Inheritance diagram for org.ros.internal.node.server.master.MasterServer:

Public Member Functions
List< Object >	getPublishedTopics (GraphName caller, GraphName subgraph)
List< Object >	getSystemState ()
List< List< String > >	getTopicTypes (GraphName calledId)
URI	lookupNode (GraphName nodeName)
URI	lookupService (GraphName serviceName)
	MasterServer (BindAddress bindAddress, AdvertiseAddress advertiseAddress)
void	onNodeReplacement (NodeRegistrationInfo nodeInfo)
List< URI >	registerPublisher (GraphName nodeName, URI nodeSlaveUri, GraphName topicName, String topicMessageType)
void	registerService (GraphName nodeName, URI nodeSlaveUri, GraphName serviceName, URI serviceUri)
List< URI >	registerSubscriber (GraphName nodeName, URI nodeSlaveUri, GraphName topicName, String topicMessageType)
void	start ()
boolean	unregisterPublisher (GraphName nodeName, GraphName topicName)
boolean	unregisterService (GraphName nodeName, GraphName serviceName, URI serviceUri)
boolean	unregisterSubscriber (GraphName nodeName, GraphName topicName)
Static Public Attributes
static final int	SYSTEM_STATE_PUBLISHERS = 0
static final int	SYSTEM_STATE_SERVICES = 2
static final int	SYSTEM_STATE_SUBSCRIBERS = 1
Protected Member Functions
void	contactSubscriberForPublisherUpdate (URI subscriberSlaveUri, GraphName topicName, List< URI > publisherUris)
Private Member Functions
List< Object >	getSystemStatePublishers (Collection< TopicRegistrationInfo > topics)
List< Object >	getSystemStateServices ()
List< Object >	getSystemStateSubscribers (Collection< TopicRegistrationInfo > topics)
void	publisherUpdate (TopicRegistrationInfo topicInfo, List< URI > subscriberSlaveUris)
Private Attributes
final MasterRegistrationManagerImpl	masterRegistrationManager
Static Private Attributes
static final boolean	DEBUG = false
static final Log	log = LogFactory.getLog(MasterServer.class)
static final GraphName	MASTER_NODE_NAME = GraphName.of("/master")

Detailed Description

The MasterServer provides naming and registration services to the rest of the Nodes in the ROS system. It tracks Publishers and Subscribers to TopicSystemStates as well as ServiceServers. The role of the MasterServer is to enable individual ROS Nodes to locate one another. Once these Nodes have located each other they communicate with each other peer-to-peer.

See also:: Master documentation

Author:: damonkohler@google.com (Damon Kohler); khughes@google.com (Keith M. Hughes)

Definition at line 56 of file MasterServer.java.

Constructor & Destructor Documentation

org.ros.internal.node.server.master.MasterServer.MasterServer	(	BindAddress	bindAddress,
		AdvertiseAddress	advertiseAddress
	)		`[inline]`

Definition at line 87 of file MasterServer.java.

Member Function Documentation

void org.ros.internal.node.server.master.MasterServer.contactSubscriberForPublisherUpdate	(	URI	subscriberSlaveUri,
		GraphName	topicName,
		List< URI >	publisherUris
	)		`[inline, protected]`

Contact a subscriber and send it a publisher update.

Parameters:

subscriberSlaveUri	the slave URI of the subscriber to contact
topicName	the name of the topic whose publisher URIs are being updated
publisherUris	the new list of publisher URIs to be sent to the subscriber

Definition at line 266 of file MasterServer.java.

List<Object> org.ros.internal.node.server.master.MasterServer.getPublishedTopics	(	GraphName	caller,
		GraphName	subgraph
	)		`[inline]`

Get a list of all topics published for the give subgraph.

Parameters:

caller	name of the caller
subgraph	subgraph containing the requested TopicSystemStates, relative to caller

Returns:: a List of Lists where the nested Lists contain, in order, the TopicSystemState name and TopicSystemState message type

Definition at line 462 of file MasterServer.java.

