Add Node Options

rcljava/CMakeLists.txt

@@ -134,6 +134,7 @@ set(${PROJECT_NAME}_sources
   "src/main/java/org/ros2/rcljava/node/ComposableNode.java"
   "src/main/java/org/ros2/rcljava/node/Node.java"
   "src/main/java/org/ros2/rcljava/node/NodeImpl.java"
+  "src/main/java/org/ros2/rcljava/node/NodeOptions.java"
   "src/main/java/org/ros2/rcljava/parameters/client/AsyncParametersClient.java"
   "src/main/java/org/ros2/rcljava/parameters/client/AsyncParametersClientImpl.java"
   "src/main/java/org/ros2/rcljava/parameters/client/SyncParametersClient.java"
@@ -229,6 +230,7 @@ if(BUILD_TESTING)
     "src/test/java/org/ros2/rcljava/SpinTest.java"
     "src/test/java/org/ros2/rcljava/TimeTest.java"
     # "src/test/java/org/ros2/rcljava/client/ClientTest.java"
+    "src/test/java/org/ros2/rcljava/node/NodeOptionsTest.java"
     "src/test/java/org/ros2/rcljava/node/NodeParametersTest.java"
     "src/test/java/org/ros2/rcljava/node/NodeUndeclaredParametersTest.java"
     "src/test/java/org/ros2/rcljava/node/NodeTest.java"
@@ -244,6 +246,7 @@ if(BUILD_TESTING)
     "org.ros2.rcljava.SpinTest"
     "org.ros2.rcljava.TimeTest"
     # "org.ros2.rcljava.client.ClientTest"
+    "org.ros2.rcljava.node.NodeOptionsTest"
     "org.ros2.rcljava.node.NodeParametersTest"
     "org.ros2.rcljava.node.NodeUndeclaredParametersTest"
     "org.ros2.rcljava.node.NodeTest"

rcljava/include/org_ros2_rcljava_RCLJava.h

@@ -35,7 +35,7 @@ JNICALL Java_org_ros2_rcljava_RCLJava_nativeCreateContextHandle(JNIEnv *, jclass
  */
 JNIEXPORT jlong
 JNICALL Java_org_ros2_rcljava_RCLJava_nativeCreateNodeHandle(
-  JNIEnv *, jclass, jstring, jstring, jlong);
+  JNIEnv *, jclass, jstring, jstring, jlong, jobject, jboolean, jboolean);
 
 /*
  * Class:     org_ros2_rcljava_RCLJava

rcljava/include/org_ros2_rcljava_node_NodeImpl.h

@@ -20,6 +20,25 @@
 #ifdef __cplusplus
 extern "C" {
 #endif
+
+/*
+ * Class:     org_ros2_rcljava_node_NodeImpl
+ * Method:    nativeGetName
+ * Signature: (J)Ljava/lang/String
+ */
+JNIEXPORT jstring
+JNICALL Java_org_ros2_rcljava_node_NodeImpl_nativeGetName(
+  JNIEnv * env, jclass, jlong node_handle);
+
+/*
+ * Class:     org_ros2_rcljava_node_NodeImpl
+ * Method:    nativeGetNamespace
+ * Signature: (J)Ljava/lang/String
+ */
+JNIEXPORT jstring
+JNICALL Java_org_ros2_rcljava_node_NodeImpl_nativeGetNamespace(
+  JNIEnv * env, jclass, jlong node_handle);
+
 /*
  * Class:     org_ros2_rcljava_node_NodeImpl
  * Method:    nativeCreatePublisherHandle

rcljava/src/main/cpp/org_ros2_rcljava_RCLJava.cpp

@@ -17,6 +17,7 @@
 #include <cassert>
 #include <cstdlib>
 #include <string>
+#include <vector>
 
 #include "rcl/error_handling.h"
 #include "rcl/node.h"
@@ -44,9 +45,47 @@ Java_org_ros2_rcljava_RCLJava_nativeCreateContextHandle(JNIEnv *, jclass)
   return context_handle;
 }
 
