From 95765b2cc33cbbf67a401896eee494681da96710 Mon Sep 17 00:00:00 2001 From: Ivan Santiago Paunovic Date: Thu, 10 Sep 2020 17:22:37 -0300 Subject: [PATCH 1/2] Add getServiceNamesAndTypes method to Node class Signed-off-by: Ivan Santiago Paunovic --- .../include/org_ros2_rcljava_node_NodeImpl.h | 9 ++ .../cpp/org_ros2_rcljava_node_NodeImpl.cpp | 32 +++++ .../main/java/org/ros2/rcljava/node/Node.java | 12 ++ .../java/org/ros2/rcljava/node/NodeImpl.java | 11 ++ .../java/org/ros2/rcljava/node/NodeTest.java | 118 ++++++++++++++++++ 5 files changed, 182 insertions(+) diff --git a/rcljava/include/org_ros2_rcljava_node_NodeImpl.h b/rcljava/include/org_ros2_rcljava_node_NodeImpl.h index 4a169cb8..caedfbe5 100644 --- a/rcljava/include/org_ros2_rcljava_node_NodeImpl.h +++ b/rcljava/include/org_ros2_rcljava_node_NodeImpl.h @@ -155,6 +155,15 @@ JNIEXPORT void JNICALL Java_org_ros2_rcljava_node_NodeImpl_nativeGetSubscriptionNamesAndTypesByNode( JNIEnv *, jclass, jlong, jstring, jstring, jobject); +/* + * Class: org_ros2_rcljava_node_NodeImpl + * Method: nativeServiceNamesAndTypesByNode + * Signature: (JLjava/lang/String;Ljava/lang/String;Ljava/util/Collection;)V + */ +JNIEXPORT void +JNICALL Java_org_ros2_rcljava_node_NodeImpl_nativeGetServiceNamesAndTypesByNode( + JNIEnv *, jclass, jlong, jstring, jstring, jobject); + #ifdef __cplusplus } #endif diff --git a/rcljava/src/main/cpp/org_ros2_rcljava_node_NodeImpl.cpp b/rcljava/src/main/cpp/org_ros2_rcljava_node_NodeImpl.cpp index 7332bc2b..6a4b0eda 100644 --- a/rcljava/src/main/cpp/org_ros2_rcljava_node_NodeImpl.cpp +++ b/rcljava/src/main/cpp/org_ros2_rcljava_node_NodeImpl.cpp @@ -575,3 +575,35 @@ Java_org_ros2_rcljava_node_NodeImpl_nativeGetSubscriptionNamesAndTypesByNode( RCLJAVA_COMMON_THROW_FROM_RCL(env, ret, "failed to get subscription names and types"); fill_jnames_and_types(env, subscription_names_and_types, jnames_and_types); } + +JNIEXPORT void JNICALL Java_org_ros2_rcljava_node_NodeImpl_nativeGetServiceNamesAndTypesByNode( + JNIEnv * env, jclass, jlong handle, jstring jname, jstring jnamespace, jobject jnames_and_types) +{ + rcl_node_t * node = reinterpret_cast(handle); + if (!node) { + rcljava_throw_exception(env, "java/lang/IllegalArgumentException", "node handle is NULL"); + return; + } + + const char * name = env->GetStringUTFChars(jname, NULL); + const char * namespace_ = env->GetStringUTFChars(jnamespace, NULL); + rcl_allocator_t allocator = rcl_get_default_allocator(); + rcl_names_and_types_t service_names_and_types = rcl_get_zero_initialized_names_and_types(); + + rcl_ret_t ret = rcl_get_service_names_and_types_by_node( + node, + &allocator, + name, + namespace_, + &service_names_and_types); + RCLJAVA_COMMON_THROW_FROM_RCL_X(env, ret, "failed to get service names and types", goto cleanup); + fill_jnames_and_types(env, service_names_and_types, jnames_and_types); + +cleanup: + env->ReleaseStringUTFChars(jname, name); + env->ReleaseStringUTFChars(jnamespace, namespace_); + ret = rcl_names_and_types_fini(&service_names_and_types); + if (!env->ExceptionCheck() && RCL_RET_OK != ret) { + rcljava_throw_rclexception(env, ret, "failed to fini service names and types structure"); + } +} diff --git a/rcljava/src/main/java/org/ros2/rcljava/node/Node.java b/rcljava/src/main/java/org/ros2/rcljava/node/Node.java index 4e9b0db5..c91d74fd 100644 --- a/rcljava/src/main/java/org/ros2/rcljava/node/Node.java +++ b/rcljava/src/main/java/org/ros2/rcljava/node/Node.java @@ -649,4 +649,16 @@ Client createClient(final Class serviceType, */ Collection getSubscriptionNamesAndTypesByNode( String nodeName, String nodeNamespace); + + /** + * Return the service server names and types that were created from the node specified by the + * given node name and namespace. + * See @{link graph#NameAndTypes} for more information about the returned value. + * + * @param nodeName name of the node we want to know its services. + * @param nodeNamespace