org.ros.node.topic

Interface Subscriber<T>

Type Parameters:

T - the Subscriber may only subscribe to messages of this type

All Superinterfaces:

TopicParticipant

All Known Implementing Classes:

DefaultSubscriber

public interface Subscriber<T>
extends TopicParticipant

Subscribes to messages of a given type on a given ROS topic.

Field Summary

Fields

Modifier and Type	Field and Description
static java.lang.String	TOPIC_MESSAGE_TYPE_WILDCARD The message type given when a Subscriber chooses not to commit to a specific message type.

Method Summary

Methods

Modifier and Type	Method and Description
void	addMessageListener(org.ros.message.MessageListener<T> messageListener) Adds a MessageListener with a limit of 1.
void	addMessageListener(org.ros.message.MessageListener<T> messageListener, int limit) Adds a MessageListener to be called when new messages are received.
void	addSubscriberListener(SubscriberListener<T> listener) Add a new lifecycle listener to the subscriber.
boolean	getLatchMode()
void	shutdown() Shuts down and unregisters the Subscriber using the default timeout for SubscriberListener.onShutdown(Subscriber) callbacks.
void	shutdown(long timeout, java.util.concurrent.TimeUnit unit) Shuts down and unregisters the Subscriber.

Methods inherited from interface org.ros.internal.node.topic.TopicParticipant

getTopicMessageType, getTopicName

Field Detail

TOPIC_MESSAGE_TYPE_WILDCARD

static final java.lang.String TOPIC_MESSAGE_TYPE_WILDCARD

The message type given when a Subscriber chooses not to commit to a specific message type.

See Also:

Constant Field Values

Method Detail

addMessageListener

void addMessageListener(org.ros.message.MessageListener<T> messageListener,
                      int limit)

Adds a MessageListener to be called when new messages are received.

The MessageListener will be executed serially in its own thread. If the MessageListener processes new messages slower than they arrive, new messages will be queued up to the specified limit. Older messages are removed from the buffer when the buffer limit is exceeded.

Parameters:

messageListener - this MessageListener will be called when new messages are received

limit - the maximum number of messages to buffer

addMessageListener

void addMessageListener(org.ros.message.MessageListener<T> messageListener)

Adds a MessageListener with a limit of 1.

See Also:

addMessageListener(MessageListener, int)

shutdown

void shutdown(long timeout,
            java.util.concurrent.TimeUnit unit)

Shuts down and unregisters the Subscriber. using the default timeout Shutdown is delayed by at most the specified timeout to allow SubscriberListener.onShutdown(Subscriber) callbacks to complete.

SubscriberListener.onShutdown(Subscriber) callbacks are executed in separate threads.

shutdown

void shutdown()

Shuts down and unregisters the Subscriber using the default timeout for SubscriberListener.onShutdown(Subscriber) callbacks.

SubscriberListener.onShutdown(Subscriber) callbacks are executed in separate threads.

See Also:

shutdown(long, TimeUnit)

addSubscriberListener

void addSubscriberListener(SubscriberListener<T> listener)

Add a new lifecycle listener to the subscriber.

Parameters:

listener - The listener to add.

getLatchMode

boolean getLatchMode()

Returns:

true if the Publisher of this Subscriber's topic is latched, false otherwise