Package org.ros.internal.node

Class DefaultNode

java.lang.Object

org.ros.internal.node.DefaultNode

All Implemented Interfaces:

ConnectedNode, Node

public class DefaultNode
extends Object
implements ConnectedNode

The default implementation of a Node.

Author:

ethan.rublee@gmail.com (Ethan Rublee), kwc@willowgarage.com (Ken Conley), damonkohler@google.com (Damon Kohler)

Constructor Summary

Constructors

Constructor	Description
DefaultNode(NodeConfiguration nodeConfiguration, Collection<NodeListener> nodeListeners, ScheduledExecutorService scheduledExecutorService)	DefaultNodes should only be constructed using the DefaultNodeFactory.

Method Summary

Modifier and Type	Method	Description
void	addListener(NodeListener listener)	Add a new NodeListener to the Node.
void	executeCancellableLoop(CancellableLoop cancellableLoop)	Executes a CancellableLoop using the Node's ScheduledExecutorService.
org.ros.message.Time	getCurrentTime()	In ROS, time can be wallclock (actual) or simulated, so it is important to use ConnectedNode.getCurrentTime() instead of using the standard Java routines for determining the current time.
org.apache.commons.logging.Log	getLog()
URI	getMasterUri()
org.ros.message.MessageSerializationFactory	getMessageSerializationFactory()
GraphName	getName()
ParameterTree	getParameterTree()	Create a ParameterTree to query and set parameters on the ROS parameter server.
NodeNameResolver	getResolver()
ScheduledExecutorService	getScheduledExecutorService()
org.ros.message.MessageFactory	getServiceRequestMessageFactory()
org.ros.message.MessageFactory	getServiceResponseMessageFactory()
<T, S> ServiceServer<T,S>	getServiceServer(String serviceName)
<T, S> ServiceServer<T,S>	getServiceServer(GraphName serviceName)
org.ros.message.MessageFactory	getTopicMessageFactory()
URI	getUri()
URI	lookupServiceUri(String serviceName)
URI	lookupServiceUri(GraphName serviceName)
<T> Publisher<T>	newPublisher(String topicName, String messageType)
<T> Publisher<T>	newPublisher(GraphName topicName, String messageType)
<T, S> ServiceClient<T,S>	newServiceClient(String serviceName, String serviceType)
<T, S> ServiceClient<T,S>	newServiceClient(GraphName serviceName, String serviceType)	Create a ServiceClient.
<T, S> ServiceServer<T,S>	newServiceServer(String serviceName, String serviceType, ServiceResponseBuilder<T,S> responseBuilder)
<T, S> ServiceServer<T,S>	newServiceServer(GraphName serviceName, String serviceType, ServiceResponseBuilder<T,S> responseBuilder)	Create a new ServiceServer.
<T> Subscriber<T>	newSubscriber(String topicName, String messageType)
<T> Subscriber<T>	newSubscriber(String topicName, String messageType, TransportHints transportHints)
<T> Subscriber<T>	newSubscriber(GraphName topicName, String messageType)
<T> Subscriber<T>	newSubscriber(GraphName topicName, String messageType, TransportHints transportHints)
void	removeListeners()	Stops and Clears node listeners.
GraphName	resolveName(String name)
GraphName	resolveName(GraphName name)	Resolve the given name, using ROS conventions, into a full ROS namespace name.
void	shutdown()	Shut the node down.

Methods inherited from class java.lang.Object

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

Constructor Details

DefaultNode

public DefaultNode(NodeConfiguration nodeConfiguration,
 Collection<NodeListener> nodeListeners,
 ScheduledExecutorService scheduledExecutorService)

DefaultNodes should only be constructed using the DefaultNodeFactory.