namespace of the node we want to know its services. + * @return the detected service server names and types. + */ + Collection getServiceNamesAndTypesByNode( + String nodeName, String nodeNamespace); } diff --git a/rcljava/src/main/java/org/ros2/rcljava/node/NodeImpl.java b/rcljava/src/main/java/org/ros2/rcljava/node/NodeImpl.java index ba6a4d3a..eef9b0d0 100644 --- a/rcljava/src/main/java/org/ros2/rcljava/node/NodeImpl.java +++ b/rcljava/src/main/java/org/ros2/rcljava/node/NodeImpl.java @@ -838,4 +838,15 @@ public final Collection getSubscriptionNamesAndTypesByNode( private static native final Collection nativeGetSubscriptionNamesAndTypesByNode( long handle, String nodeName, String nodeNamespace, Collection namesAndTypes); + + public final Collection getServiceNamesAndTypesByNode( + String nodeName, String nodeNamespace) + { + Collection namesAndTypes = new ArrayList(); + nativeGetServiceNamesAndTypesByNode(this.handle, nodeName, nodeNamespace, namesAndTypes); + return namesAndTypes; + } + + private static native final Collection nativeGetServiceNamesAndTypesByNode( + long handle, String nodeName, String nodeNamespace, Collection namesAndTypes); } diff --git a/rcljava/src/test/java/org/ros2/rcljava/node/NodeTest.java b/rcljava/src/test/java/org/ros2/rcljava/node/NodeTest.java index 2634be8a..8d6dd875 100644 --- a/rcljava/src/test/java/org/ros2/rcljava/node/NodeTest.java +++ b/rcljava/src/test/java/org/ros2/rcljava/node/NodeTest.java @@ -1354,4 +1354,122 @@ public void accept(final Collection local, Collection service1 = node.createService( + rcljava.srv.AddTwoInts.class, "test_get_service_names_and_types_one", + new TriConsumer< + RMWRequestId, rcljava.srv.AddTwoInts_Request, rcljava.srv.AddTwoInts_Response>() + { + public final void accept( + final RMWRequestId header, + final rcljava.srv.AddTwoInts_Request request, + final rcljava.srv.AddTwoInts_Response response) + {} + }); + Service service2 = node.createService( + rcljava.srv.AddTwoInts.class, "test_get_service_names_and_types_two", + new TriConsumer< + RMWRequestId, rcljava.srv.AddTwoInts_Request, rcljava.srv.AddTwoInts_Response>() + { + public final void accept( + final RMWRequestId header, + final rcljava.srv.AddTwoInts_Request request, + final rcljava.srv.AddTwoInts_Response response) + {} + }); + Service service3 = remoteNode.createService( + rcljava.srv.AddTwoInts.class, "test_get_service_names_and_types_two", + new TriConsumer< + RMWRequestId, rcljava.srv.AddTwoInts_Request, rcljava.srv.AddTwoInts_Response>() + { + public final void accept( + final RMWRequestId header, + final rcljava.srv.AddTwoInts_Request request, + final rcljava.srv.AddTwoInts_Response response) + {} + }); + Service service4 = remoteNode.createService( + rcljava.srv.AddTwoInts.class, "test_get_service_names_and_types_three", + new TriConsumer< + RMWRequestId, rcljava.srv.AddTwoInts_Request, rcljava.srv.AddTwoInts_Response>() + { + public final void accept( + final RMWRequestId header, + final rcljava.srv.AddTwoInts_Request request, + final rcljava.srv.AddTwoInts_Response response) + {} + }); + Client client = node.createClient( + rcljava.srv.AddTwoInts.class, "test_get_service_names_and_types_this_should_not_appear"); + + BiConsumer, Collection> validateNameAndTypes = + new BiConsumer, Collection>() { + public void accept(final Collection local, Collection remote) { + // TODO(ivanpauno): Using assertj may help a lot here https://assertj.github.io/doc/. + assertEquals(local.size(), 2); + assertTrue( + "service 'test_get_service_names_and_types_one' was not discovered for local node", + local.contains( + new NameAndTypes( + "/test_get_service_names_and_types_one", + new ArrayList(Arrays.asList("rcljava/srv/AddTwoInts"))))); + assertTrue( + "service 'test_get_service_names_and_types_two' was not discovered for local node", + local.contains( + new NameAndTypes( + "/test_get_service_names_and_types_two", + new