Package org.ros.internal.node.topic

Class DefaultPublisher<T>

java.lang.Object

org.ros.internal.node.topic.DefaultTopicParticipant

org.ros.internal.node.topic.DefaultPublisher<T>

All Implemented Interfaces:

TopicParticipant, Publisher<T>

public class DefaultPublisher<T>
extends DefaultTopicParticipant
implements Publisher<T>

Default implementation of a Publisher.

Author:

damonkohler@google.com (Damon Kohler)

Constructor Summary

Constructors

Constructor	Description
DefaultPublisher(NodeIdentifier nodeIdentifier, TopicDeclaration topicDeclaration, org.ros.message.MessageSerializer<T> serializer, org.ros.message.MessageFactory messageFactory, ScheduledExecutorService executorService)

Method Summary

Modifier and Type	Method	Description
void	addListener(PublisherListener<T> listener)	Add a new lifecycle listener to the Publisher.
void	addSubscriber(SubscriberIdentifier subscriberIdentifer, org.jboss.netty.channel.Channel channel)	Add a Subscriber connection to this Publisher.
org.jboss.netty.buffer.ChannelBuffer	finishHandshake(ConnectionHeader incomingHeader)	Complete connection handshake on buffer.
PublisherIdentifier	getIdentifier()
boolean	getLatchMode()
int	getNumberOfSubscribers()	Get the number of Subscribers currently connected to the Publisher.
boolean	hasSubscribers()
T	newMessage()	Create a new message.
void	publish(T message)	Publishes a message.
void	setLatchMode(boolean enabled)
void	shutdown()	Shuts down and unregisters the Publisher using the default timeout for PublisherListener.onShutdown(Publisher) callbacks.
void	shutdown(long timeout, TimeUnit unit)	Sends shutdown signals and awaits for them to be received by signalOnMasterUnregistrationSuccess() or signalOnMasterUnregistrationFailure() before continuing shutdown
void	signalOnMasterRegistrationFailure()	Signal all PublisherListeners that the Publisher has failed to register with the master.
void	signalOnMasterRegistrationSuccess()	Signal all PublisherListeners that the Publisher has successfully registered with the master.
void	signalOnMasterUnregistrationFailure()	Signal all PublisherListeners that the Publisher has failed to unregister with the master.
void	signalOnMasterUnregistrationSuccess()	Signal all PublisherListeners that the Publisher has successfully unregistered with the master.
PublisherDeclaration	toDeclaration()
String	toString()

Methods inherited from class org.ros.internal.node.topic.DefaultTopicParticipant

getTopicDeclaration, getTopicDeclarationAsList, getTopicDeclarationHeader, getTopicMessageType, getTopicName

Methods inherited from class java.lang.Object

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

Methods inherited from interface org.ros.internal.node.topic.TopicParticipant

getTopicMessageType, getTopicName

Constructor Details

DefaultPublisher

public DefaultPublisher(NodeIdentifier nodeIdentifier,
 TopicDeclaration topicDeclaration,
 org.ros.message.MessageSerializer<T> serializer,
 org.ros.message.MessageFactory messageFactory,
 ScheduledExecutorService executorService)

Method Details

setLatchMode

public void setLatchMode(boolean enabled)

Specified by:

setLatchMode in interface Publisher<T>

Parameters:

enabled - true if published messages should be latched, false otherwise

See Also:

• Publisher options documentation

getLatchMode

public boolean getLatchMode()

Specified by:

getLatchMode in interface Publisher<T>

Returns:

true if published messages will be latched, false otherwise

See Also:

• Publisher options documentation

shutdown

public void shutdown(long timeout,
 TimeUnit unit)

Sends shutdown signals and awaits for them to be received by signalOnMasterUnregistrationSuccess() or signalOnMasterUnregistrationFailure() before continuing shutdown

Specified by:

shutdown in interface Publisher<T>

shutdown

public void shutdown()

Description copied from interface: Publisher

Shuts down and unregisters the Publisher using the default timeout for PublisherListener.onShutdown(Publisher) callbacks.

PublisherListener.onShutdown(Publisher) callbacks are executed in separate threads.

Specified by:

shutdown in interface Publisher<T>

See Also:

• Publisher.shutdown(long, TimeUnit)

getIdentifier

public PublisherIdentifier getIdentifier()

toDeclaration

public PublisherDeclaration toDeclaration()

hasSubscribers

public boolean hasSubscribers()

Specified by:

hasSubscribers in interface Publisher<T>

Returns:

true if getNumberOfSubscribers() > 0, false otherwise

getNumberOfSubscribers

public int getNumberOfSubscribers()

Description copied from interface: Publisher

Get the number of Subscribers currently connected to the Publisher.

This counts the number of Subscriber registered. If a Subscriber does not shutdown properly it will not be unregistered and thus will contribute to this count.

Specified by:

getNumberOfSubscribers in interface Publisher<T>

Returns:

the number of Subscribers currently connected to the Publisher

newMessage

public T newMessage()

Description copied from interface: Publisher

Create a new message.

Specified by:

newMessage in interface Publisher<T>

Returns:

a new message

publish

public void publish(T message)

Description copied from interface: Publisher

Publishes a message. This message will be available on the topic that this Publisher has been associated with.

Specified by:

publish in interface Publisher<T>

Parameters:

message - the message to publish

finishHandshake

public org.jboss.netty.buffer.ChannelBuffer finishHandshake(ConnectionHeader incomingHeader)

Complete connection handshake on buffer. This generates the connection header for this publisher to send and also updates the connection state of this publisher.

Returns:

encoded connection header from subscriber

addSubscriber

public void addSubscriber(SubscriberIdentifier subscriberIdentifer,
 org.jboss.netty.channel.Channel channel)

Add a Subscriber connection to this Publisher.

Parameters:

subscriberIdentifer - the SubscriberIdentifier of the new subscriber

channel - the communication Channel to the Subscriber

addListener

public void addListener(PublisherListener<T> listener)

Description copied from interface: Publisher

Add a new lifecycle listener to the Publisher.

Specified by:

addListener in interface Publisher<T>

Parameters:

listener - the PublisherListener to add

signalOnMasterRegistrationSuccess

public void signalOnMasterRegistrationSuccess()

Signal all PublisherListeners that the Publisher has successfully registered with the master.

Each listener is called in a separate thread.

Specified by:

signalOnMasterRegistrationSuccess in class DefaultTopicParticipant

signalOnMasterRegistrationFailure

public void signalOnMasterRegistrationFailure()

Signal all PublisherListeners that the Publisher has failed to register with the master.

Each listener is called in a separate thread.

Specified by:

signalOnMasterRegistrationFailure in class DefaultTopicParticipant

signalOnMasterUnregistrationSuccess

public void signalOnMasterUnregistrationSuccess()

Signal all PublisherListeners that the Publisher has successfully unregistered with the master.

Each listener is called in a separate thread.

Specified by:

signalOnMasterUnregistrationSuccess in class DefaultTopicParticipant

signalOnMasterUnregistrationFailure

public void signalOnMasterUnregistrationFailure()

Signal all PublisherListeners that the Publisher has failed to unregister with the master.

Each listener is called in a separate thread.

Specified by:

signalOnMasterUnregistrationFailure in class DefaultTopicParticipant

toString

public String toString()

Overrides:

toString in class Object