Package org.ros.internal.node.client

Class Registrar

java.lang.Object

org.ros.internal.node.client.Registrar

All Implemented Interfaces:

ServiceManagerListener, TopicParticipantManagerListener

public class Registrar
extends Object
implements TopicParticipantManagerListener, ServiceManagerListener

Manages topic, and service registrations of a SlaveServer with the MasterServer.

Author:

kwc@willowgarage.com (Ken Conley), damonkohler@google.com (Damon Kohler)

Constructor Summary

Constructors

Constructor	Description
Registrar(MasterClient masterClient, ScheduledExecutorService executorService)

Method Summary

Modifier and Type	Method	Description
void	onPublisherAdded(DefaultPublisher<?> publisher)	Called when a new Publisher is added.
void	onPublisherRemoved(DefaultPublisher<?> publisher)	Called when a new Publisher is removed.
void	onServiceServerAdded(DefaultServiceServer<?,?> serviceServer)	Called when a new ServiceServer is added.
void	onServiceServerRemoved(DefaultServiceServer<?,?> serviceServer)	Called when a new ServiceServer is added.
void	onSubscriberAdded(DefaultSubscriber<?> subscriber)	Called when a Subscriber is added.
void	onSubscriberRemoved(DefaultSubscriber<?> subscriber)	Called when a Subscriber is removed.
void	setRetryDelay(long delay, TimeUnit unit)	Failed registration actions are retried periodically until they succeed.
void	shutdown()	Shuts down the Registrar.
void	start(NodeIdentifier nodeIdentifier)	Starts the Registrar for the SlaveServer identified by the given NodeIdentifier.

Methods inherited from class java.lang.Object

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

Constructor Details

Registrar

public Registrar(MasterClient masterClient,
 ScheduledExecutorService executorService)

Parameters:

masterClient - a MasterClient for communicating with the ROS master

executorService - a ScheduledExecutorService to be used for all asynchronous operations

Method Details

setRetryDelay

public void setRetryDelay(long delay,
 TimeUnit unit)

Failed registration actions are retried periodically until they succeed. This method adjusts the delay between successive retry attempts for any particular registration action.

Parameters:

delay - the delay in units of unit between retries

unit - the unit of delay

onPublisherAdded

public void onPublisherAdded(DefaultPublisher<?> publisher)

Description copied from interface: TopicParticipantManagerListener

Called when a new Publisher is added.

Specified by:

onPublisherAdded in interface TopicParticipantManagerListener

Parameters:

publisher - the Publisher that was added

onPublisherRemoved

public void onPublisherRemoved(DefaultPublisher<?> publisher)

Description copied from interface: TopicParticipantManagerListener

Called when a new Publisher is removed.

Specified by:

onPublisherRemoved in interface TopicParticipantManagerListener

Parameters:

publisher - the Publisher that was removed

onSubscriberAdded

public void onSubscriberAdded(DefaultSubscriber<?> subscriber)

Description copied from interface: TopicParticipantManagerListener

Called when a Subscriber is added.

Specified by:

onSubscriberAdded in interface TopicParticipantManagerListener

Parameters:

subscriber - the Subscriber that was added

onSubscriberRemoved

public void onSubscriberRemoved(DefaultSubscriber<?> subscriber)

Description copied from interface: TopicParticipantManagerListener

Called when a Subscriber is removed.

Specified by:

onSubscriberRemoved in interface TopicParticipantManagerListener

Parameters:

subscriber - the Subscriber that was removed

onServiceServerAdded

public void onServiceServerAdded(DefaultServiceServer<?,?> serviceServer)

Description copied from interface: ServiceManagerListener

Called when a new ServiceServer is added.

Specified by:

onServiceServerAdded in interface ServiceManagerListener

Parameters:

serviceServer - the ServiceServer that was added

onServiceServerRemoved

public void onServiceServerRemoved(DefaultServiceServer<?,?> serviceServer)

Description copied from interface: ServiceManagerListener

Called when a new ServiceServer is added.

Specified by:

onServiceServerRemoved in interface ServiceManagerListener

Parameters:

serviceServer - the ServiceServer that was added

start

public void start(NodeIdentifier nodeIdentifier)

Starts the Registrar for the SlaveServer identified by the given NodeIdentifier.

Parameters:

nodeIdentifier - the NodeIdentifier for the SlaveServer this Registrar is responsible for

shutdown

public void shutdown()

Shuts down the Registrar.

No further registration requests will be accepted. All queued registration jobs have up to SHUTDOWN_TIMEOUT SHUTDOWN_TIMEOUT_UNITS to complete before being canceled.

Calling shutdown() more than once has no effect.