+bool parse_arguments(JNIEnv * env, jobject cli_args, rcl_arguments_t * arguments)
+{
+  // TODO(clalancette): we could probably make this faster by just doing these
+  // method lookups during some initialization time.  But we'd have to add a lot
+  // more infrastructure for that, and we don't expect to call
+  // 'nativeCreateNodeHandle' that often, so I think this is OK for now.
+  jclass java_util_ArrayList = env->FindClass("java/util/ArrayList");
+  jmethodID java_util_ArrayList_size = env->GetMethodID(java_util_ArrayList, "size", "()I");
+  jmethodID java_util_ArrayList_get = env->GetMethodID(
+    java_util_ArrayList, "get", "(I)Ljava/lang/Object;");
+
+  *arguments = rcl_get_zero_initialized_arguments();
+  jint argc = env->CallIntMethod(cli_args, java_util_ArrayList_size);
+  std::vector<const char *> argv(argc);
+  for (jint i = 0; i < argc; ++i) {
+    jstring element =
+      static_cast<jstring>(env->CallObjectMethod(cli_args, java_util_ArrayList_get, i));
+    argv[i] = env->GetStringUTFChars(element, nullptr);
+    env->DeleteLocalRef(element);
+  }
+  rcl_ret_t ret = rcl_parse_arguments(argc, &argv[0], rcl_get_default_allocator(), arguments);
+  for (jint i = 0; i < argc; ++i) {
+    jstring element =
+      static_cast<jstring>(env->CallObjectMethod(cli_args, java_util_ArrayList_get, i));
+    env->ReleaseStringUTFChars(element, argv[i]);
+    env->DeleteLocalRef(element);
+  }
+  if (ret != RCL_RET_OK) {
+    std::string msg = "Failed to parse node arguments: " + std::string(rcl_get_error_string().str);
+    rcl_reset_error();
+    rcljava_throw_rclexception(env, ret, msg);
+    return false;
+  }
+
+  return true;
+}
+
 JNIEXPORT jlong JNICALL
 Java_org_ros2_rcljava_RCLJava_nativeCreateNodeHandle(
-  JNIEnv * env, jclass, jstring jnode_name, jstring jnamespace, jlong context_handle)
+  JNIEnv * env, jclass, jstring jnode_name, jstring jnamespace, jlong context_handle,
+  jobject cli_args, jboolean use_global_arguments, jboolean enable_rosout)
 {
   const char * node_name_tmp = env->GetStringUTFChars(jnode_name, 0);
   std::string node_name(node_name_tmp);
@@ -59,19 +98,50 @@ Java_org_ros2_rcljava_RCLJava_nativeCreateNodeHandle(
   rcl_context_t * context = reinterpret_cast<rcl_context_t *>(context_handle);
 
   rcl_node_t * node = static_cast<rcl_node_t *>(malloc(sizeof(rcl_node_t)));
+  if (node == nullptr) {
+    env->ThrowNew(env->FindClass("java/lang/OutOfMemoryError"), "Failed to allocate node");
+    return 0;
+  }
   *node = rcl_get_zero_initialized_node();
 
-  rcl_node_options_t default_options = rcl_node_get_default_options();
-  rcl_ret_t ret = rcl_node_init(
-    node, node_name.c_str(), namespace_.c_str(), context, &default_options);
+  rcl_arguments_t arguments;
+  if (!parse_arguments(env, cli_args, &arguments)) {
+    // All of the exception setup was done by parse_arguments, just return here.
+    free(node);
+    return 0;
+  }
+
+  rcl_node_options_t options = rcl_node_get_default_options();
+  options.use_global_arguments = use_global_arguments;
+  options.arguments = arguments;
+  options.enable_rosout = enable_rosout;
+  rcl_ret_t ret = rcl_node_init(node, node_name.c_str(), namespace_.c_str(), context, &options);
   if (ret != RCL_RET_OK) {
     std::string msg = "Failed to create node: " + std::string(rcl_get_error_string().str);
     rcl_reset_error();
+    free(node);
+    if (rcl_arguments_fini(&arguments) != RCL_RET_OK) {
+      // We are already throwing an exception, just ignore the return here
+    }
     rcljava_throw_rclexception(env, ret, msg);
     return 0;
   }
-  jlong node_handle = reinterpret_cast<jlong>(node);
-  return node_handle;
+
+  ret = rcl_arguments_fini(&arguments);
+  if (ret != RCL_RET_OK) {
+    // We failed to cleanup
+    std::string msg = "Failed to cleanup after creating node: " + std::string(
+      rcl_get_error_string().str);
+    rcl_reset_error();
+    if (rcl_node_fini(node) != RCL_RET_OK) {
+      // We are already throwing an exception, just ignore the return here
+    }
+    free(node);
+    rcljava_throw_rclexception(env, ret, msg);
+    return 0;
+  }
+
+  return reinterpret_cast<jlong>(node);
 }
 
