org.ros.internal.node.xmlrpc
Interface SlaveXmlRpcEndpoint

All Superinterfaces:

XmlRpcEndpoint

All Known Implementing Classes:

SlaveXmlRpcEndpointImpl

public interface SlaveXmlRpcEndpoint
extends XmlRpcEndpoint

Method Summary

java.util.List<java.lang.Object>	getBusInfo(java.lang.String callerId) Retrieve transport/topic connection information.
java.util.List<java.lang.Object>	getBusStats(java.lang.String callerId) Retrieve transport/topic statistics.
java.util.List<java.lang.Object>	getMasterUri(java.lang.String callerId)
java.util.List<java.lang.Object>	getPid(java.lang.String callerId)
java.util.List<java.lang.Object>	getPublications(java.lang.String callerId) Retrieve a list of topics that this node publishes.
java.util.List<java.lang.Object>	getSubscriptions(java.lang.String callerId)
java.util.List<java.lang.Object>	paramUpdate(java.lang.String callerId, java.lang.String key, boolean value) Callback from master with updated value of subscribed parameter.
java.util.List<java.lang.Object>	paramUpdate(java.lang.String callerId, java.lang.String key, byte value)
java.util.List<java.lang.Object>	paramUpdate(java.lang.String callerId, java.lang.String key, char value)
java.util.List<java.lang.Object>	paramUpdate(java.lang.String callerId, java.lang.String key, double value)
java.util.List<java.lang.Object>	paramUpdate(java.lang.String callerId, java.lang.String key, int value)
java.util.List<java.lang.Object>	paramUpdate(java.lang.String callerId, java.lang.String key, java.util.List<?> value)
java.util.List<java.lang.Object>	paramUpdate(java.lang.String callerId, java.lang.String key, java.util.Map<?,?> value)
java.util.List<java.lang.Object>	paramUpdate(java.lang.String callerId, java.lang.String key, short value)
java.util.List<java.lang.Object>	paramUpdate(java.lang.String callerId, java.lang.String key, java.lang.String value)
java.util.List<java.lang.Object>	paramUpdate(java.lang.String callerId, java.lang.String key, java.util.Vector<?> value)
java.util.List<java.lang.Object>	publisherUpdate(java.lang.String callerId, java.lang.String topic, java.lang.Object[] publishers)
java.util.List<java.lang.Object>	requestTopic(java.lang.String callerId, java.lang.String topic, java.lang.Object[] protocols) Publisher node API method called by a subscriber node.
java.util.List<java.lang.Object>	shutdown(java.lang.String callerId, java.lang.String message)

Method Detail

getBusStats

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

Retrieve transport/topic statistics.

Parameters:

callerId - ROS caller ID.

Returns:

stats in the form of
[publishStats, subscribeStats, serviceStats]

where
publishStats: [[topicName, messageDataSent, pubConnectionData]...]
subscribeStats: [[topicName, subConnectionData]...]
serviceStats: (proposed) [numRequests, bytesReceived, bytesSent]
pubConnectionData: [connectionId, bytesSent, numSent, connected]
subConnectionData: [connectionId, bytesReceived, dropEstimate, connected]
dropEstimate: -1 if no estimate.

getBusInfo

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

Retrieve transport/topic connection information.

Parameters:

callerId - ROS caller ID.

Returns:

busInfo in the form of:
[[connectionId1, destinationId1, direction1, transport1, topic1, connected1]... ]

connectionId is defined by the node and is opaque. destinationId is the XMLRPC URI of the destination.

direction is one of 'i', 'o', or 'b' (in, out, both).

transport is the transport type (e.g. 'TCPROS'). topic is the topic name.

connected1 indicates connection status. Note that this field is only provided by slaves written in Python at the moment (cf. rospy/masterslave.py in _TopicImpl.get_stats_info() vs. roscpp/publication.cpp in Publication::getInfo()).

getMasterUri

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

shutdown

java.util.List<java.lang.Object> shutdown(java.lang.String callerId,
                                          java.lang.String message)

getPid

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

getSubscriptions

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

getPublications

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

Retrieve a list of topics that this node publishes.

Parameters:

callerId - ROS caller ID.

Returns:

topicList is a list of topics published by this node and is of the form [ [topic1, topicType1]...[topicN, topicTypeN]]]

paramUpdate

java.util.List<java.lang.Object> paramUpdate(java.lang.String callerId,
                                             java.lang.String key,
                                             boolean value)

Callback from master with updated value of subscribed parameter.

Parameters:

callerId - ROS caller ID.

key - parameter name, globally resolved

value - new parameter value

Returns:

ignore

paramUpdate

java.util.List<java.lang.Object> paramUpdate(java.lang.String callerId,
                                             java.lang.String key,
                                             char value)

paramUpdate

java.util.List<java.lang.Object> paramUpdate(java.lang.String callerId,
                                             java.lang.String key,
                                             byte value)

paramUpdate

java.util.List<java.lang.Object> paramUpdate(java.lang.String callerId,
                                             java.lang.String key,
                                             short value)

paramUpdate

java.util.List<java.lang.Object> paramUpdate(java.lang.String callerId,
                                             java.lang.String key,
                                             int value)

paramUpdate

java.util.List<java.lang.Object> paramUpdate(java.lang.String callerId,
                                             java.lang.String key,
                                             double value)

paramUpdate

java.util.List<java.lang.Object> paramUpdate(java.lang.String callerId,
                                             java.lang.String key,
                                             java.lang.String value)

paramUpdate

java.util.List<java.lang.Object> paramUpdate(java.lang.String callerId,
                                             java.lang.String key,
                                             java.util.List<?> value)

paramUpdate

java.util.List<java.lang.Object> paramUpdate(java.lang.String callerId,
                                             java.lang.String key,
                                             java.util.Vector<?> value)

paramUpdate

java.util.List<java.lang.Object> paramUpdate(java.lang.String callerId,
                                             java.lang.String key,
                                             java.util.Map<?,?> value)

publisherUpdate

java.util.List<java.lang.Object> publisherUpdate(java.lang.String callerId,
                                                 java.lang.String topic,
                                                 java.lang.Object[] publishers)

requestTopic

java.util.List<java.lang.Object> requestTopic(java.lang.String callerId,
                                              java.lang.String topic,
                                              java.lang.Object[] protocols)

Publisher node API method called by a subscriber node. This requests that source allocate a channel for communication. Subscriber provides a list of desired protocols for communication. Publisher returns the selected protocol along with any additional params required for establishing connection. For example, for a TCP/IP-based connection, the source node may return a port number of TCP/IP server.

Parameters:

callerId - ROS caller ID

topic - topic name

protocols - list of desired protocols for communication in order of preference

Returns:

protocolParams or empty list if there are no compatible protocols