Interface for an URBI wrapper object. More...

Inheritance diagram for urbi.UAbstractClient:

Collaboration diagram for urbi.UAbstractClient:

Public Member Functions
	UAbstractClient (long cPtr, boolean cMemoryOwn)
String	connectionID ()
synchronized void	delete ()
int	deleteCallback (long id)
	Delete a callback.
int	endPack ()
	Unlock the send buffer (for backward compatibility, will be.
int	error ()
	Return current error status, or zero if no error occurred.
String	fresh ()
	Return a identifier, for tags for instance.
int	getAssociatedTag (long id, String tag)
	Get the tag associated with a registered callback.
long	getCurrentTime ()
	Get time in milliseconds since an unspecified but constant.
int	getCurrentTimestamp ()
String	getServerName ()
	Return the server name or IP address.
long	getServerPort ()
	Return the server port.
boolean	init ()
int	kernelMajor ()
	Major kernel version. Dies if unknown yet.
int	kernelMinor ()
	Minor kernel version. Dies if unknown yet.
String	kernelVersion ()
	Kernel version string.
void	makeUniqueTag (String tag)
void	notifyCallbacks (UMessage msg)
	Pass the given UMessage to all registered callbacks with the.
int	pack (String format)
void	printf (String format)
void	processRecvBuffer ()
	Called each time new data is available in recvBuffer.
int	putFile (String localName, String remoteName)
	Put a file on the robot's mass storage device.
int	putFile (String localName)
	Put a file on the robot's mass storage device.
int	send (String format)
	Send the remainder of the stream.
int	send (UValue v)
	Send the remainder of the stream.
void	sendBin (byte[] bin, int len)
	Send binary data.
void	sendBin (byte[] bin, int len, String header)
	Send binary data.
int	sendFile (String f)
	Send urbi commands contained in a file.
int	sendSound (String device, USound sound, String tag)
int	sendSound (String device, USound sound)
long	setCallback (UCallbackWrapper callback, String tag)
	OLD-style callbacks.
long	setCallback (UCallbackInterface ref, String tag)
	OLD-style callbacks.
long	setClientErrorCallback (UCallbackWrapper callback)
	Associate a callback with local connection errors.
long	setErrorCallback (UCallbackWrapper callback)
	Associate a callback function with all error messages from the server.
void	setKeepAliveCheck (long pingInterval, long pongTimeout)
long	setWildcardCallback (UCallbackWrapper callback)
	Associate a callback with all messages.
int	startPack ()
	Lock the send buffer (for backward compatibility, will be.
void	waitForKernelVersion ()
	Block until kernel version is available or an error occurrs.
Static Public Member Functions
static String	default_host ()
	Default host.
static String	getCLIENTERROR_TAG ()
static long	getCPtr (UAbstractClient obj)
static void	setCLIENTERROR_TAG (String value)
Static Public Attributes
static final int	URBI_BUFLEN = 128000
static final int	URBI_PORT = 54000
Protected Member Functions
void	finalize ()

Detailed Description

Interface for an URBI wrapper object.

Implementations of this interface are wrappers around the URBI protocol. It handles URBI messages parsing, callback registration and various formatting functions. Implementations of this interface should:

Redefine errorNotify() as a function able to notify the user of eventual errors.
Redfine the four mutual exclusion functions.
Redefine effectiveSend().
Fill recvBuffer, update recvBufferPosition and call processRecvBuffer() when new data is available.
Provide an execute() function in the namespace urbi, that never returns, and that will be called after initialization.
Call onConnection when the connection is established.

See the liburbi-cpp documentation for more informations on how to use this class.

Definition at line 29 of file UAbstractClient.java.

Member Function Documentation

int urbi.UAbstractClient.deleteCallback ( long id )

Delete a callback.

Returns:: 0 if no callback with this id was found, 1 otherwise.

Definition at line 149 of file UAbstractClient.java.

int urbi.UAbstractClient.endPack ( )

Unlock the send buffer (for backward compatibility, will be.

removed in future versions).

Definition at line 88 of file UAbstractClient.java.

int urbi.UAbstractClient.getAssociatedTag	(	long	id,
		String	tag
	)

Get the tag associated with a registered callback.

Returns:: 1 and fill tag on success, 0 on failure.

Definition at line 143 of file UAbstractClient.java.

long urbi.UAbstractClient.getCurrentTime ( )

Get time in milliseconds since an unspecified but constant.

reference time.

Reimplemented in urbi.UClient.

Definition at line 174 of file UAbstractClient.java.

String urbi.UAbstractClient.kernelVersion ( )

Kernel version string.

Call waitForKernelVersion to make sure it is defined (beware that there are two signatures, one for UAbstractClient, another for USyncClient).

Definition at line 209 of file UAbstractClient.java.

void urbi.UAbstractClient.notifyCallbacks ( UMessage msg )

Pass the given UMessage to all registered callbacks with the.

corresponding tag, as if it were comming from the URBI server.

Reimplemented in urbi.USyncClient.

Definition at line 164 of file UAbstractClient.java.

int urbi.UAbstractClient.sendFile ( String f )

Send urbi commands contained in a file.

The file "/dev/stdin" is recognized as referring to std::cin.

Definition at line 98 of file UAbstractClient.java.

int urbi.UAbstractClient.startPack ( )

Lock the send buffer (for backward compatibility, will be.

removed in future versions).

Definition at line 82 of file UAbstractClient.java.

void urbi.UAbstractClient.waitForKernelVersion ( )

Block until kernel version is available or an error occurrs.

Message processing must not depend on this thread.

Reimplemented in urbi.UClient.

Definition at line 226 of file UAbstractClient.java.

The documentation for this class was generated from the following file:

UAbstractClient.java

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Member Functions

Detailed Description

Member Function Documentation