org.ros.internal.transport.tcp

Class TcpRosServer

java.lang.Object

org.ros.internal.transport.tcp.TcpRosServer

public class TcpRosServer
extends java.lang.Object

The TCP server which is used for data communication between publishers and subscribers or between a service and a service client.

This server is used after publishers, subscribers, services and service clients have been told about each other by the master.

Constructor Summary

Constructors

Constructor and Description
TcpRosServer(BindAddress bindAddress, AdvertiseAddress advertiseAddress, TopicParticipantManager topicParticipantManager, ServiceManager serviceManager, java.util.concurrent.ScheduledExecutorService executorService)

Method Summary

Methods

Modifier and Type	Method and Description
java.net.InetSocketAddress	getAddress()
AdvertiseAddress	getAdvertiseAddress()
void	shutdown() Close all incoming connections and the server socket.
void	start()

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

TcpRosServer

public TcpRosServer(BindAddress bindAddress,
            AdvertiseAddress advertiseAddress,
            TopicParticipantManager topicParticipantManager,
            ServiceManager serviceManager,
            java.util.concurrent.ScheduledExecutorService executorService)

Method Detail

start

public void start()

shutdown

public void shutdown()

Close all incoming connections and the server socket.

Calling this method more than once has no effect.

getAddress

public java.net.InetSocketAddress getAddress()

Returns:

the advertise-able InetSocketAddress of this TcpRosServer

getAdvertiseAddress

public AdvertiseAddress getAdvertiseAddress()

Returns:

the AdvertiseAddress of this TcpRosServer