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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;
import com.google.common.annotations.VisibleForTesting;
import org.ros.address.AdvertiseAddress;
import org.ros.address.BindAddress;
import org.ros.internal.node.server.master.MasterServer;
import java.net.URI;
import java.util.concurrent.TimeUnit;
// TODO(damonkohler): Add /rosout node.
/**
* {@link RosCore} is a collection of nodes and programs that are pre-requisites
* of a ROS-based system. You must have a {@link RosCore} (either this
* implementation or the default Python implementation distributed with ROS)
* running in order for ROS nodes to communicate.
*
* @see <a href="http://www.ros.org/wiki/roscore">roscore documentation</a>
*
* @author damonkohler@google.com (Damon Kohler)
*/
public class RosCore {
private final MasterServer masterServer;
public static RosCore newPublic(String host, int port) {
return new RosCore(BindAddress.newPublic(port), new AdvertiseAddress(host));
}
public static RosCore newPublic(int port) {
return new RosCore(BindAddress.newPublic(port), AdvertiseAddress.newPublic());
}
public static RosCore newPublic() {
return new RosCore(BindAddress.newPublic(), AdvertiseAddress.newPublic());
}
public static RosCore newPrivate(int port) {
return new RosCore(BindAddress.newPrivate(port), AdvertiseAddress.newPrivate());
}
public static RosCore newPrivate() {
return new RosCore(BindAddress.newPrivate(), AdvertiseAddress.newPrivate());
}
private RosCore(BindAddress bindAddress, AdvertiseAddress advertiseAddress) {
masterServer = new MasterServer(bindAddress, advertiseAddress);
}
public void start() {
masterServer.start();
}
public URI getUri() {
return masterServer.getUri();
}
public void awaitStart() throws InterruptedException {
masterServer.awaitStart();
}
public boolean awaitStart(long timeout, TimeUnit unit) throws InterruptedException {
return masterServer.awaitStart(timeout, unit);
}
public void shutdown() {
masterServer.shutdown();
}
@VisibleForTesting
public MasterServer getMasterServer() {
return masterServer;
}
}