maslab.telemetry
Class JugClient

java.lang.Object
  maslab.telemetry.JugClient

public class JugClient
extends java.lang.Object

Manages sending and receiving packets via a hub for inter-process/inter-robot communication.

Constructor Summary

JugClient()
Create a new client and connect to the hub on localhost using the default TCP port

JugClient(java.net.InetAddress addr, int port)
Create a new client and connect to the hub on the specified host and port.

Method Summary

void	addStatusListener(StatusListener listener) Add a StatusListener who will be notified of connection/disconnection events and new channel events.
void	advertise(java.lang.String channel) Advertise the existence of a new channel.
void	displayQueueSizes() As a debugging aid, dump the sizes of each queue to stdout.
java.util.ArrayList<java.lang.String>	getChannels() Get a list of all channels which are currently advertised.
void	publish(java.lang.String channel, byte[] data) Publish data on a previously advertised channel.
boolean	publishing(java.lang.String channel) Determine if a message would actually be sent on a channel.
void	reconnect(java.net.InetAddress addr, int port)
void	removeStatusListener(StatusListener listener) Remove a StatusListener
void	setMaximumQueueSize(java.lang.String channel, int size) Limit the number of messages that can be queued up on a particular channel.
void	subscribe(java.lang.String cname, JugMessageListener listener) Subscribe to a channel.
void	unadvertise(java.lang.String channel) Unadvertise a channel.
void	unsubscribe(java.lang.String cname, JugMessageListener listener) Unsubscribe to a channel.

Methods inherited from class java.lang.Object

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

Constructor Detail

JugClient

public JugClient()

Create a new client and connect to the hub on localhost using the default TCP port

JugClient

public JugClient(java.net.InetAddress addr,
                 int port)
          throws java.io.IOException

Create a new client and connect to the hub on the specified host and port.

Throws:

java.io.IOException

Method Detail

reconnect

public void reconnect(java.net.InetAddress addr,
                      int port)
               throws java.io.IOException

Throws:

java.io.IOException

addStatusListener

public void addStatusListener(StatusListener listener)

Add a StatusListener who will be notified of connection/disconnection events and new channel events.

removeStatusListener

public void removeStatusListener(StatusListener listener)

Remove a StatusListener

getChannels

public java.util.ArrayList<java.lang.String> getChannels()

Get a list of all channels which are currently advertised.

Returns:

ArrayList of String

subscribe

public void subscribe(java.lang.String cname,
                      JugMessageListener listener)

Subscribe to a channel.

Parameters:

cname - The name of the channel.

listener - The listener to be notified of received data.

unsubscribe

public void unsubscribe(java.lang.String cname,
                        JugMessageListener listener)

Unsubscribe to a channel.

Parameters:

cname - The name of the channel.

listener - The listener that was subscribed

advertise

public void advertise(java.lang.String channel)

Advertise the existence of a new channel.

Parameters:

channel - The channel name that you will be publishing on.

unadvertise

public void unadvertise(java.lang.String channel)

Unadvertise a channel.

Parameters:

channel - The channel name that you will no longer be publishing on

publish

public void publish(java.lang.String channel,
                    byte[] data)

Publish data on a previously advertised channel.

Parameters:

channel - The channel name.

data - The data (opaque) to be sent. The data is NOT copied and thus should not be modified.

setMaximumQueueSize

public void setMaximumQueueSize(java.lang.String channel,
                                int size)

Limit the number of messages that can be queued up on a particular channel.

Parameters:

channel - The channel name

size - The maximum number of bytes before new published messages are dropped. If the size is less than zero, no limit is enforced.

displayQueueSizes

public void displayQueueSizes()

As a debugging aid, dump the sizes of each queue to stdout.

publishing

public boolean publishing(java.lang.String channel)

Determine if a message would actually be sent on a channel. This function can be used as an optimization by calling it before actually constructing an expensive packet and calling publish.

Parameters:

channel - The channel name.

Returns:

true if the message would be sent.