 JNIEXPORT jstring JNICALL

rcljava/src/main/cpp/org_ros2_rcljava_node_NodeImpl.cpp

@@ -31,6 +31,20 @@
 
 using rcljava_common::exceptions::rcljava_throw_rclexception;
 
+JNIEXPORT jstring JNICALL
+Java_org_ros2_rcljava_node_NodeImpl_nativeGetName(
+  JNIEnv * env, jclass, jlong node_handle)
+{
+  return env->NewStringUTF(rcl_node_get_name(reinterpret_cast<rcl_node_t *>(node_handle)));
+}
+
+JNIEXPORT jstring JNICALL
+Java_org_ros2_rcljava_node_NodeImpl_nativeGetNamespace(
+  JNIEnv * env, jclass, jlong node_handle)
+{
+  return env->NewStringUTF(rcl_node_get_namespace(reinterpret_cast<rcl_node_t *>(node_handle)));
+}
+
 JNIEXPORT jlong JNICALL
 Java_org_ros2_rcljava_node_NodeImpl_nativeCreatePublisherHandle(
   JNIEnv * env, jclass, jlong node_handle, jclass jmessage_class, jstring jtopic,

rcljava/src/main/java/org/ros2/rcljava/RCLJava.java

@@ -18,6 +18,7 @@
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
 
+import java.util.ArrayList;
 import java.util.Collection;
 import java.util.Map;
 import java.util.concurrent.ConcurrentSkipListMap;
@@ -33,6 +34,7 @@
 import org.ros2.rcljava.node.ComposableNode;
 import org.ros2.rcljava.node.Node;
 import org.ros2.rcljava.node.NodeImpl;
+import org.ros2.rcljava.node.NodeOptions;
 import org.ros2.rcljava.publisher.Publisher;
 import org.ros2.rcljava.qos.QoSProfile;
 import org.ros2.rcljava.service.RMWRequestId;
@@ -177,7 +179,7 @@ public static synchronized void rclJavaInit() {
    * @param contextHandle Pointer to a context (rcl_context_t) with which to associated the node.
    * @return A pointer to the underlying ROS2 node structure.
    */
-  private static native long nativeCreateNodeHandle(String nodeName, String namespace, long contextHandle);
+  private static native long nativeCreateNodeHandle(String nodeName, String namespace, long contextHandle, ArrayList<String> arguments, boolean useGlobalArguments, boolean enableRosout);
 
   /**
    * @return The identifier of the currently active RMW implementation via the
@@ -234,7 +236,7 @@ public static Context createContext() {
    *     structure.
    */
   public static Node createNode(final String nodeName) {
-    return createNode(nodeName, "", RCLJava.getDefaultContext(), false);
+    return createNode(nodeName, "", RCLJava.getDefaultContext(), new NodeOptions());
   }
 
   /**
@@ -246,12 +248,12 @@ public static Node createNode(final String nodeName) {
    *     structure.
    */
   public static Node createNode(final String nodeName, final String namespace, final Context context) {
-    return createNode(nodeName, namespace, context, false);
+    return createNode(nodeName, namespace, context, new NodeOptions());
   }
 
-  public static Node createNode(final String nodeName, final String namespace, final Context context, final boolean allowUndeclaredParameters) {
-    long nodeHandle = nativeCreateNodeHandle(nodeName, namespace, context.getHandle());
-    Node node = new NodeImpl(nodeHandle, nodeName, context, allowUndeclaredParameters);
+  public static Node createNode(final String nodeName, final String namespace, final Context context, final NodeOptions options) {
+    long nodeHandle = nativeCreateNodeHandle(nodeName, namespace, context.getHandle(), options.getCliArgs(), options.getUseGlobalArguments(), options.getEnableRosout());
+    Node node = new NodeImpl(nodeHandle, context, options.getAllowUndeclaredParameters());
     nodes.add(node);
     return node;
   }

rcljava/src/main/java/org/ros2/rcljava/node/Node.java

@@ -175,8 +175,21 @@ <T extends ServiceDefinition> Client<T> createClient(final Class<T> serviceType,
 
