org.ros.internal.node.client

Class MasterClient

java.lang.Object

org.ros.internal.node.client.MasterClient

public class MasterClient
extends java.lang.Object

Provides access to the XML-RPC API exposed by a MasterServer.

Field Summary

Fields

Modifier and Type	Field and Description
protected T	xmlRpcEndpoint

Constructor Summary

Constructors

Constructor and Description
MasterClient(java.net.URI uri) Create a new MasterClient connected to the specified MasterServer URI.

Method Summary

Methods

Modifier and Type	Method and Description
Response<java.util.List<TopicDeclaration>>	getPublishedTopics(GraphName callerName, java.lang.String subgraph)
java.net.URI	getRemoteUri()
Response<SystemState>	getSystemState(GraphName callerName)
Response<java.util.List<TopicType>>	getTopicTypes(GraphName callerName) Get a List of all TopicSystemState message types.
Response<java.net.URI>	getUri(GraphName slaveName)
Response<java.net.URI>	lookupNode(GraphName slaveName, java.lang.String nodeName)
Response<java.net.URI>	lookupService(GraphName callerName, java.lang.String serviceName)
Response<java.util.List<java.net.URI>>	registerPublisher(PublisherDeclaration publisherDeclaration) Registers the specified PublisherDeclaration.
Response<java.lang.Void>	registerService(NodeIdentifier slave, ServiceServer<?,?> service) Registers the given ServiceServer.
Response<java.util.List<java.net.URI>>	registerSubscriber(NodeIdentifier slave, Subscriber<?> subscriber) Registers the given Subscriber.
Response<java.lang.Integer>	unregisterPublisher(PublisherIdentifier publisherIdentifier) Unregisters the specified PublisherDeclaration.
Response<java.lang.Integer>	unregisterService(NodeIdentifier slave, ServiceServer<?,?> service) Unregisters the specified ServiceServer.
Response<java.lang.Integer>	unregisterSubscriber(NodeIdentifier slave, Subscriber<?> subscriber) Unregisters the specified Subscriber.

Methods inherited from class java.lang.Object

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

Field Detail

xmlRpcEndpoint

protected final T extends XmlRpcEndpoint xmlRpcEndpoint

Constructor Detail

MasterClient

public MasterClient(java.net.URI uri)

Create a new MasterClient connected to the specified MasterServer URI.

Parameters:

uri - the URI of the MasterServer to connect to

Method Detail

registerService

public Response<java.lang.Void> registerService(NodeIdentifier slave,
                                       ServiceServer<?,?> service)

Registers the given ServiceServer.

Parameters:

slave - the NodeIdentifier where the ServiceServer is running

service - the ServiceServer to register

Returns:

a void Response

unregisterService

public Response<java.lang.Integer> unregisterService(NodeIdentifier slave,
                                            ServiceServer<?,?> service)

Unregisters the specified ServiceServer.

Parameters:

slave - the NodeIdentifier where the ServiceServer is running

service - the ServiceServer to unregister

Returns:

the number of unregistered services

registerSubscriber

public Response<java.util.List<java.net.URI>> registerSubscriber(NodeIdentifier slave,
                                                        Subscriber<?> subscriber)

Registers the given Subscriber. In addition to receiving a list of current Publishers, the Subscribers SlaveServer will also receive notifications of new Publishers via the publisherUpdate API.

Parameters:

slave - the NodeIdentifier that the Subscriber is running on

subscriber - the Subscriber to register

Returns:

a List or SlaveServer XML-RPC API URIs for nodes currently publishing the specified topic

unregisterSubscriber

public Response<java.lang.Integer> unregisterSubscriber(NodeIdentifier slave,
                                               Subscriber<?> subscriber)

Unregisters the specified Subscriber.

Parameters:

slave - the NodeIdentifier where the subscriber is running

subscriber - the Subscriber to unregister

Returns:

the number of unregistered Subscribers

registerPublisher

public Response<java.util.List<java.net.URI>> registerPublisher(PublisherDeclaration publisherDeclaration)

Registers the specified PublisherDeclaration.

Parameters:

publisherDeclaration - the PublisherDeclaration of the Publisher to register

Returns:

a List of the current SlaveServer URIs which have Subscribers for the published TopicSystemState

unregisterPublisher

public Response<java.lang.Integer> unregisterPublisher(PublisherIdentifier publisherIdentifier)

Unregisters the specified PublisherDeclaration.

Parameters:

publisherIdentifier - the PublisherIdentifier of the Publisher to unregister

Returns:

the number of unregistered Publishers

lookupNode

public Response<java.net.URI> lookupNode(GraphName slaveName,
                                java.lang.String nodeName)

Parameters:

slaveName - the GraphName of the caller

nodeName - the name of the SlaveServer to lookup

Returns:

the URI of the SlaveServer with the given name

getUri

public Response<java.net.URI> getUri(GraphName slaveName)

Parameters:

slaveName - the NodeIdentifier of the caller

Returns:

the URI of the MasterServer

lookupService

public Response<java.net.URI> lookupService(GraphName callerName,
                                   java.lang.String serviceName)

Parameters:

callerName - the GraphName of the caller

serviceName - the name of the ServiceServer to look up

Returns:

the URI of the ServiceServer with the given name. ServiceServer as a result

getPublishedTopics

public Response<java.util.List<TopicDeclaration>> getPublishedTopics(GraphName callerName,
                                                            java.lang.String subgraph)

Parameters:

callerName - the GraphName of the caller

subgraph - the subgraph of the topics

Returns:

the list of published TopicDeclarations

getTopicTypes

public Response<java.util.List<TopicType>> getTopicTypes(GraphName callerName)

Get a List of all TopicSystemState message types.

Parameters:

callerName - the GraphName of the caller

Returns:

a List of TopicTypes

getSystemState

public Response<SystemState> getSystemState(GraphName callerName)

Parameters:

callerName - the GraphName of the caller

Returns:

the current SystemState

getRemoteUri

public java.net.URI getRemoteUri()

Returns:

the URI of the remote XmlRpcServer