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00038 package ros.roscpp;
00039
00040 import java.util.Map;
00041 import java.util.concurrent.ExecutionException;
00042
00043 import ros.NodeHandle;
00044 import ros.Publisher;
00045 import ros.Ros;
00046 import ros.RosException;
00047 import ros.ServiceClient;
00048 import ros.ServiceServer;
00049 import ros.Subscriber;
00050 import ros.Topic;
00051 import ros.communication.Time;
00052
00053 public class RosCpp extends Ros {
00054 private static class SingletonHolder {
00055 private static final RosCpp instance = new RosCpp();
00056 }
00057
00058 private boolean isInitialized;
00059
00060 private RosCpp() {}
00061
00062 public static RosCpp getInstance() {return SingletonHolder.instance; }
00063
00064
00065 @Override
00066 public void init(String name, boolean noSigintHandler, boolean anonymousName, boolean noRosout, String [] args) {
00067 if (isInitialized) throw new IllegalArgumentException("ROS has already been initialized.");
00068 if (args == null) args = new String[0];
00069 JNI.init(name, noSigintHandler, anonymousName, noRosout, args);
00070 isInitialized = true;
00071 }
00072
00073 @Override
00074 public boolean isInitialized() {
00075 return isInitialized;
00076 }
00077
00078 @Override
00079 public boolean ok() { return JNI.rosOk(); }
00080
00081 @Override
00082 public NodeHandle createNodeHandle(String ns, Map<String, String> remappings) {
00083 if (!isInitialized) throw new IllegalArgumentException("ROS has not been initialized.");
00084 return new CppNodeHandle(this, ns, remappings);
00085 }
00086
00087 @Override
00088 public Time now() { return JNI.now(); }
00089
00090 @Override
00091 public void spin() { JNI.spin(); }
00092
00093 @Override
00094 public void spinOnce() { JNI.spinOnce(); }
00095
00096 @Override
00097 public String getPackageLocation(String pkgName) {return JNI.getPackageLocation(pkgName);}
00098
00099
00100 public void logDebug(String message) { JNI.logDebug(message); }
00101 public void logInfo(String message) { JNI.logInfo(message); }
00102 public void logWarn(String message) { JNI.logWarn(message); }
00103 public void logError(String message) { JNI.logError(message); }
00104 public void logFatal(String message) { JNI.logFatal(message); }
00105
00106 }