org.ros.internal.node.xmlrpc
Interface MasterXmlRpcEndpoint

All Superinterfaces:

XmlRpcEndpoint

All Known Implementing Classes:

MasterXmlRpcEndpointImpl

public interface MasterXmlRpcEndpoint
extends XmlRpcEndpoint

An XML-RPC endpoint description of a ROS master.

Method Summary

java.util.List<java.lang.Object>	getPid(java.lang.String callerId) Get the PID for the master process.
java.util.List<java.lang.Object>	getPublishedTopics(java.lang.String callerId, java.lang.String subgraph) Get list of topics that can be subscribed to.
java.util.List<java.lang.Object>	getSystemState(java.lang.String callerId) Retrieve list representation of system state (i.e.
java.util.List<java.lang.Object>	getTopicTypes(java.lang.String callerId) Get a list of all topic types.
java.util.List<java.lang.Object>	getUri(java.lang.String callerId) Get the URI of the the master.
java.util.List<java.lang.Object>	lookupNode(java.lang.String callerId, java.lang.String nodeName) Get the XML-RPC URI of the node with the associated name/caller_id.
java.util.List<java.lang.Object>	lookupService(java.lang.String callerId, java.lang.String service) Lookup all provider of a particular service.
java.util.List<java.lang.Object>	registerPublisher(java.lang.String callerId, java.lang.String topicName, java.lang.String topicType, java.lang.String callerApi) Register the caller as a publisher the topic.
java.util.List<java.lang.Object>	registerService(java.lang.String callerId, java.lang.String service, java.lang.String serviceApi, java.lang.String callerApi) Register the caller as a provider of the specified service.
java.util.List<java.lang.Object>	registerSubscriber(java.lang.String callerId, java.lang.String topicName, java.lang.String topicType, java.lang.String callerApi) Subscribe the caller to the specified topic.
java.util.List<java.lang.Object>	unregisterPublisher(java.lang.String callerId, java.lang.String topicName, java.lang.String callerApi) Unregister the caller as a publisher of the topic.
java.util.List<java.lang.Object>	unregisterService(java.lang.String callerId, java.lang.String service, java.lang.String serviceApi) Unregister the caller as a provider of the specified service.
java.util.List<java.lang.Object>	unregisterSubscriber(java.lang.String callerId, java.lang.String topicName, java.lang.String callerApi) Unregister the caller as a publisher of the topic.

Method Detail

getPid

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

Get the PID for the master process.

Parameters:

callerId - ROS caller ID

Returns:

The pid of the process.

registerService

java.util.List<java.lang.Object> registerService(java.lang.String callerId,
                                                 java.lang.String service,
                                                 java.lang.String serviceApi,
                                                 java.lang.String callerApi)

Register the caller as a provider of the specified service.

Parameters:

callerId - ROS caller ID

service - Fully-qualified name of service

serviceApi - XML-RPC URI of caller node

callerApi -

Returns:

ignore

unregisterService

java.util.List<java.lang.Object> unregisterService(java.lang.String callerId,
                                                   java.lang.String service,
                                                   java.lang.String serviceApi)

Unregister the caller as a provider of the specified service.

Parameters:

callerId - ROS caller ID

service - Fully-qualified name of service

serviceApi - API URI of service to unregister. Unregistration will only occur if current registration matches.

Returns:

Number of unregistrations (either 0 or 1). If this is zero it means that the caller was not registered as a service provider. The call still succeeds as the intended final state is reached.

registerSubscriber

java.util.List<java.lang.Object> registerSubscriber(java.lang.String callerId,
                                                    java.lang.String topicName,
                                                    java.lang.String topicType,
                                                    java.lang.String callerApi)

Subscribe the caller to the specified topic. In addition to receiving a list of current publishers, the subscriber will also receive notifications of new publishers via the publisherUpdate API.