Parameters:

nodeConfiguration - the NodeConfiguration for this Node

nodeListeners - a Collection of NodeListeners that will be added to this Node before it starts

Method Details

newPublisher

public <T> Publisher<T> newPublisher(GraphName topicName,
 String messageType)

Specified by:

newPublisher in interface ConnectedNode

Type Parameters:

T - the message type to create the publisher for

Parameters:

topicName - the topic name, will be pushed down under this namespace unless '/' is prepended.

messageType - the message data type (e.g. "std_msgs/String")

Returns:

a Publisher for the specified topic

newPublisher

public <T> Publisher<T> newPublisher(String topicName,
 String messageType)

Specified by:

newPublisher in interface ConnectedNode

See Also:

• ConnectedNode.newPublisher(GraphName, String)

newSubscriber

public <T> Subscriber<T> newSubscriber(GraphName topicName,
 String messageType)

Specified by:

newSubscriber in interface ConnectedNode

Type Parameters:

T - the message type to create the Subscriber for

Parameters:

topicName - the topic name to be subscribed to, this will be auto resolved

messageType - the message data type (e.g. "std_msgs/String")

Returns:

a Subscriber for the specified topic

newSubscriber

public <T> Subscriber<T> newSubscriber(GraphName topicName,
 String messageType,
 TransportHints transportHints)

Specified by:

newSubscriber in interface ConnectedNode

Type Parameters:

T - the message type to create the Subscriber for

Parameters:

topicName - the topic name to be subscribed to, this will be auto resolved

messageType - the message data type (e.g. "std_msgs/String")

transportHints - the transport hints

Returns:

a Subscriber for the specified topic

newSubscriber

public <T> Subscriber<T> newSubscriber(String topicName,
 String messageType)

Specified by:

newSubscriber in interface ConnectedNode

See Also:

• ConnectedNode.newSubscriber(GraphName, String)

newSubscriber

public <T> Subscriber<T> newSubscriber(String topicName,
 String messageType,
 TransportHints transportHints)

Specified by:

newSubscriber in interface ConnectedNode

See Also:

• ConnectedNode.newSubscriber(GraphName, String, TransportHints)

newServiceServer

public <T,
S> ServiceServer<T,S> newServiceServer(GraphName serviceName,
 String serviceType,
 ServiceResponseBuilder<T,S> responseBuilder)

Description copied from interface: ConnectedNode

Create a new ServiceServer.

Specified by:

newServiceServer in interface ConnectedNode

Parameters:

serviceName - the name of the service

serviceType - the type of the service (e.g. "rosjava_test_msgs/AddTwoInts")

responseBuilder - called for every request to build a response

Returns:

a ServiceServer

newServiceServer

public <T,
S> ServiceServer<T,S> newServiceServer(String serviceName,
 String serviceType,
 ServiceResponseBuilder<T,S> responseBuilder)

Specified by:

newServiceServer in interface ConnectedNode

See Also:

• ConnectedNode.newServiceServer(GraphName, String, ServiceResponseBuilder)

getServiceServer

public <T,
S> ServiceServer<T,S> getServiceServer(GraphName serviceName)

Specified by:

getServiceServer in interface ConnectedNode

Parameters:

serviceName - the GraphName of the ServiceServer

Returns:

the ServiceServer with the given name or null if it does not exist

getServiceServer

public <T,
S> ServiceServer<T,S> getServiceServer(String serviceName)

Specified by:

getServiceServer in interface ConnectedNode

See Also:

• ConnectedNode.getServiceServer(GraphName)

lookupServiceUri

public URI lookupServiceUri(GraphName serviceName)

Specified by:

lookupServiceUri in interface ConnectedNode

Parameters:

serviceName - the GraphName of the service URI to lookup

Returns:

the URI of the service or null if it does not exist

lookupServiceUri

public URI lookupServiceUri(String serviceName)

Specified by:

lookupServiceUri in interface ConnectedNode

See Also:

• ConnectedNode.lookupServiceUri(GraphName)

newServiceClient

public <T,
S> ServiceClient<T,S> newServiceClient(GraphName serviceName,
 String serviceType)
                                          throws ServiceNotFoundException

Description copied from interface: ConnectedNode

Create a ServiceClient.

