Package org.ros.internal.node.topic

Class PublisherFactory

java.lang.Object

org.ros.internal.node.topic.PublisherFactory

public class PublisherFactory
extends Object

A factory for Publisher instances.

Author:

damonkohler@google.com (Damon Kohler)

Constructor Summary

Constructors

Constructor	Description
PublisherFactory(NodeIdentifier nodeIdentifier, TopicParticipantManager topicParticipantManager, org.ros.message.MessageFactory messageFactory, ScheduledExecutorService executorService)

Method Summary

Modifier and Type	Method	Description
<T> Publisher<T>	newOrExisting(TopicDeclaration topicDeclaration, org.ros.message.MessageSerializer<T> messageSerializer)	Gets or creates a Publisher instance.

Methods inherited from class java.lang.Object

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

Constructor Details

PublisherFactory

public PublisherFactory(NodeIdentifier nodeIdentifier,
 TopicParticipantManager topicParticipantManager,
 org.ros.message.MessageFactory messageFactory,
 ScheduledExecutorService executorService)

Method Details

newOrExisting

public <T> Publisher<T> newOrExisting(TopicDeclaration topicDeclaration,
 org.ros.message.MessageSerializer<T> messageSerializer)

Gets or creates a Publisher instance. Publishers are cached and reused per topic. When a new Publisher is generated, it is registered with the master.

Type Parameters:

T - the message type associated with the Publisher

Parameters:

topicDeclaration - TopicDeclaration that is being published

messageSerializer - the MessageSerializer used for published messages

Returns:

a new or cached Publisher instance