org.ros.internal.node.server
Class SlaveServer

java.lang.Object
  org.ros.internal.node.server.XmlRpcServer
      org.ros.internal.node.server.SlaveServer

public class SlaveServer
extends XmlRpcServer

Constructor Summary

SlaveServer(GraphName nodeName, BindAddress tcpRosBindAddress, AdvertiseAddress tcpRosAdvertiseAddress, BindAddress xmlRpcBindAddress, AdvertiseAddress xmlRpcAdvertiseAddress, MasterClient master, TopicParticipantManager topicParticipantManager, ServiceManager serviceManager, ParameterManager parameterManager, java.util.concurrent.ScheduledExecutorService executorService)

Method Summary

java.util.List<java.lang.Object>	getBusInfo(java.lang.String callerId)
java.util.List<java.lang.Object>	getBusStats(java.lang.String callerId)
java.net.URI	getMasterUri()
int	getPid()
java.util.Collection<DefaultPublisher<?>>	getPublications()
java.util.Collection<DefaultSubscriber<?>>	getSubscriptions()
AdvertiseAddress	getTcpRosAdvertiseAddress()
int	paramUpdate(GraphName parameterName, java.lang.Object parameterValue)
void	publisherUpdate(java.lang.String callerId, java.lang.String topicName, java.util.Collection<java.net.URI> publisherUris)
ProtocolDescription	requestTopic(java.lang.String topicName, java.util.Collection<java.lang.String> protocols)
void	shutdown() Shut the remote call server down.
void	start() Start the XML-RPC server.
NodeIdentifier	toNodeIdentifier()

Methods inherited from class org.ros.internal.node.server.XmlRpcServer

awaitStart, awaitStart, getAddress, getAdvertiseAddress, getUri, start

Methods inherited from class java.lang.Object

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

Constructor Detail

SlaveServer

public SlaveServer(GraphName nodeName,
                   BindAddress tcpRosBindAddress,
                   AdvertiseAddress tcpRosAdvertiseAddress,
                   BindAddress xmlRpcBindAddress,
                   AdvertiseAddress xmlRpcAdvertiseAddress,
                   MasterClient master,
                   TopicParticipantManager topicParticipantManager,
                   ServiceManager serviceManager,
                   ParameterManager parameterManager,
                   java.util.concurrent.ScheduledExecutorService executorService)

Method Detail

getTcpRosAdvertiseAddress

public AdvertiseAddress getTcpRosAdvertiseAddress()

start

public void start()

Start the XML-RPC server. This start() routine requires that the TcpRosServer is initialized first so that the slave server returns correct information when topics are requested.

shutdown

public void shutdown()

Description copied from class: XmlRpcServer

Shut the remote call server down.

Overrides:

shutdown in class XmlRpcServer

getBusStats

public java.util.List<java.lang.Object> getBusStats(java.lang.String callerId)

getBusInfo

public java.util.List<java.lang.Object> getBusInfo(java.lang.String callerId)

getMasterUri

public java.net.URI getMasterUri()

getPid

public int getPid()

Overrides:

getPid in class XmlRpcServer

Returns:

PID of this process if available, throws UnsupportedOperationException otherwise.

getSubscriptions

public java.util.Collection<DefaultSubscriber<?>> getSubscriptions()

getPublications

public java.util.Collection<DefaultPublisher<?>> getPublications()

paramUpdate

public int paramUpdate(GraphName parameterName,
                       java.lang.Object parameterValue)

Parameters:

parameterName -

parameterValue -

Returns:

the number of parameter subscribers that received the update

publisherUpdate

public void publisherUpdate(java.lang.String callerId,
                            java.lang.String topicName,
                            java.util.Collection<java.net.URI> publisherUris)

requestTopic

public ProtocolDescription requestTopic(java.lang.String topicName,
                                        java.util.Collection<java.lang.String> protocols)
                                 throws ServerException

Throws:

ServerException

toNodeIdentifier

public NodeIdentifier toNodeIdentifier()

Returns:

a NodeIdentifier for this SlaveServer