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/*
* Copyright (C) 2011 Google Inc.
*
* Licensed under the Apache License, Version 2.0 (the "License"); you may not
* use this file except in compliance with the License. You may obtain a copy of
* the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
* License for the specific language governing permissions and limitations under
* the License.
*/
package org.ros.node;
import org.apache.commons.logging.Log;
import org.ros.concurrent.CancellableLoop;
import org.ros.internal.node.xmlrpc.MasterXmlRpcEndpoint;
import org.ros.message.MessageFactory;
import org.ros.message.MessageSerializationFactory;
import org.ros.namespace.GraphName;
import org.ros.namespace.NodeNameResolver;
import java.net.URI;
import java.util.concurrent.ScheduledExecutorService;
/**
* A node in the ROS graph.
*
* @author khughes@google.com (Keith M. Hughes)
*/
public interface Node {
/**
* @return the fully resolved name of this {@link Node}, e.g. "/foo/bar/boop"
*/
GraphName getName();
/**
* Resolve the given name, using ROS conventions, into a full ROS namespace
* name. Will be relative to the current namespace unless the name is global.
*
* @param name
* the name to resolve
* @return fully resolved ros namespace name
*/
GraphName resolveName(GraphName name);
/**
* @see #resolveName(GraphName)
*/
GraphName resolveName(String name);
/**
* @return {@link NodeNameResolver} for this namespace
*/
NodeNameResolver getResolver();
/**
* @return the {@link URI} of this {@link Node}
*/
URI getUri();
/**
* @return {@link URI} of {@link MasterXmlRpcEndpoint} that this node is
* attached to.
*/
URI getMasterUri();
/**
* @return Logger for this node, which will also perform logging to /rosout.
*/
Log getLog();
/**
* @return the {@link MessageSerializationFactory} used by this node
*/
MessageSerializationFactory getMessageSerializationFactory();
/**
* @return the {@link MessageFactory} used by this node
*/
MessageFactory getTopicMessageFactory();
/**
* @return the {@link MessageFactory} used by this node for service responses
*/
MessageFactory getServiceResponseMessageFactory();
/**
* @return the {@link MessageFactory} used by this node for service requests
*/
MessageFactory getServiceRequestMessageFactory();
/**
* Add a new {@link NodeListener} to the {@link Node}.
*
* @param listener
* the {@link NodeListener} to add
*/
void addListener(NodeListener listener);
/**
* @return the {@link ScheduledExecutorService} that this {@link Node} uses
*/
ScheduledExecutorService getScheduledExecutorService();
/**
* Executes a {@link CancellableLoop} using the {@link Node}'s
* {@link ScheduledExecutorService}. The {@link CancellableLoop} will be
* canceled when the {@link Node} starts shutting down.
*
* <p>
* Any blocking calls executed in the provided {@link CancellableLoop} can
* potentially delay {@link Node} shutdown and should be avoided.
*
* @param cancellableLoop
* the {@link CancellableLoop} to execute
*/
void executeCancellableLoop(CancellableLoop cancellableLoop);
/**
* Shut the node down.
*/
void shutdown();
}