Parameters:

callerId - ROS caller ID

topicName - Fully-qualified name of topic

topicType - topic type, must be a package-resource name, i.e. the .msg name

callerApi - API URI of subscriber to register. Will be used for new publisher notifications

Returns:

publishers as a list of XMLRPC API URIs for nodes currently publishing the specified topic

unregisterSubscriber

java.util.List<java.lang.Object> unregisterSubscriber(java.lang.String callerId,
                                                      java.lang.String topicName,
                                                      java.lang.String callerApi)

Unregister the caller as a publisher of the topic.

Parameters:

callerId - ROS caller ID

topicName - Fully-qualified name of topic.

callerApi - API URI of service to unregister. Unregistration will only occur if current registration matches.

Returns:

If numUnsubscribed is zero it means that the caller was not registered as a subscriber. The call still succeeds as the intended final state is reached.

registerPublisher

java.util.List<java.lang.Object> registerPublisher(java.lang.String callerId,
                                                   java.lang.String topicName,
                                                   java.lang.String topicType,
                                                   java.lang.String callerApi)

Register the caller as a publisher the topic.

Parameters:

callerId - ROS caller ID

topicName - fully-qualified name of topic to register

topicType - topic type, must be a package-resource name, i.e. the .msg name.

callerApi - API URI of publisher to register

Returns:

list of current subscribers of topic in the form of XML-RPC URIs

unregisterPublisher

java.util.List<java.lang.Object> unregisterPublisher(java.lang.String callerId,
                                                     java.lang.String topicName,
                                                     java.lang.String callerApi)

Unregister the caller as a publisher of the topic.

Parameters:

callerId - ROS caller ID

topicName - Fully-qualified name of topic.

callerApi - API URI of publisher to unregister. Unregistration will only occur if current registration matches.

Returns:

If numUnsubscribed is zero it means that the caller was not registered as a subscriber. The call still succeeds as the intended final state is reached.

lookupNode

java.util.List<java.lang.Object> lookupNode(java.lang.String callerId,
                                            java.lang.String nodeName)

Get the XML-RPC URI of the node with the associated name/caller_id. This API is for looking information about publishers and subscribers. Use lookupService instead to lookup ROS-RPC URIs.

Parameters:

callerId - ROS caller ID

nodeName - Name of node to lookup

Returns:

URI of the node

getPublishedTopics

java.util.List<java.lang.Object> getPublishedTopics(java.lang.String callerId,
                                                    java.lang.String subgraph)

Get list of topics that can be subscribed to. This does not return topics that have no publishers. See getSystemState() to get more comprehensive list.

Parameters:

callerId - ROS caller ID

subgraph - Restrict topic names to match within the specified subgraph. Subgraph namespace is resolved relative to the caller's namespace. Use empty string to specify all names.

Returns:

Topics is in list representation [[topic, message type], [topic, message type] ...]

getTopicTypes

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

Get a list of all topic types.

Parameters:

callerId - ROS caller ID

Returns:

The types are in the list representation [[topic, message type], [topic, message type] ...]

getSystemState

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

Retrieve list representation of system state (i.e. publishers, subscribers, and services).

Parameters:

callerId - ROS caller ID

Returns:

System state is in list representation [publishers, subscribers, services] publishers is of the form [ [topic1, [topic1Publisher1...topic1PublisherN]] ... ] subscribers is of the form [ [topic1, [topic1Subscriber1...topic1SubscriberN]] ... ] services is of the form [ [service1, [service1Provider1...service1ProviderN]] ... ]

getUri

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

Get the URI of the the master.

Parameters:

callerId - ROS caller ID

Returns:

URI of the the master

lookupService

java.util.List<java.lang.Object> lookupService(java.lang.String callerId,
                                               java.lang.String service)

Lookup all provider of a particular service.

Parameters:

callerId - ROS caller ID

service - Fully-qualified name of service

Returns:

service URL is provides address and port of the service. Fails if there is no provider.