   WallTimer createWallTimer(final long period, final TimeUnit unit, final Callback callback);
 
+  /** Get the name of the node.
+   *
+   * @return The name of the node.
+   */
   String getName();
 
+  /** Get the namespace of the node.
+   *
+   * This namespace is the "node's" namespace, and therefore is not affected
+   * by any sub-namespace's that may affect entities created with this instance.
+   *
+   * @return The namespace of the node.
+   */
+  String getNamespace();
+
   /**
    * Declare and initialize a parameter, return the effective value.
    *

rcljava/src/main/java/org/ros2/rcljava/node/NodeImpl.java

@@ -121,8 +121,6 @@ public class NodeImpl implements Node {
    */
   private final Collection<Timer> timers;
 
-  private final String name;
-
   private Object parametersMutex;
 
   class ParameterAndDescriptor {
@@ -142,10 +140,9 @@ class ParameterAndDescriptor {
    * @param handle A pointer to the underlying ROS2 node structure. Must not
    *     be zero.
    */
-  public NodeImpl(final long handle, final String name, final Context context, final boolean allowUndeclaredParameters) {
+  public NodeImpl(final long handle, final Context context, final boolean allowUndeclaredParameters) {
     this.clock = new Clock(ClockType.SYSTEM_TIME);
     this.handle = handle;
-    this.name = name;
     this.context = context;
     this.publishers = new LinkedBlockingQueue<Publisher>();
     this.subscriptions = new LinkedBlockingQueue<Subscription>();
@@ -159,6 +156,20 @@ public NodeImpl(final long handle, final String name, final Context context, fin
     this.parameterCallbacks = new ArrayList<ParameterCallback>();
   }
 
+  /**
+   * Get the ROS 2 node name.
+   * @param handle A pointer to the underlying ROS2 node structure.
+   * @return The name of the node.
+   */
+  private static native String nativeGetName(long handle);
+
+  /**
+   * Get the ROS 2 node namespace.
+   * @param handle A pointer to the underlying ROS2 node structure.
+   * @return The namespace of the node.
+   */
+  private static native String nativeGetNamespace(long handle);
+
   /**
    * Create a ROS2 publisher (rcl_publisher_t) and return a pointer to
    *     it as an integer.
@@ -401,7 +412,11 @@ public final Collection<Timer> getTimers() {
    * {@inheritDoc}
    */
   public final String getName() {
-    return this.name;
+    return nativeGetName(this.handle);
+  }
+
+  public final String getNamespace() {
+    return nativeGetNamespace(this.handle);
   }
 
   public ParameterVariant declareParameter(ParameterVariant parameter) {

rcljava/src/main/java/org/ros2/rcljava/node/NodeOptions.java

@@ -0,0 +1,68 @@
+/* Copyright 2020 Open Source Robotics Foundation, Inc.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.ros2.rcljava.node;
+
+import java.util.ArrayList;
+
+public class NodeOptions {
+  private boolean useGlobalArguments;
+  private boolean enableRosout;
+  private boolean allowUndeclaredParameters;
+  private ArrayList<String> cliArgs;
+
+  public NodeOptions() {
+    this.useGlobalArguments = true;
+    this.enableRosout = true;
+    this.allowUndeclaredParameters = false;
+    this.cliArgs = new ArrayList<String>();
+  }
+
+  public final boolean getUseGlobalArguments() {
+    return this.useGlobalArguments;
+  }
+
+  public NodeOptions setUseGlobalArguments(boolean useGlobal) {
+    this.useGlobalArguments = useGlobal;
+    return this;
+  }
+
+  public final boolean getEnableRosout() {
+    return this.enableRosout;
+  }
+
+  public NodeOptions setEnableRosout(boolean enable) {
+    this.enableRosout = enable;
+    return this;
+  }
+
+  public final boolean getAllowUndeclaredParameters() {
+    return this.allowUndeclaredParameters;
+  }
+
+  public NodeOptions setAllowUndeclaredParameters(boolean allow) {
+    this.allowUndeclaredParameters = allow;
+    return this;
+  }
+
+  public final ArrayList<String> getCliArgs() {
+    return this.cliArgs;
+  }
+
+  public NodeOptions setCliArgs(ArrayList<String> newArgs) {
+    this.cliArgs = newArgs;
+    return this;
+  }
+}