Specified by:

newServiceClient in interface ConnectedNode

Parameters:

serviceName - the name of the service

serviceType - the type of the service (e.g. "rosjava_test_msgs/AddTwoInts")

Returns:

a ServiceClient

Throws:

ServiceNotFoundException - thrown if no matching service could be found

newServiceClient

public <T,
S> ServiceClient<T,S> newServiceClient(String serviceName,
 String serviceType)
                                          throws ServiceNotFoundException

Specified by:

newServiceClient in interface ConnectedNode

Throws:

ServiceNotFoundException

See Also:

• ConnectedNode.newServiceClient(GraphName, String)

getCurrentTime

public org.ros.message.Time getCurrentTime()

Description copied from interface: ConnectedNode

In ROS, time can be wallclock (actual) or simulated, so it is important to use ConnectedNode.getCurrentTime() instead of using the standard Java routines for determining the current time.

Specified by:

getCurrentTime in interface ConnectedNode

Returns:

the current time

getName

public GraphName getName()

Specified by:

getName in interface Node

Returns:

the fully resolved name of this Node, e.g. "/foo/bar/boop"

getLog

public org.apache.commons.logging.Log getLog()

Specified by:

getLog in interface Node

Returns:

Logger for this node, which will also perform logging to /rosout.

resolveName

public GraphName resolveName(GraphName name)

Description copied from interface: Node

Resolve the given name, using ROS conventions, into a full ROS namespace name. Will be relative to the current namespace unless the name is global.

Specified by:

resolveName in interface Node

Parameters:

name - the name to resolve

Returns:

fully resolved ros namespace name

resolveName

public GraphName resolveName(String name)

Specified by:

resolveName in interface Node

See Also:

• Node.resolveName(GraphName)

shutdown

public void shutdown()

Description copied from interface: Node

Shut the node down.

Specified by:

shutdown in interface Node

getMasterUri

public URI getMasterUri()

Specified by:

getMasterUri in interface Node

Returns:

URI of MasterXmlRpcEndpoint that this node is attached to.

getResolver

public NodeNameResolver getResolver()

Specified by:

getResolver in interface Node

Returns:

NodeNameResolver for this namespace

getParameterTree

public ParameterTree getParameterTree()

Description copied from interface: ConnectedNode

Create a ParameterTree to query and set parameters on the ROS parameter server.

Specified by:

getParameterTree in interface ConnectedNode

Returns:

ParameterTree with NameResolver in this namespace.

getUri

public URI getUri()

Specified by:

getUri in interface Node

Returns:

the URI of this Node

getMessageSerializationFactory

public org.ros.message.MessageSerializationFactory getMessageSerializationFactory()

Specified by:

getMessageSerializationFactory in interface Node

Returns:

the MessageSerializationFactory used by this node

getTopicMessageFactory

public org.ros.message.MessageFactory getTopicMessageFactory()

Specified by:

getTopicMessageFactory in interface Node

Returns:

the MessageFactory used by this node

getServiceRequestMessageFactory

public org.ros.message.MessageFactory getServiceRequestMessageFactory()

Specified by:

getServiceRequestMessageFactory in interface Node

Returns:

the MessageFactory used by this node for service requests

getServiceResponseMessageFactory

public org.ros.message.MessageFactory getServiceResponseMessageFactory()

Specified by:

getServiceResponseMessageFactory in interface Node

Returns:

the MessageFactory used by this node for service responses

addListener

public void addListener(NodeListener listener)

Description copied from interface: Node

Add a new NodeListener to the Node.

Specified by:

addListener in interface Node

Parameters:

listener - the NodeListener to add

removeListeners

public void removeListeners()

Description copied from interface: Node

Stops and Clears node listeners.

Specified by:

removeListeners in interface Node

getScheduledExecutorService

public ScheduledExecutorService getScheduledExecutorService()

Specified by:

getScheduledExecutorService in interface Node

Returns:

the ScheduledExecutorService that this Node uses

executeCancellableLoop

public void executeCancellableLoop(CancellableLoop cancellableLoop)

Description copied from interface: Node

Executes a CancellableLoop using the Node's ScheduledExecutorService. The CancellableLoop will be canceled when the Node starts shutting down.

Any blocking calls executed in the provided CancellableLoop can potentially delay Node shutdown and should be avoided.

Specified by:

executeCancellableLoop in interface Node

Parameters:

cancellableLoop - the CancellableLoop to execute