Package org.ros.node

Class NativeNodeMain

java.lang.Object

org.ros.node.AbstractNodeMain

org.ros.node.NativeNodeMain

All Implemented Interfaces:

NodeListener, NodeMain

public abstract class NativeNodeMain
extends AbstractNodeMain

A java wrapper to load and run a native-code ROS node. Note: there are no actual native methods declared in this class. We only define an interface. The native methods should be declared in the child class. Native methods' return codes can be handled by the application using AbstractNodeMain.onError(Node, Throwable).

Author:

ecorbellini@creativa77.com.ar (Ernesto Corbellini)

Field Summary

Fields

Modifier and Type	Field	Description
protected int	executeReturnCode
protected int	shutdownReturnCode
static final int	SUCCESS

Constructor Summary

Constructors

Constructor	Description
NativeNodeMain(String libName)
NativeNodeMain(String libName, String[] remappings)

Method Summary

Modifier and Type	Method	Description
protected abstract int	execute(String rosMasterUri, String rosHostName, String rosNodeName, String[] remappingArguments)
void	onShutdown(Node node)	Called when the ConnectedNode has started shutting down.
void	onStart(ConnectedNode connectedNode)	Called when the Node has started and successfully connected to the master.
protected abstract int	shutdown()

Methods inherited from class org.ros.node.AbstractNodeMain

onError, onShutdownComplete

Methods inherited from class java.lang.Object

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

Methods inherited from interface org.ros.node.NodeMain

getDefaultNodeName

Field Details

SUCCESS

public static final int SUCCESS

See Also:

• Constant Field Values

executeReturnCode

protected int executeReturnCode

shutdownReturnCode

protected int shutdownReturnCode

Constructor Details

NativeNodeMain

public NativeNodeMain(String libName,
 String[] remappings)

Parameters:

libName - The name of the library to load.

remappings - A string array with ROS argument remapping pairs in each element.

NativeNodeMain

public NativeNodeMain(String libName)

Parameters:

libName - The name of the library to load.

Method Details

execute

protected abstract int execute(String rosMasterUri,
 String rosHostName,
 String rosNodeName,
 String[] remappingArguments)

shutdown

protected abstract int shutdown()

onStart

public void onStart(ConnectedNode connectedNode)

Description copied from interface: NodeListener

Called when the Node has started and successfully connected to the master.

Specified by:

onStart in interface NodeListener

Overrides:

onStart in class AbstractNodeMain

Parameters:

connectedNode - the ConnectedNode that has been started

onShutdown

public void onShutdown(Node node)

Description copied from interface: NodeListener

Called when the ConnectedNode has started shutting down. Shutdown will be delayed, although not indefinitely, until all NodeListeners have returned from this method.

Since this method can potentially delay ConnectedNode shutdown, it is preferred to use NodeListener.onShutdownComplete(Node) when ConnectedNode resources are not required during the method call.

Specified by:

onShutdown in interface NodeListener

Overrides:

onShutdown in class AbstractNodeMain

Parameters:

node - the Node that has started shutting down