ArrayList(Arrays.asList("rcljava/srv/AddTwoInts"))))); + + assertEquals(remote.size(), 2); + assertTrue( + "service 'test_get_service_names_and_types_two' was not discovered for remote node", + remote.contains( + new NameAndTypes( + "/test_get_service_names_and_types_two", + new ArrayList(Arrays.asList("rcljava/srv/AddTwoInts"))))); + assertTrue( + "service 'test_get_service_names_and_types_three' was not discovered for remote node", + remote.contains( + new NameAndTypes( + "/test_get_service_names_and_types_three", + new ArrayList(Arrays.asList("rcljava/srv/AddTwoInts"))))); + } + }; + + long start = System.currentTimeMillis(); + boolean ok = false; + Collection local = null; + Collection remote = null; + do { + local = this.node.getServiceNamesAndTypesByNode("test_node", "/"); + remote = this.node.getServiceNamesAndTypesByNode( + "test_get_service_names_and_types_remote_node", "/"); + try { + validateNameAndTypes.accept(local, remote); + ok = true; + } catch (AssertionError err) { + // ignore here, it's going to be validated again at the end. + } + // TODO(ivanpauno): We could wait for the graph guard condition to be triggered if that + // would be available. + try { + TimeUnit.MILLISECONDS.sleep(100); + } catch (InterruptedException err) { + // ignore + } + } while (!ok && System.currentTimeMillis() < start + 1000); + assertNotNull(local); + assertNotNull(remote); + validateNameAndTypes.accept(local, remote); + + service1.dispose(); + service2.dispose(); + service3.dispose(); + service4.dispose(); + client.dispose(); + remoteNode.dispose(); + } } From 6e804e834fc5817d868c35123a6ce90b01fab3c9 Mon Sep 17 00:00:00 2001 From: Ivan Santiago Paunovic Date: Tue, 22 Sep 2020 15:18:45 -0300 Subject: [PATCH 2/2] Use rcpputils::scope_exit Signed-off-by: Ivan Santiago Paunovic --- .../cpp/org_ros2_rcljava_node_NodeImpl.cpp | 22 +++++++++++-------- 1 file changed, 13 insertions(+), 9 deletions(-) diff --git a/rcljava/src/main/cpp/org_ros2_rcljava_node_NodeImpl.cpp b/rcljava/src/main/cpp/org_ros2_rcljava_node_NodeImpl.cpp index 6a4b0eda..2f206832 100644 --- a/rcljava/src/main/cpp/org_ros2_rcljava_node_NodeImpl.cpp +++ b/rcljava/src/main/cpp/org_ros2_rcljava_node_NodeImpl.cpp @@ -586,9 +586,21 @@ JNIEXPORT void JNICALL Java_org_ros2_rcljava_node_NodeImpl_nativeGetServiceNames } const char * name = env->GetStringUTFChars(jname, NULL); + auto release_jname = rcpputils::make_scope_exit( + [jname, name, env]() {env->ReleaseStringUTFChars(jname, name);}); const char * namespace_ = env->GetStringUTFChars(jnamespace, NULL); + auto release_jnamespace = rcpputils::make_scope_exit( + [jnamespace, namespace_, env]() {env->ReleaseStringUTFChars(jnamespace, namespace_);}); rcl_allocator_t allocator = rcl_get_default_allocator(); rcl_names_and_types_t service_names_and_types = rcl_get_zero_initialized_names_and_types(); + auto fini_names_and_types = rcpputils::make_scope_exit( + [pnames_and_types = &service_names_and_types, env]() { + rcl_ret_t ret = rcl_names_and_types_fini(pnames_and_types); + if (!env->ExceptionCheck() && RCL_RET_OK != ret) { + rcljava_throw_rclexception( + env, ret, "failed to fini service names and types structure"); + } + }); rcl_ret_t ret = rcl_get_service_names_and_types_by_node( node, @@ -596,14 +608,6 @@ JNIEXPORT void JNICALL Java_org_ros2_rcljava_node_NodeImpl_nativeGetServiceNames name, namespace_, &service_names_and_types); - RCLJAVA_COMMON_THROW_FROM_RCL_X(env, ret, "failed to get service names and types", goto cleanup); + RCLJAVA_COMMON_THROW_FROM_RCL(env, ret, "failed to get service names and types"); fill_jnames_and_types(env, service_names_and_types, jnames_and_types); - -cleanup: - env->ReleaseStringUTFChars(jname, name); - env->ReleaseStringUTFChars(jnamespace, namespace_); - ret = rcl_names_and_types_fini(&service_names_and_types); - if (!env->ExceptionCheck() && RCL_RET_OK != ret) { - rcljava_throw_rclexception(env, ret, "failed to fini service names and types structure"); - } }