Classes
class	MessageListenerForwarding< MessageType >
interface	PacketHandler
Public Member Functions
byte[]	constructMessage (int id, org.ros.message.Message m)
TopicInfo[]	getPublications ()
TopicInfo[]	getSubscriptions ()
void	negotiateTopics ()
boolean	parsePacket (int topic_id, byte[] msg_data)
	Protocol (Node nh, PacketHandler handler)
void	setOnNewPublication (TopicRegistrationListener listener)
void	setOnNewSubcription (TopicRegistrationListener listener)
void	start ()
Static Public Attributes
static final byte[]	NEGOTIATE_TOPICS_REQUEST = { (byte) 0, (byte) 0, (byte) 0, (byte) 0 }
Package Attributes
ParameterTree	paramT
TimerTask	timer_cb
Static Package Attributes
static final int	CONNECTION_TIMOUT_PERIOD = 10000
static final int	TOPIC_PUBLISHERS = 0
static final int	TOPIC_SUBSCRIBERS = 1
static final int	TOPIC_TIME = 10
Private Member Functions
void	addTopic (TopicInfo topic, boolean is_publisher)
void	handleLogging (byte[] msg_data)
void	handleParameterRequest (byte[] msg_data)
Private Attributes
boolean	connected = false
Timer	connection_timer = new Timer()
Map< Integer, TopicInfo >	id_to_topic = new HashMap<Integer, TopicInfo>()
Map< Integer, MessageDeserializer >	msg_deserializers = new HashMap<Integer, MessageDeserializer>()
TopicRegistrationListener	newPubListener
TopicRegistrationListener	newSubListener
Node	node
PacketHandler	packetHandler
Map< Integer, Publisher >	publishers = new HashMap<Integer, Publisher>()
Map< Integer, Subscriber >	subscribers = new HashMap<Integer, Subscriber>()
boolean	sync_requested = false
Map< String, Integer >	topic_to_id = new HashMap<String, Integer>()

Detailed Description

Protocol handler for rosserial.

Author:: Adam Stambler

Definition at line 59 of file Protocol.java.

Constructor & Destructor Documentation

org.ros.rosserial.Protocol.Protocol	(	Node	nh,
		PacketHandler	handler
	)		`[inline]`

Definition at line 114 of file Protocol.java.

Member Function Documentation

void org.ros.rosserial.Protocol.addTopic	(	TopicInfo	topic,
		boolean	is_publisher
	)		`[inline, private]`

! Registers a topic being transmitted over the serial port /param topic- The topic info msg describing the topic /param is_publisher - is the device on the other end of the serial line publishing

Definition at line 169 of file Protocol.java.

byte [] org.ros.rosserial.Protocol.constructMessage	(	int	id,
		org.ros.message.Message	m
	)		`[inline]`

Construct a valid protocol message. This take the id and m, serializes them and return the raw bytes to be sent

Definition at line 149 of file Protocol.java.

TopicInfo [] org.ros.rosserial.Protocol.getPublications ( ) [inline]

Definition at line 216 of file Protocol.java.

TopicInfo [] org.ros.rosserial.Protocol.getSubscriptions ( ) [inline]

Definition at line 206 of file Protocol.java.

void org.ros.rosserial.Protocol.handleLogging ( byte[] msg_data ) [inline, private]

Handle Logging takes the log message from rosserial and rebroadcasts it via rosout at the appropriate logging level

Parameters:

msg_data

Definition at line 327 of file Protocol.java.

void org.ros.rosserial.Protocol.handleParameterRequest ( byte[] msg_data ) [inline, private]

Definition at line 351 of file Protocol.java.

void org.ros.rosserial.Protocol.negotiateTopics ( ) [inline]

Ask the remote endpoint for any topics it wants to publish or subscribe to.

Definition at line 141 of file Protocol.java.

boolean org.ros.rosserial.Protocol.parsePacket	(	int	topic_id,
		byte[]	msg_data
	)		`[inline]`

Parse a packet from the remote endpoint.

Parameters:

topic_id	ID of the message topic.
msg_data	The data for the message.

Returns:

Definition at line 267 of file Protocol.java.

void org.ros.rosserial.Protocol.setOnNewPublication ( TopicRegistrationListener listener ) [inline]

Set a new topic registration listener for publications.

Parameters:

listener

Definition at line 125 of file Protocol.java.

void org.ros.rosserial.Protocol.setOnNewSubcription ( TopicRegistrationListener listener ) [inline]

Set a new topic registration listener for subscriptions.

Parameters:

listener

Definition at line 134 of file Protocol.java.

void org.ros.rosserial.Protocol.start ( ) [inline]

Definition at line 253 of file Protocol.java.

Member Data Documentation

boolean org.ros.rosserial.Protocol.connected = false [private]

Definition at line 251 of file Protocol.java.

Timer org.ros.rosserial.Protocol.connection_timer = new Timer() [private]

This timer handles monitoring handles monitoring the connection to the device;

Definition at line 230 of file Protocol.java.

final int org.ros.rosserial.Protocol.CONNECTION_TIMOUT_PERIOD = 10000 [static, package]

Definition at line 231 of file Protocol.java.

Map<Integer, TopicInfo> org.ros.rosserial.Protocol.id_to_topic = new HashMap<Integer, TopicInfo>() [private]

Map of IDs being sent down the channel to the topics they represent.

Definition at line 77 of file Protocol.java.

Map<Integer, MessageDeserializer> org.ros.rosserial.Protocol.msg_deserializers = new HashMap<Integer, MessageDeserializer>() [private]

Topic ID to message deserializer for the associated topic message.

Definition at line 97 of file Protocol.java.

final byte [] org.ros.rosserial.Protocol.NEGOTIATE_TOPICS_REQUEST = { (byte) 0, (byte) 0, (byte) 0, (byte) 0 } [static]

Definition at line 67 of file Protocol.java.

TopicRegistrationListener org.ros.rosserial.Protocol.newPubListener [private]

Listener for new publisher registrations.

Definition at line 102 of file Protocol.java.

TopicRegistrationListener org.ros.rosserial.Protocol.newSubListener [private]

Listener for new subscriber registrations.

Definition at line 107 of file Protocol.java.

Node org.ros.rosserial.Protocol.node [private]

Node hosting the subscribers and publishers.

Definition at line 72 of file Protocol.java.

PacketHandler org.ros.rosserial.Protocol.packetHandler [private]

Handles wire communication to the remote endpoint.

Definition at line 112 of file Protocol.java.

ParameterTree org.ros.rosserial.Protocol.paramT [package]

Definition at line 350 of file Protocol.java.

Map<Integer, Publisher> org.ros.rosserial.Protocol.publishers = new HashMap<Integer, Publisher>() [private]

Topic ID to publisher.

Definition at line 87 of file Protocol.java.

Map<Integer, Subscriber> org.ros.rosserial.Protocol.subscribers = new HashMap<Integer, Subscriber>() [private]

Topic ID to subscriber.

Definition at line 92 of file Protocol.java.

boolean org.ros.rosserial.Protocol.sync_requested = false [private]

Definition at line 250 of file Protocol.java.

TimerTask org.ros.rosserial.Protocol.timer_cb [package]

Initial value:

 new TimerTask() {
                
                @Override
                public void run() {
                        
                        if (sync_requested){
                                connected = true;
                                sync_requested = false;
                                
                        }
                        else{
                                node.getLog().info("Connection to client lost. Topic negotiation requested");
                                connected = false;
                                negotiateTopics();
                        }
                }
        }