Datasheet

API in Java
93
private DataOutputStream out = null;
private DataInputStream in = null;
private String ipAddress;
private int ipPort;
private boolean connected = false;
private String message = "Not connected";
private ReadCommand readCommand = null;
private WriteCommand writeCommand = null;
private Thread listener = null;
LinkedBlockingQueue queue = new LinkedBlockingQueue(40);
/**
* Constructor of the connection class
* @param ipAddress - IP address of the router you want to conenct to
* @param ipPort - port used for connection, ROS default is 8728
*/
public ApiConn(String ipAddress, int ipPort) {
this.ipAddress = ipAddress;
this.ipPort = ipPort;
this.setName("settings");
}
/**
* State of connection
* @return - if connection is established to router it returns true.
*/
public boolean isConnected() {
return connected;
}
public void disconnect() throws IOException{
listener.interrupt();
sock.close();
}
private void listen() {
if (this.isConnected()) {
if (readCommand == null) {
readCommand = new ReadCommand(in, queue);
}
listener = new Thread(readCommand);
listener.setDaemon(true);
listener.setName("listener");
listener.start();
}
}
/**