Package org.ros.internal.node.topic

Class SubscriberFactory

java.lang.Object

org.ros.internal.node.topic.SubscriberFactory

public class SubscriberFactory
extends Object

A factory for Subscriber instances.

Author:

damonkohler@google.com (Damon Kohler)

Constructor Summary

Constructors

Constructor	Description
SubscriberFactory(NodeIdentifier nodeIdentifier, TopicParticipantManager topicParticipantManager, ScheduledExecutorService executorService)

Method Summary

Modifier and Type	Method	Description
<T> Subscriber<T>	newOrExisting(TopicDeclaration topicDeclaration, org.ros.message.MessageDeserializer<T> messageDeserializer)	Gets or creates a Subscriber instance.

Methods inherited from class java.lang.Object

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

Constructor Details

SubscriberFactory

public SubscriberFactory(NodeIdentifier nodeIdentifier,
 TopicParticipantManager topicParticipantManager,
 ScheduledExecutorService executorService)

Method Details

newOrExisting

public <T> Subscriber<T> newOrExisting(TopicDeclaration topicDeclaration,
 org.ros.message.MessageDeserializer<T> messageDeserializer)

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

Type Parameters:

T - the message type associated with the new Subscriber

Parameters:

topicDeclaration - TopicDeclaration that is subscribed to

messageDeserializer - the MessageDeserializer to use for incoming messages

Returns:

a new or cached Subscriber instance