Package org.ros.internal.node.server

Class SlaveServer

java.lang.Object

org.ros.internal.node.server.XmlRpcServer

org.ros.internal.node.server.SlaveServer

public class SlaveServer
extends XmlRpcServer

Author:

damonkohler@google.com (Damon Kohler)

Constructor Summary

Constructors

Constructor	Description
SlaveServer(GraphName nodeName, BindAddress tcpRosBindAddress, AdvertiseAddress tcpRosAdvertiseAddress, BindAddress xmlRpcBindAddress, AdvertiseAddress xmlRpcAdvertiseAddress, MasterClient master, TopicParticipantManager topicParticipantManager, ServiceManager serviceManager, ParameterManager parameterManager, ScheduledExecutorService executorService)

Method Summary

Modifier and Type	Method	Description
List<Object>	getBusInfo(String callerId)
List<Object>	getBusStats(String callerId)
URI	getMasterUri()
int	getPid()
Collection<DefaultPublisher<?>>	getPublications()
Collection<DefaultSubscriber<?>>	getSubscriptions()
AdvertiseAddress	getTcpRosAdvertiseAddress()
int	paramUpdate(GraphName parameterName, Object parameterValue)
void	publisherUpdate(String callerId, String topicName, Collection<URI> publisherUris)
ProtocolDescription	requestTopic(String topicName, Collection<String> protocols)
void	shutdown()	Shut the remote call server down.
void	start()	Start the XML-RPC server.
NodeIdentifier	toNodeIdentifier()

Methods inherited from class org.ros.internal.node.server.XmlRpcServer

awaitStart, awaitStart, getAddress, getAdvertiseAddress, getUri, start

Methods inherited from class java.lang.Object

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

Constructor Details

SlaveServer

public SlaveServer(GraphName nodeName,
 BindAddress tcpRosBindAddress,
 AdvertiseAddress tcpRosAdvertiseAddress,
 BindAddress xmlRpcBindAddress,
 AdvertiseAddress xmlRpcAdvertiseAddress,
 MasterClient master,
 TopicParticipantManager topicParticipantManager,
 ServiceManager serviceManager,
 ParameterManager parameterManager,
 ScheduledExecutorService executorService)

Method Details

getTcpRosAdvertiseAddress

public AdvertiseAddress getTcpRosAdvertiseAddress()

start

public void start()

Start the XML-RPC server. This start() routine requires that the TcpRosServer is initialized first so that the slave server returns correct information when topics are requested.

shutdown

public void shutdown()

Description copied from class: XmlRpcServer

Shut the remote call server down.

Overrides:

shutdown in class XmlRpcServer

getBusStats

public List<Object> getBusStats(String callerId)

getBusInfo

public List<Object> getBusInfo(String callerId)

getMasterUri

public URI getMasterUri()

getPid

public int getPid()

Overrides:

getPid in class XmlRpcServer

Returns:

PID of this process if available, throws UnsupportedOperationException otherwise.

getSubscriptions

public Collection<DefaultSubscriber<?>> getSubscriptions()

getPublications

public Collection<DefaultPublisher<?>> getPublications()

paramUpdate

public int paramUpdate(GraphName parameterName,
 Object parameterValue)

Parameters:

parameterName -

parameterValue -

Returns:

the number of parameter subscribers that received the update

publisherUpdate

public void publisherUpdate(String callerId,
 String topicName,
 Collection<URI> publisherUris)

requestTopic

public ProtocolDescription requestTopic(String topicName,
 Collection<String> protocols)
                                 throws ServerException

Throws:

ServerException

toNodeIdentifier

public NodeIdentifier toNodeIdentifier()

Returns:

a NodeIdentifier for this SlaveServer