ctu.nengoros.comm.nodeFactory

Class NameProvider

java.lang.Object

ctu.nengoros.comm.nodeFactory.NameProvider

public class NameProvider
extends java.lang.Object

This enables to Nengoros to automatically push groups of ROS nodes (launched nodes and group modem) into own namespaces. This ensures that the ROS communication will not interfere between ROS nodes in different NodeGroups. This enables Nengo to launch e.g. 2 instances of the same NeuralModule, which uses the same ROS nodes with the same names and topics. Nodes in each NodeGroup will be pushed into own namespace, so their complete names will be unique in the ROS network.

Stores names (each name includes namespace too) of ROS nodes that should be currently running in the ROS network and provides unique names (or namespaces) for groups of new nodes.

See Also:

ROS namespaces

Field Summary

Fields

Modifier and Type	Field and Description
java.lang.String	separator

Constructor Summary

Constructors

Constructor and Description
NameProvider()

Method Summary

Methods

Modifier and Type	Method and Description
java.lang.String	findNamespace(java.lang.String[] names, java.lang.String group) If nodes allow pushing them into own namespace, use this.
java.lang.String[]	modifyNames(java.lang.String namespace, java.lang.String[] prefferedNames, java.lang.String group) If you do not allow pushing yourself (this group) into own namespace.
java.lang.String[]	namesOfRunningNodes()
int	numOfRunningNodes()
void	shutDown(java.lang.String name)
void	shutDown(java.lang.String[] names) Shutdown nodes, that is: remove them from the map.
void	shutDown(java.lang.String[] names, java.lang.String namesapce)
void	shutDown(java.lang.String name, java.lang.String namespace)

Methods inherited from class java.lang.Object

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

Field Detail

separator

public final java.lang.String separator

See Also:

Constant Field Values

Constructor Detail

NameProvider

public NameProvider()

Method Detail

modifyNames

public java.lang.String[] modifyNames(java.lang.String namespace,
                             java.lang.String[] prefferedNames,
                             java.lang.String group)

If you do not allow pushing yourself (this group) into own namespace.

Parameters:

namespace - if you have own namespace, pass it here, if not, pass null or empty str.

prefferedNames - list of node names that I would like to use (e.g. Modem,RL)

group - name of group (e.g. null if none or name of SmartNeuron)

Returns:

list of modified names that are unique in a current ROS net

findNamespace

public java.lang.String findNamespace(java.lang.String[] names,
                             java.lang.String group)

If nodes allow pushing them into own namespace, use this.

Parameters:

names - list of names, for each node

group - name of node logic-group (e.g. name of SmartNeuron)

Returns:

namespace that corresponds to group name, while all resulting nodes are unique

shutDown

public void shutDown(java.lang.String[] names)

Shutdown nodes, that is: remove them from the map.

Parameters:

names - full names (we assume that these nodes do not allow namespacing)

shutDown

public void shutDown(java.lang.String name)

shutDown

public void shutDown(java.lang.String name,
            java.lang.String namespace)

shutDown

public void shutDown(java.lang.String[] names,
            java.lang.String namesapce)

numOfRunningNodes

public int numOfRunningNodes()

namesOfRunningNodes

public java.lang.String[] namesOfRunningNodes()