Package org.ros.internal.node.xmlrpc

Class SlaveXmlRpcEndpointImpl

java.lang.Object

org.ros.internal.node.xmlrpc.SlaveXmlRpcEndpointImpl

All Implemented Interfaces:

SlaveXmlRpcEndpoint, XmlRpcEndpoint

public class SlaveXmlRpcEndpointImpl
extends Object
implements SlaveXmlRpcEndpoint

Author:

damonkohler@google.com (Damon Kohler)

Constructor Summary

Constructors

Constructor	Description
SlaveXmlRpcEndpointImpl(SlaveServer slave)

Method Summary

Modifier and Type	Method	Description
List<Object>	getBusInfo(String callerId)	Retrieve transport/topic connection information.
List<Object>	getBusStats(String callerId)	Retrieve transport/topic statistics.
List<Object>	getMasterUri(String callerId)
List<Object>	getPid(String callerId)
List<Object>	getPublications(String callerId)	Retrieve a list of topics that this node publishes.
List<Object>	getSubscriptions(String callerId)
List<Object>	paramUpdate(String callerId, String key, boolean value)	Callback from master with updated value of subscribed parameter.
List<Object>	paramUpdate(String callerId, String key, byte value)
List<Object>	paramUpdate(String callerId, String key, char value)
List<Object>	paramUpdate(String callerId, String key, double value)
List<Object>	paramUpdate(String callerId, String key, int value)
List<Object>	paramUpdate(String callerId, String key, short value)
List<Object>	paramUpdate(String callerId, String key, String value)
List<Object>	paramUpdate(String callerId, String key, List<?> value)
List<Object>	paramUpdate(String callerId, String key, Map<?,?> value)
List<Object>	paramUpdate(String callerId, String key, Vector<?> value)
List<Object>	publisherUpdate(String callerId, String topicName, Object[] publishers)
List<Object>	requestTopic(String callerId, String topic, Object[] protocols)	Publisher node API method called by a subscriber node.
List<Object>	shutdown(String callerId, String message)

Methods inherited from class java.lang.Object

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

Constructor Details

SlaveXmlRpcEndpointImpl

public SlaveXmlRpcEndpointImpl(SlaveServer slave)

Method Details

getBusStats

public List<Object> getBusStats(String callerId)

Description copied from interface: SlaveXmlRpcEndpoint

Retrieve transport/topic statistics.

Specified by:

getBusStats in interface SlaveXmlRpcEndpoint

Parameters:

callerId - ROS caller ID.

Returns:

stats in the form of
[publishStats, subscribeStats, serviceStats]

where
publishStats: [[topicName, messageDataSent, pubConnectionData]...]
subscribeStats: [[topicName, subConnectionData]...]
serviceStats: (proposed) [numRequests, bytesReceived, bytesSent]
pubConnectionData: [connectionId, bytesSent, numSent, connected]
subConnectionData: [connectionId, bytesReceived, dropEstimate, connected]
dropEstimate: -1 if no estimate.

getBusInfo

public List<Object> getBusInfo(String callerId)

Description copied from interface: SlaveXmlRpcEndpoint

Retrieve transport/topic connection information.

Specified by:

getBusInfo in interface SlaveXmlRpcEndpoint

Parameters:

callerId - ROS caller ID.

Returns:

busInfo in the form of:
[[connectionId1, destinationId1, direction1, transport1, topic1, connected1]... ]

connectionId is defined by the node and is opaque. destinationId is the XMLRPC URI of the destination.

direction is one of 'i', 'o', or 'b' (in, out, both).

transport is the transport type (e.g. 'TCPROS'). topic is the topic name.

connected1 indicates connection status. Note that this field is only provided by slaves written in Python at the moment (cf. rospy/masterslave.py in _TopicImpl.get_stats_info() vs. roscpp/publication.cpp in Publication::getInfo()).

getMasterUri

public List<Object> getMasterUri(String callerId)

Specified by:

getMasterUri in interface SlaveXmlRpcEndpoint

shutdown

public List<Object> shutdown(String callerId,
 String message)

Specified by:

shutdown in interface SlaveXmlRpcEndpoint

getPid

public List<Object> getPid(String callerId)

Specified by:

getPid in interface SlaveXmlRpcEndpoint

getSubscriptions

public List<Object> getSubscriptions(String callerId)

Specified by:

getSubscriptions in interface SlaveXmlRpcEndpoint

getPublications

public List<Object> getPublications(String callerId)

Description copied from interface: SlaveXmlRpcEndpoint

Retrieve a list of topics that this node publishes.

Specified by:

getPublications in interface SlaveXmlRpcEndpoint

Parameters:

callerId - ROS caller ID.

Returns:

topicList is a list of topics published by this node and is of the form [ [topic1, topicType1]...[topicN, topicTypeN]]]

paramUpdate

public List<Object> paramUpdate(String callerId,
 String key,
 boolean value)

Description copied from interface: SlaveXmlRpcEndpoint

Callback from master with updated value of subscribed parameter.

Specified by:

paramUpdate in interface SlaveXmlRpcEndpoint

Parameters:

callerId - ROS caller ID.

key - parameter name, globally resolved

value - new parameter value

Returns:

ignore

paramUpdate

public List<Object> paramUpdate(String callerId,
 String key,
 char value)

Specified by:

paramUpdate in interface SlaveXmlRpcEndpoint

paramUpdate

public List<Object> paramUpdate(String callerId,
 String key,
 byte value)

Specified by:

paramUpdate in interface SlaveXmlRpcEndpoint

paramUpdate

public List<Object> paramUpdate(String callerId,
 String key,
 short value)

Specified by:

paramUpdate in interface SlaveXmlRpcEndpoint

paramUpdate

public List<Object> paramUpdate(String callerId,
 String key,
 int value)

Specified by:

paramUpdate in interface SlaveXmlRpcEndpoint

paramUpdate

public List<Object> paramUpdate(String callerId,
 String key,
 double value)

Specified by:

paramUpdate in interface SlaveXmlRpcEndpoint

paramUpdate

public List<Object> paramUpdate(String callerId,
 String key,
 String value)

Specified by:

paramUpdate in interface SlaveXmlRpcEndpoint

paramUpdate

public List<Object> paramUpdate(String callerId,
 String key,
 List<?> value)

Specified by:

paramUpdate in interface SlaveXmlRpcEndpoint

paramUpdate

public List<Object> paramUpdate(String callerId,
 String key,
 Vector<?> value)

Specified by:

paramUpdate in interface SlaveXmlRpcEndpoint

paramUpdate

public List<Object> paramUpdate(String callerId,
 String key,
 Map<?,?> value)

Specified by:

paramUpdate in interface SlaveXmlRpcEndpoint

publisherUpdate

public List<Object> publisherUpdate(String callerId,
 String topicName,
 Object[] publishers)

Specified by:

publisherUpdate in interface SlaveXmlRpcEndpoint

requestTopic

public List<Object> requestTopic(String callerId,
 String topic,
 Object[] protocols)

Description copied from interface: SlaveXmlRpcEndpoint

Publisher node API method called by a subscriber node. This requests that source allocate a channel for communication. Subscriber provides a list of desired protocols for communication. Publisher returns the selected protocol along with any additional params required for establishing connection. For example, for a TCP/IP-based connection, the source node may return a port number of TCP/IP server.

Specified by:

requestTopic in interface SlaveXmlRpcEndpoint

Parameters:

callerId - ROS caller ID

topic - topic name

protocols - list of desired protocols for communication in order of preference

Returns:

protocolParams or empty list if there are no compatible protocols