Package org.ros.internal.transport.tcp

Class TcpRosServer

java.lang.Object

org.ros.internal.transport.tcp.TcpRosServer

public class TcpRosServer
extends Object

The TCP server which is used for data communication between publishers and subscribers or between a service and a service client.

This server is used after publishers, subscribers, services and service clients have been told about each other by the master.

Author:

damonkohler@google.com (Damon Kohler)

Constructor Summary

Constructors

Constructor	Description
TcpRosServer(BindAddress bindAddress, AdvertiseAddress advertiseAddress, TopicParticipantManager topicParticipantManager, ServiceManager serviceManager, ScheduledExecutorService executorService)

Method Summary

Modifier and Type	Method	Description
InetSocketAddress	getAddress()
AdvertiseAddress	getAdvertiseAddress()
void	shutdown()	Close all incoming connections and the server socket.
void	start()

Methods inherited from class java.lang.Object

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

Constructor Details

TcpRosServer

public TcpRosServer(BindAddress bindAddress,
 AdvertiseAddress advertiseAddress,
 TopicParticipantManager topicParticipantManager,
 ServiceManager serviceManager,
 ScheduledExecutorService executorService)

Method Details

start

public void start()

shutdown

public void shutdown()

Close all incoming connections and the server socket.

Calling this method more than once has no effect.

getAddress

public InetSocketAddress getAddress()

Returns:

the advertise-able InetSocketAddress of this TcpRosServer

getAdvertiseAddress

public AdvertiseAddress getAdvertiseAddress()

Returns:

the AdvertiseAddress of this TcpRosServer