ctu.nengoros.comm.rosutils.utilNode.time

Class RosTimeUtilFactory

java.lang.Object

ctu.nengoros.comm.rosutils.utilNode.time.RosTimeUtilFactory

public class RosTimeUtilFactory
extends java.lang.Object

This produces RosTimeUtils - nodes which handle the time between Nengo and ROS network. This should start a selected ROSNode for handling time.

Field Summary

Fields

Modifier and Type	Field and Description
static java.lang.String	defaultParameterHandler
static java.lang.String	defaultTimeMaster
static java.lang.String	defaultTimeSlave
static org.ros.node.NodeMainExecutor	nme
static java.lang.String	noSimTime
static java.lang.String	simTime
static java.lang.String	time

Constructor Summary

Constructors

Constructor and Description
RosTimeUtilFactory()

Method Summary

Methods

Modifier and Type	Method and Description
static RosTimeUtil	getTimeIgnoringUtil() Returns thing which ignores time completely.
static RosTimeUtil	startDefaultTimeMaster(java.util.ArrayList<JavaNodeContainer> utilNodes) Launches default time master node.
static RosTimeUtil	startDefaultTimeSlave(java.util.ArrayList<JavaNodeContainer> utilNodes) Launches the default time slave node.
static ParamHandler	startParamHandler(java.util.ArrayList<JavaNodeContainer> utilNodes) Start the parameter handler for Nengo, this does not listen to the simulation time, so bug in the Rosjava (where timeProvider not started, the getCurrentTime and getLog throw NLP) will not affect it.
static void	stopNME()

Methods inherited from class java.lang.Object

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

Field Detail

nme

public static final org.ros.node.NodeMainExecutor nme

time

public static final java.lang.String time

See Also:

Constant Field Values

simTime

public static final java.lang.String simTime

See Also:

Constant Field Values

noSimTime

public static final java.lang.String noSimTime

See Also:

Constant Field Values

defaultTimeMaster

public static final java.lang.String defaultTimeMaster

See Also:

Constant Field Values

defaultTimeSlave

public static final java.lang.String defaultTimeSlave

See Also:

Constant Field Values

defaultParameterHandler

public static final java.lang.String defaultParameterHandler

See Also:

Constant Field Values

Constructor Detail

RosTimeUtilFactory

public RosTimeUtilFactory()

Method Detail

startDefaultTimeMaster

public static RosTimeUtil startDefaultTimeMaster(java.util.ArrayList<JavaNodeContainer> utilNodes)

Launches default time master node.

Parameters:

utilNodes - ArrayList of utility nodes, which are all shutdown before exiting the app.

Returns:

the launched RosTimeUtil

startDefaultTimeSlave

public static RosTimeUtil startDefaultTimeSlave(java.util.ArrayList<JavaNodeContainer> utilNodes)

Launches the default time slave node.

Returns:

launched node

getTimeIgnoringUtil

public static RosTimeUtil getTimeIgnoringUtil()

Returns thing which ignores time completely.

Returns:

stopNME

public static void stopNME()

startParamHandler

public static ParamHandler startParamHandler(java.util.ArrayList<JavaNodeContainer> utilNodes)

Start the parameter handler for Nengo, this does not listen to the simulation time, so bug in the Rosjava (where timeProvider not started, the getCurrentTime and getLog throw NLP) will not affect it.

Parameters:

utilNodes - arrayList of utility nodes that should be stopped before application exits

Returns:

running parameter handler