Package org.ros.internal.node.server.master

Class MasterRegistrationManagerImpl

java.lang.Object
org.ros.internal.node.server.master.MasterRegistrationManagerImpl
public class MasterRegistrationManagerImpl extends Object
Manages all registration logic for the MasterServer.

This class is not thread-safe.

Author:
khughes@google.com (Keith M. Hughes)

  • Constructor Details

  • Method Details

    • registerPublisher

      public TopicRegistrationInfo registerPublisher(GraphName nodeName, URI nodeSlaveUri, GraphName topicName, String topicMessageType)
      Register a publisher.
      Parameters:
      nodeName - name of the node with the publisher
      nodeSlaveUri - URI of the slave server on the node
      topicName - then name of the topic
      topicMessageType - message type of the topic
      Returns:
      The registration information for the topic.

    • unregisterPublisher

      public boolean unregisterPublisher(GraphName nodeName, GraphName topicName)
      Unregister a publisher.
      Parameters:
      nodeName - name of the node which has the publisher
      topicName - name of the publisher's topic
      Returns:
      true if the publisher was actually registered before the call.

    • registerSubscriber

      public TopicRegistrationInfo registerSubscriber(GraphName nodeName, URI nodeSlaveUri, GraphName topicName, String topicMessageType)
      Register a subscriber.
      Parameters:
      nodeName - name of the node with the subscriber
      nodeSlaveUri - URI of the slave server on the node
      topicName - then name of the topic
      topicMessageType - message type of the topic
      Returns:
      The registration information for the topic.

    • unregisterSubscriber

      public boolean unregisterSubscriber(GraphName nodeName, GraphName topicName)
      Unregister a subscriber.
      Parameters:
      nodeName - name of the node which has the subscriber
      topicName - name of the subscriber's topic
      Returns:
      true if the subscriber was actually registered before the call.

    • registerService

      public ServiceRegistrationInfo registerService(GraphName nodeName, URI nodeSlaveUri, GraphName serviceName, URI serviceUri)
      Register a service.
      Parameters:
      nodeName - name of the node with the service
      nodeSlaveUri - URI of the slave server on the node
      serviceName - the name of the service
      serviceUri - URI of the service server on the node
      Returns:
      The registration information for the service.

    • unregisterService

      public boolean unregisterService(GraphName nodeName, GraphName serviceName, URI serviceUri)
      Unregister a service.
      Parameters:
      nodeName - name of the node with the service
      serviceName - the name of the service
      serviceUri - URI of the service server on the node
      Returns:
      true if the service was actually registered before the call.

    • getAllTopics

      public Collection<TopicRegistrationInfo> getAllTopics()
      Get all topics registered.
      Returns:
      An immutable collection of topics.

    • getTopicRegistrationInfo

      public TopicRegistrationInfo getTopicRegistrationInfo(GraphName topicName)
      Get the information known about a topic.
      Parameters:
      topicName - the name of the topic
      Returns:
      The information about the topic. Can be null if the topic was never registered.

    • getNodeRegistrationInfo

      public NodeRegistrationInfo getNodeRegistrationInfo(GraphName nodeName)
      Get the information known about a node.
      Parameters:
      nodeName - the name of the node
      Returns:
      The information about the node. Can be null if no topic was ever registered for the node.

    • getAllServices

      public Collection<ServiceRegistrationInfo> getAllServices()
      Get all services registered.
      Returns:
      An immutable collection of services.

    • getServiceRegistrationInfo

      public ServiceRegistrationInfo getServiceRegistrationInfo(GraphName serviceName)
      Get the information known about a service.
      Parameters:
      serviceName - the name of the service
      Returns:
      The information about the service. Can be null if there is no service registered with the given name.