List<Object> org.ros.internal.node.server.master.MasterServer.getSystemState ( ) [inline]

Get the state of the ROS graph.

This includes information about publishers, subscribers, and services.

Returns:: TODO(keith): Fill in.

Definition at line 339 of file MasterServer.java.

List<Object> org.ros.internal.node.server.master.MasterServer.getSystemStatePublishers ( Collection< TopicRegistrationInfo > topics ) [inline, private]

Get the system state for Publishers.

Parameters:

topics all topics known by the master

Returns:: a List of the form [ [topic1, [topic1Publisher1...topic1PublisherN]] ... ] where the topicPublisherI instances are Node names

Definition at line 361 of file MasterServer.java.

List<Object> org.ros.internal.node.server.master.MasterServer.getSystemStateServices ( ) [inline, private]

Get the system state for ServiceServers.

Returns:: a List of the form [ [service1, [serviceProvider1...serviceProviderN]] ... ] where the serviceProviderI instances are Node names

Definition at line 416 of file MasterServer.java.

List<Object> org.ros.internal.node.server.master.MasterServer.getSystemStateSubscribers ( Collection< TopicRegistrationInfo > topics ) [inline, private]

Get the system state for Subscribers.

Parameters:

topics all topics known by the master

Returns:: a List of the form [ [topic1, [topic1Subscriber1...topic1SubscriberN]] ... ] where the topicSubscriberI instances are Node names

Definition at line 390 of file MasterServer.java.

List<List<String> > org.ros.internal.node.server.master.MasterServer.getTopicTypes ( GraphName calledId ) [inline]

Get a List of all TopicSystemState message types.

Parameters:

calledId the Node name of the caller

Returns:: a list of the form [[topic 1 name, topic 1 message type], [topic 2 name, topic 2 message type], ...]

Definition at line 321 of file MasterServer.java.

URI org.ros.internal.node.server.master.MasterServer.lookupNode ( GraphName nodeName ) [inline]

Returns a NodeIdentifier for the Node with the given name. This API is for looking information about Publishers and Subscribers. Use lookupService(GraphName) instead to lookup ROS-RPC URIs for ServiceServers.

Parameters:

nodeName name of Node to lookup

Returns:

the URI for the Node slave server with the given name, or

 null

if there is no Node with the given name

Definition at line 302 of file MasterServer.java.

URI org.ros.internal.node.server.master.MasterServer.lookupService ( GraphName serviceName ) [inline]

Lookup the provider of a particular service.

Parameters:

serviceName name of service

Returns:

URI of the SlaveServer with the provided name, or

 null

if there is no such service.

Definition at line 438 of file MasterServer.java.

void org.ros.internal.node.server.master.MasterServer.onNodeReplacement ( NodeRegistrationInfo nodeInfo ) [inline]

A node is being replaced.

The information object is about to be trashed, so it should not be hung onto.

Parameters:

nodeInfo the node being replaced

Implements org.ros.internal.node.server.master.MasterRegistrationListener.

Definition at line 476 of file MasterServer.java.

void org.ros.internal.node.server.master.MasterServer.publisherUpdate	(	TopicRegistrationInfo	topicInfo,
		List< URI >	subscriberSlaveUris
	)		`[inline, private]`

Something has happened to the publishers for a topic. Tell every subscriber about the current set of publishers.

Parameters:

topicInfo	the topic information for the update
subscriberSlaveUris	IRIs for all subscribers

Definition at line 240 of file MasterServer.java.

List<URI> org.ros.internal.node.server.master.MasterServer.registerPublisher	(	GraphName	nodeName,
		URI	nodeSlaveUri,
		GraphName	topicName,
		String	topicMessageType
	)		`[inline]`

Register the caller as a Publisher of the specified topic.

