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Commit fe2b833e authored by Julian Cerruti's avatar Julian Cerruti Committed by GitHub
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Merge pull request #229 from jubeira/dev/native-node-main

Small change to NativeNodeMain
parents 30bfd614 01dc810b
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package org.ros.node;
import org.ros.node.AbstractNodeMain;
import org.ros.node.ConnectedNode;
import org.ros.node.Node;
import org.ros.namespace.GraphName;
import org.apache.commons.logging.Log;
import org.apache.commons.logging.LogFactory;
import java.util.List;
import java.util.Map;
/**
* A java wrapper to load and run a native-code ROS node.
*
......@@ -70,16 +62,16 @@ public abstract class NativeNodeMain extends AbstractNodeMain {
this(libName, null);
}
// These methods define the execution model interface for this node.
protected abstract void execute(String rosMasterUri, String rosHostName, String rosNodeName, String[] remappingArguments);
protected abstract void shutdown();
// These methods define the execution model interface for this node. Return values are error codes (not used by default).
protected abstract int execute(String rosMasterUri, String rosHostName, String rosNodeName, String[] remappingArguments);
protected abstract int shutdown();
@Override
public void onStart(final ConnectedNode connectedNode) {
// retain important ROS info
masterUri = connectedNode.getMasterUri().toString();
hostName = connectedNode.getUri().getHost();
nodeName = this.libName;
nodeName = getDefaultNodeName().toString();
// create a new thread to execute the native code.
new Thread() {
......
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