org.ros.internal.node.topic
Class PublisherFactory

java.lang.Object
  org.ros.internal.node.topic.PublisherFactory

public class PublisherFactory
extends java.lang.Object

A factory for Publisher instances.

Constructor Summary

PublisherFactory(NodeIdentifier nodeIdentifier, TopicParticipantManager topicParticipantManager, MessageFactory messageFactory, java.util.concurrent.ScheduledExecutorService executorService)

Method Summary

<T> Publisher<T>

newOrExisting(TopicDeclaration topicDeclaration, MessageSerializer<T> messageSerializer) Gets or creates a Publisher instance.

Methods inherited from class java.lang.Object

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

Constructor Detail

PublisherFactory

public PublisherFactory(NodeIdentifier nodeIdentifier,
                        TopicParticipantManager topicParticipantManager,
                        MessageFactory messageFactory,
                        java.util.concurrent.ScheduledExecutorService executorService)

Method Detail

newOrExisting

public <T> Publisher<T> newOrExisting(TopicDeclaration topicDeclaration,
                                      MessageSerializer<T> messageSerializer)

Gets or creates a Publisher instance. Publishers are cached and reused per topic. When a new Publisher is generated, it is registered with the master.

Type Parameters:

T - the message type associated with the Publisher

Parameters:

topicDeclaration - TopicDeclaration that is being published

messageSerializer - the MessageSerializer used for published messages

Returns:

a new or cached Publisher instance