Parameters:

nodeName	the GraphName of the Node offering the service
nodeSlaveUri	the URI of the Node's SlaveServer
topicName	the GraphName of the subscribed TopicParticipant
topicMessageType	the message type of the topic

Returns:: a List of the current Subscribers to the Publisher's TopicSystemState in the form of XML-RPC URIs for each Subscriber's SlaveServer

Definition at line 207 of file MasterServer.java.

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

Register a service with the master.

Parameters:

nodeName	the GraphName of the Node offering the service
nodeSlaveUri	the URI of the Node's SlaveServer
serviceName	the GraphName of the service
serviceUri	the URI of the service

Definition at line 114 of file MasterServer.java.

List<URI> org.ros.internal.node.server.master.MasterServer.registerSubscriber	(	GraphName	nodeName,
		URI	nodeSlaveUri,
		GraphName	topicName,
		String	topicMessageType
	)		`[inline]`

Subscribe the caller to the specified topic. In addition to receiving a list of current publishers, the subscriber will also receive notifications of new publishers via the publisherUpdate API.

Parameters:

nodeName	the GraphName of the Node offering the service
nodeSlaveUri	the URI of the Node's SlaveServer
topicName	the GraphName of the subscribed TopicParticipant
topicMessageType	the message type of the topic

Returns:: A List of XMLRPC API URIs for nodes currently publishing the specified topic

Definition at line 154 of file MasterServer.java.

void org.ros.internal.node.server.master.MasterServer.start ( ) [inline]

Start the MasterServer.

Definition at line 95 of file MasterServer.java.

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

Unregister a Publisher.

Parameters:

nodeName	the GraphName of the Node offering the service
topicName	the GraphName of the subscribed TopicParticipant

Returns:

 true

if the Publisher was unregistered

Definition at line 281 of file MasterServer.java.

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

Unregister a service from the master.

Parameters:

nodeName	the GraphName of the Node offering the service
serviceName	the GraphName of the service
serviceUri	the URI of the service

Returns:

 true

if the service was registered

Definition at line 132 of file MasterServer.java.

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

Unregister a Subscriber.

Parameters:

nodeName	the GraphName of the Node offering the service
topicName	the GraphName of the subscribed TopicParticipant

Returns:

 true

if the Subscriber was registered

Definition at line 183 of file MasterServer.java.

Member Data Documentation

final boolean org.ros.internal.node.server.master.MasterServer.DEBUG = false [static, private]

Reimplemented from org.ros.internal.node.server.XmlRpcServer.

Definition at line 58 of file MasterServer.java.

final Log org.ros.internal.node.server.master.MasterServer.log = LogFactory.getLog(MasterServer.class) [static, private]

Reimplemented from org.ros.internal.node.server.XmlRpcServer.

Definition at line 59 of file MasterServer.java.

final GraphName org.ros.internal.node.server.master.MasterServer.MASTER_NODE_NAME = GraphName.of("/master") [static, private]

The node name (i.e. the callerId XML-RPC field) used when the MasterServer contacts a SlaveServer.

Definition at line 80 of file MasterServer.java.

final MasterRegistrationManagerImpl org.ros.internal.node.server.master.MasterServer.masterRegistrationManager [private]

The manager for handling master registration information.

Definition at line 85 of file MasterServer.java.

final int org.ros.internal.node.server.master.MasterServer.SYSTEM_STATE_PUBLISHERS = 0 [static]

Position in the getSystemState() for publisher information.

Definition at line 64 of file MasterServer.java.

final int org.ros.internal.node.server.master.MasterServer.SYSTEM_STATE_SERVICES = 2 [static]

Position in the getSystemState() for service information.

Definition at line 74 of file MasterServer.java.

final int org.ros.internal.node.server.master.MasterServer.SYSTEM_STATE_SUBSCRIBERS = 1 [static]

Position in the getSystemState() for subscriber information.

Definition at line 69 of file MasterServer.java.

The documentation for this class was generated from the following file:

MasterServer.java

Public Member Functions

Static Public Attributes

Protected Member Functions

Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation