Package org.ros.node

Class DefaultNodeMainExecutor

java.lang.Object

org.ros.node.DefaultNodeMainExecutor

All Implemented Interfaces:

NodeMainExecutor

public class DefaultNodeMainExecutor
extends Object
implements NodeMainExecutor

Executes NodeMains in separate threads.

Author:

damonkohler@google.com (Damon Kohler)

Method Summary

Modifier and Type	Method	Description
void	execute(NodeMain nodeMain, NodeConfiguration nodeConfiguration)	Executes the supplied NodeMain using the supplied NodeConfiguration.
void	execute(NodeMain nodeMain, NodeConfiguration nodeConfiguration, Collection<NodeListener> nodeListeners)	Executes the supplied NodeMain using the supplied NodeConfiguration.
ScheduledExecutorService	getScheduledExecutorService()
static NodeMainExecutor	newDefault()
static NodeMainExecutor	newDefault(ScheduledExecutorService executorService)
void	shutdown()	Shutdown all started Nodes.
void	shutdownNodeMain(NodeMain nodeMain)	Shuts down the supplied NodeMain (i.e.

Methods inherited from class java.lang.Object

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

Method Details

newDefault

public static NodeMainExecutor newDefault()

Returns:

an instance of DefaultNodeMainExecutor that uses a ScheduledExecutorService that is suitable for both executing tasks immediately and scheduling tasks to execute in the future

newDefault

public static NodeMainExecutor newDefault(ScheduledExecutorService executorService)

Returns:

an instance of DefaultNodeMainExecutor that uses the supplied ExecutorService

getScheduledExecutorService

public ScheduledExecutorService getScheduledExecutorService()

Specified by:

getScheduledExecutorService in interface NodeMainExecutor

Returns:

the ScheduledExecutorService that this NodeMainExecutor uses

execute

public void execute(NodeMain nodeMain,
 NodeConfiguration nodeConfiguration,
 Collection<NodeListener> nodeListeners)

Description copied from interface: NodeMainExecutor

Executes the supplied NodeMain using the supplied NodeConfiguration.

Specified by:

execute in interface NodeMainExecutor

Parameters:

nodeMain - the NodeMain to execute

nodeConfiguration - the NodeConfiguration that will be used to create the Node

nodeListeners - a Collection of NodeListeners to be added to the Node before it starts, can be null

execute

public void execute(NodeMain nodeMain,
 NodeConfiguration nodeConfiguration)

Description copied from interface: NodeMainExecutor

Executes the supplied NodeMain using the supplied NodeConfiguration.

Specified by:

execute in interface NodeMainExecutor

Parameters:

nodeMain - the NodeMain to execute

nodeConfiguration - the NodeConfiguration that will be used to create the Node

shutdownNodeMain

public void shutdownNodeMain(NodeMain nodeMain)

Description copied from interface: NodeMainExecutor

Shuts down the supplied NodeMain (i.e. NodeListener.onShutdown(Node) will be called). This does not necessarily shut down the Node that is associated with the NodeMain.

This has no effect if the NodeMain has not started.

Specified by:

shutdownNodeMain in interface NodeMainExecutor

Parameters:

nodeMain - the NodeMain to shutdown

shutdown

public void shutdown()

Description copied from interface: NodeMainExecutor

Shutdown all started Nodes. This does not shut down the supplied ExecutorService.

Specified by:

shutdown in interface NodeMainExecutor