Package org.ros.internal.node.client

Class MasterClient

java.lang.Object

org.ros.internal.node.client.MasterClient

public class MasterClient
extends Object

Provides access to the XML-RPC API exposed by a MasterServer.

Author:

damonkohler@google.com (Damon Kohler)

Field Summary

Fields

Modifier and Type	Field	Description
protected final MasterXmlRpcEndpoint	xmlRpcEndpoint

Constructor Summary

Constructors

Constructor	Description
MasterClient(URI uri)	Create a new MasterClient connected to the specified MasterServer URI.

Method Summary

Modifier and Type	Method	Description
Response<List<TopicDeclaration>>	getPublishedTopics(GraphName callerName, String subgraph)
URI	getRemoteUri()
Response<SystemState>	getSystemState(GraphName callerName)
Response<List<TopicType>>	getTopicTypes(GraphName callerName)	Get a List of all TopicSystemState message types.
Response<URI>	getUri(GraphName slaveName)
Response<URI>	lookupNode(GraphName slaveName, String nodeName)
Response<URI>	lookupService(GraphName callerName, String serviceName)
Response<List<URI>>	registerPublisher(PublisherDeclaration publisherDeclaration)	Registers the specified PublisherDeclaration.
Response<Void>	registerService(NodeIdentifier slave, ServiceServer<?,?> service)	Registers the given ServiceServer.
Response<List<URI>>	registerSubscriber(NodeIdentifier slave, Subscriber<?> subscriber)	Registers the given Subscriber.
Response<Integer>	unregisterPublisher(PublisherIdentifier publisherIdentifier)	Unregisters the specified PublisherDeclaration.
Response<Integer>	unregisterService(NodeIdentifier slave, ServiceServer<?,?> service)	Unregisters the specified ServiceServer.
Response<Integer>	unregisterSubscriber(NodeIdentifier slave, Subscriber<?> subscriber)	Unregisters the specified Subscriber.

Methods inherited from class java.lang.Object

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

Field Details

xmlRpcEndpoint

protected final MasterXmlRpcEndpoint xmlRpcEndpoint

Constructor Details

MasterClient

public MasterClient(URI uri)

Create a new MasterClient connected to the specified MasterServer URI.

Parameters:

uri - the URI of the MasterServer to connect to

Method Details

registerService

public Response<Void> registerService(NodeIdentifier slave,
 ServiceServer<?,?> service)

Registers the given ServiceServer.

Parameters:

slave - the NodeIdentifier where the ServiceServer is running

service - the ServiceServer to register

Returns:

a void Response

unregisterService

public Response<Integer> unregisterService(NodeIdentifier slave,
 ServiceServer<?,?> service)

Unregisters the specified ServiceServer.

Parameters:

slave - the NodeIdentifier where the ServiceServer is running

service - the ServiceServer to unregister

Returns:

the number of unregistered services

registerSubscriber

public Response<List<URI>> registerSubscriber(NodeIdentifier slave,
 Subscriber<?> subscriber)

Registers the given Subscriber. In addition to receiving a list of current Publishers, the Subscribers SlaveServer will also receive notifications of new Publishers via the publisherUpdate API.

Parameters:

slave - the NodeIdentifier that the Subscriber is running on

subscriber - the Subscriber to register

Returns:

a List or SlaveServer XML-RPC API URIs for nodes currently publishing the specified topic

unregisterSubscriber

public Response<Integer> unregisterSubscriber(NodeIdentifier slave,
 Subscriber<?> subscriber)

Unregisters the specified Subscriber.

Parameters:

slave - the NodeIdentifier where the subscriber is running

subscriber - the Subscriber to unregister

Returns:

the number of unregistered Subscribers

registerPublisher

public Response<List<URI>> registerPublisher(PublisherDeclaration publisherDeclaration)

Registers the specified PublisherDeclaration.

Parameters:

publisherDeclaration - the PublisherDeclaration of the Publisher to register

Returns:

a List of the current SlaveServer URIs which have Subscribers for the published TopicSystemState

unregisterPublisher

public Response<Integer> unregisterPublisher(PublisherIdentifier publisherIdentifier)

Unregisters the specified PublisherDeclaration.

Parameters:

publisherIdentifier - the PublisherIdentifier of the Publisher to unregister

Returns:

the number of unregistered Publishers

lookupNode

public Response<URI> lookupNode(GraphName slaveName,
 String nodeName)

Parameters:

slaveName - the GraphName of the caller

nodeName - the name of the SlaveServer to lookup

Returns:

the URI of the SlaveServer with the given name

getUri

public Response<URI> getUri(GraphName slaveName)

Parameters:

slaveName - the NodeIdentifier of the caller

Returns:

the URI of the MasterServer

lookupService

public Response<URI> lookupService(GraphName callerName,
 String serviceName)

Parameters:

callerName - the GraphName of the caller

serviceName - the name of the ServiceServer to look up

Returns:

the URI of the ServiceServer with the given name. ServiceServer as a result

getPublishedTopics

public Response<List<TopicDeclaration>> getPublishedTopics(GraphName callerName,
 String subgraph)

Parameters:

callerName - the GraphName of the caller

subgraph - the subgraph of the topics

Returns:

the list of published TopicDeclarations

getTopicTypes

public Response<List<TopicType>> getTopicTypes(GraphName callerName)

Get a List of all TopicSystemState message types.

Parameters:

callerName - the GraphName of the caller

Returns:

a List of TopicTypes

getSystemState

public Response<SystemState> getSystemState(GraphName callerName)

Parameters:

callerName - the GraphName of the caller

Returns:

the current SystemState

getRemoteUri

public URI getRemoteUri()

Returns:

the URI of the remote XmlRpcServer