Package org.ros.internal.node.topic

Class DefaultSubscriber<T>

java.lang.Object

org.ros.internal.node.topic.DefaultTopicParticipant

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

All Implemented Interfaces:

TopicParticipant, Subscriber<T>

public class DefaultSubscriber<T>
extends DefaultTopicParticipant
implements Subscriber<T>

Default implementation of a Subscriber.

Author:

damonkohler@google.com (Damon Kohler)

Field Summary

Fields inherited from interface org.ros.node.topic.Subscriber

TOPIC_MESSAGE_TYPE_WILDCARD

Method Summary

Modifier and Type	Method	Description
void	addMessageListener(org.ros.message.MessageListener<T> messageListener)	Adds a MessageListener with a limit of 1.
void	addMessageListener(org.ros.message.MessageListener<T> messageListener, int limit)	Adds a MessageListener to be called when new messages are received.
void	addPublisher(PublisherIdentifier publisherIdentifier, InetSocketAddress address)
void	addSubscriberListener(SubscriberListener<T> listener)	Add a new lifecycle listener to the subscriber.
boolean	getLatchMode()
Collection<String>	getSupportedProtocols()
static <S> DefaultSubscriber<S>	newDefault(NodeIdentifier nodeIdentifier, TopicDeclaration description, ScheduledExecutorService executorService, org.ros.message.MessageDeserializer<S> deserializer)
void	removeAllMessageListeners()	Removes all registered MessageListeners.
boolean	removeMessageListener(org.ros.message.MessageListener<T> messageListener)	Removes a previously added MessageListener.
void	shutdown()	Shuts down and unregisters the Subscriber using the default timeout for SubscriberListener.onShutdown(Subscriber) callbacks.
void	shutdown(long timeout, TimeUnit unit)	Shuts down and unregisters the Subscriber.
void	signalOnMasterRegistrationFailure()	Signal all SubscriberListeners that the Subscriber has failed to register with the master.
void	signalOnMasterRegistrationSuccess()	Signal all SubscriberListeners that the Subscriber has successfully registered with the master.
void	signalOnMasterUnregistrationFailure()	Signal all SubscriberListeners that the Subscriber has failed to unregister with the master.
void	signalOnMasterUnregistrationSuccess()	Signal all SubscriberListeners that the Subscriber has successfully unregistered with the master.
void	signalOnNewPublisher(PublisherIdentifier publisherIdentifier)	Signal all SubscriberListeners that a new Publisher has connected.
SubscriberDeclaration	toDeclaration()
SubscriberIdentifier	toIdentifier()
String	toString()
void	updatePublishers(Collection<PublisherIdentifier> publisherIdentifiers)	Updates the list of Publishers for the topic that this Subscriber is interested in.

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

Method Details

newDefault

public static <S> DefaultSubscriber<S> newDefault(NodeIdentifier nodeIdentifier,
 TopicDeclaration description,
 ScheduledExecutorService executorService,
 org.ros.message.MessageDeserializer<S> deserializer)

toIdentifier

public SubscriberIdentifier toIdentifier()

toDeclaration

public SubscriberDeclaration toDeclaration()

getSupportedProtocols

public Collection<String> getSupportedProtocols()

getLatchMode

public boolean getLatchMode()

Specified by:

getLatchMode in interface Subscriber<T>

Returns:

true if the Publisher of this Subscriber's topic is latched, false otherwise

addMessageListener

public void addMessageListener(org.ros.message.MessageListener<T> messageListener,
 int limit)

Description copied from interface: Subscriber

Adds a MessageListener to be called when new messages are received.

The MessageListener will be executed serially in its own thread. If the MessageListener processes new messages slower than they arrive, new messages will be queued up to the specified limit. Older messages are removed from the buffer when the buffer limit is exceeded.

Specified by:

addMessageListener in interface Subscriber<T>

Parameters:

messageListener - this MessageListener will be called when new messages are received

limit - the maximum number of messages to buffer

addMessageListener

public void addMessageListener(org.ros.message.MessageListener<T> messageListener)

Description copied from interface: Subscriber

Adds a MessageListener with a limit of 1.

Specified by:

addMessageListener in interface Subscriber<T>

See Also:

• Subscriber.addMessageListener(MessageListener, int)

removeMessageListener

public boolean removeMessageListener(org.ros.message.MessageListener<T> messageListener)

Description copied from interface: Subscriber

Removes a previously added MessageListener.

Specified by:

removeMessageListener in interface Subscriber<T>

Parameters:

messageListener - MessageListener to remove.

Returns:

True if the listener was removed, false if it wasn't registered before.

removeAllMessageListeners

public void removeAllMessageListeners()

Description copied from interface: Subscriber

Removes all registered MessageListeners.

Specified by:

removeAllMessageListeners in interface Subscriber<T>

addPublisher

public void addPublisher(PublisherIdentifier publisherIdentifier,
 InetSocketAddress address)

updatePublishers

public void updatePublishers(Collection<PublisherIdentifier> publisherIdentifiers)

Updates the list of Publishers for the topic that this Subscriber is interested in.

Parameters:

publisherIdentifiers - Collection of PublisherIdentifiers for the subscribed topic

shutdown

public void shutdown(long timeout,
 TimeUnit unit)

Description copied from interface: Subscriber

Shuts down and unregisters the Subscriber. using the default timeout Shutdown is delayed by at most the specified timeout to allow SubscriberListener.onShutdown(Subscriber) callbacks to complete.

SubscriberListener.onShutdown(Subscriber) callbacks are executed in separate threads.

Specified by:

shutdown in interface Subscriber<T>

shutdown

public void shutdown()

Description copied from interface: Subscriber

Shuts down and unregisters the Subscriber using the default timeout for SubscriberListener.onShutdown(Subscriber) callbacks.

SubscriberListener.onShutdown(Subscriber) callbacks are executed in separate threads.

Specified by:

shutdown in interface Subscriber<T>

See Also:

• Subscriber.shutdown(long, TimeUnit)

addSubscriberListener

public void addSubscriberListener(SubscriberListener<T> listener)

Description copied from interface: Subscriber

Add a new lifecycle listener to the subscriber.

Specified by:

addSubscriberListener in interface Subscriber<T>

Parameters:

listener - The listener to add.

signalOnMasterRegistrationSuccess

public void signalOnMasterRegistrationSuccess()

Signal all SubscriberListeners that the Subscriber 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 SubscriberListeners that the Subscriber 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 SubscriberListeners that the Subscriber 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 SubscriberListeners that the Subscriber has failed to unregister with the master.

Each listener is called in a separate thread.

Specified by:

signalOnMasterUnregistrationFailure in class DefaultTopicParticipant

signalOnNewPublisher

public void signalOnNewPublisher(PublisherIdentifier publisherIdentifier)

Signal all SubscriberListeners that a new Publisher has connected.

Each listener is called in a separate thread.

toString

public String toString()

Overrides:

toString in class Object