ctu.nengoros.comm.nodeFactory.nativenode.impl

Class UNodeContainer

java.lang.Object

ctu.nengoros.comm.nodeFactory.nativenode.impl.RunnableNode

ctu.nengoros.comm.nodeFactory.nativenode.impl.UNodeContainer

All Implemented Interfaces:

ExternalNodeContainer, NativeNodeContainer

public class UNodeContainer
extends RunnableNode

Compared to RunnableNode, this allows NodeFactory (more concretely a NameProvider) to know about stopping the process. So the NameProvider can remove this unique name of ROS node from list of used names.

Field Summary

Fields inherited from class ctu.nengoros.comm.nodeFactory.nativenode.impl.RunnableNode

autokillerSleepTime, comm, me, name, p, prb, running

Constructor Summary

Constructors

Constructor and Description
UNodeContainer(java.util.List<java.lang.String> command, java.lang.String nodeName)
UNodeContainer(java.util.List<java.lang.String> command, java.lang.String nodeName, boolean merge)
UNodeContainer(java.lang.String[] command, java.lang.String nodeName)
UNodeContainer(java.lang.String[] command, java.lang.String nodeName, boolean merge)

Method Summary

Methods

Modifier and Type	Method and Description
void	setUseAutoKiller(boolean use) define whether you want to start autokiller or not.
void	start() Try to start external process, start stream consumers.
void	stop() Here is the only modification, this class notifies NameProvider about exiting.

Methods inherited from class ctu.nengoros.comm.nodeFactory.nativenode.impl.RunnableNode

getLauchCommand, getName, isRunning, reset, startAutoKiller, useLogging

Methods inherited from class java.lang.Object

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

Constructor Detail

UNodeContainer

public UNodeContainer(java.util.List<java.lang.String> command,
              java.lang.String nodeName)

UNodeContainer

public UNodeContainer(java.lang.String[] command,
              java.lang.String nodeName)

UNodeContainer

public UNodeContainer(java.util.List<java.lang.String> command,
              java.lang.String nodeName,
              boolean merge)

UNodeContainer

public UNodeContainer(java.lang.String[] command,
              java.lang.String nodeName,
              boolean merge)

Method Detail

start

public void start()

Description copied from class: RunnableNode

Try to start external process, start stream consumers.

Specified by:

start in interface ExternalNodeContainer

Overrides:

start in class RunnableNode

stop

public void stop()

Here is the only modification, this class notifies NameProvider about exiting. Note: starting the node is noted while creating it, not calling start().

Specified by:

stop in interface ExternalNodeContainer

Overrides:

stop in class RunnableNode

setUseAutoKiller

public void setUseAutoKiller(boolean use)

define whether you want to start autokiller or not.

Parameters:

use -