Package org.ros.internal.node.service

Class ServiceFactory

java.lang.Object

org.ros.internal.node.service.ServiceFactory

public class ServiceFactory
extends Object

A factory for ServiceServers and ServiceClients.

Author:

damonkohler@google.com (Damon Kohler)

Constructor Summary

Constructors

Constructor	Description
ServiceFactory(GraphName nodeName, SlaveServer slaveServer, ServiceManager serviceManager, ScheduledExecutorService executorService)

Method Summary

Modifier and Type	Method	Description
<T, S> DefaultServiceServer<T,S>	getServer(GraphName name)
<T, S> DefaultServiceClient<T,S>	newClient(ServiceDeclaration serviceDeclaration, org.ros.message.MessageSerializer<T> serializer, org.ros.message.MessageDeserializer<S> deserializer, org.ros.message.MessageFactory messageFactory)	Gets or creates a DefaultServiceClient instance.
<T, S> DefaultServiceServer<T,S>	newServer(ServiceDeclaration serviceDeclaration, ServiceResponseBuilder<T,S> responseBuilder, org.ros.message.MessageDeserializer<T> deserializer, org.ros.message.MessageSerializer<S> serializer, org.ros.message.MessageFactory messageFactory)	Creates a DefaultServiceServer instance and registers it with the master.

Methods inherited from class java.lang.Object

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

Constructor Details

ServiceFactory

public ServiceFactory(GraphName nodeName,
 SlaveServer slaveServer,
 ServiceManager serviceManager,
 ScheduledExecutorService executorService)

Method Details

newServer

public <T,
S> DefaultServiceServer<T,S> newServer(ServiceDeclaration serviceDeclaration,
 ServiceResponseBuilder<T,S> responseBuilder,
 org.ros.message.MessageDeserializer<T> deserializer,
 org.ros.message.MessageSerializer<S> serializer,
 org.ros.message.MessageFactory messageFactory)

Creates a DefaultServiceServer instance and registers it with the master.

Parameters:

serviceDeclaration - the ServiceDescription that is being served

responseBuilder - the ServiceResponseBuilder that is used to build responses

deserializer - a MessageDeserializer to be used for incoming messages

serializer - a MessageSerializer to be used for outgoing messages

messageFactory - a MessageFactory to be used for creating responses

Returns:

a DefaultServiceServer instance

getServer

public <T,
S> DefaultServiceServer<T,S> getServer(GraphName name)

Parameters:

name - the GraphName of the DefaultServiceServer

Returns:

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

newClient

public <T,
S> DefaultServiceClient<T,S> newClient(ServiceDeclaration serviceDeclaration,
 org.ros.message.MessageSerializer<T> serializer,
 org.ros.message.MessageDeserializer<S> deserializer,
 org.ros.message.MessageFactory messageFactory)

Gets or creates a DefaultServiceClient instance. DefaultServiceClients are cached and reused per service. When a new DefaultServiceClient is created, it is connected to the DefaultServiceServer.

Parameters:

serviceDeclaration - the ServiceDescription that is being served

deserializer - a MessageDeserializer to be used for incoming messages

serializer - a MessageSerializer to be used for outgoing messages

messageFactory - a MessageFactory to be used for creating requests

Returns:

a DefaultServiceClient instance