
	)		`[inline]`