public class ServiceFactory
extends java.lang.Object
ServiceServer
s and ServiceClient
s.Constructor and Description |
---|
ServiceFactory(GraphName nodeName,
SlaveServer slaveServer,
ServiceManager serviceManager,
java.util.concurrent.ScheduledExecutorService executorService) |
Modifier and Type | Method and Description |
---|---|
<T,S> DefaultServiceServer<T,S> |
getServer(GraphName name) |
<T,S> DefaultServiceClient<T,S> |
newClient(ServiceDeclaration serviceDeclaration,
org.ros.message.MessageSerializer<T> serializer,
org.ros.message.MessageDeserializer<S> deserializer,
org.ros.message.MessageFactory messageFactory)
Gets or creates a
DefaultServiceClient instance. |
<T,S> DefaultServiceServer<T,S> |
newServer(ServiceDeclaration serviceDeclaration,
ServiceResponseBuilder<T,S> responseBuilder,
org.ros.message.MessageDeserializer<T> deserializer,
org.ros.message.MessageSerializer<S> serializer,
org.ros.message.MessageFactory messageFactory)
Creates a
DefaultServiceServer instance and registers it with the
master. |
public ServiceFactory(GraphName nodeName, SlaveServer slaveServer, ServiceManager serviceManager, java.util.concurrent.ScheduledExecutorService executorService)
public <T,S> DefaultServiceServer<T,S> newServer(ServiceDeclaration serviceDeclaration, ServiceResponseBuilder<T,S> responseBuilder, org.ros.message.MessageDeserializer<T> deserializer, org.ros.message.MessageSerializer<S> serializer, org.ros.message.MessageFactory messageFactory)
DefaultServiceServer
instance and registers it with the
master.serviceDeclaration
- the ServiceDescription
that is being servedresponseBuilder
- the ServiceResponseBuilder
that is used to build responsesdeserializer
- a MessageDeserializer
to be used for incoming messagesserializer
- a MessageSerializer
to be used for outgoing messagesmessageFactory
- a MessageFactory
to be used for creating responsesDefaultServiceServer
instancepublic <T,S> DefaultServiceServer<T,S> getServer(GraphName name)
name
- the GraphName
of the DefaultServiceServer
DefaultServiceServer
with the given name or
null
if it does not existpublic <T,S> DefaultServiceClient<T,S> newClient(ServiceDeclaration serviceDeclaration, org.ros.message.MessageSerializer<T> serializer, org.ros.message.MessageDeserializer<S> deserializer, org.ros.message.MessageFactory messageFactory)
DefaultServiceClient
instance.
DefaultServiceClient
s are cached and reused per service. When a new
DefaultServiceClient
is created, it is connected to the
DefaultServiceServer
.serviceDeclaration
- the ServiceDescription
that is being serveddeserializer
- a MessageDeserializer
to be used for incoming messagesserializer
- a MessageSerializer
to be used for outgoing messagesmessageFactory
- a MessageFactory
to be used for creating requestsDefaultServiceClient
instance