rename Message of service

rcljava/.gitignore

@@ -1,2 +1,3 @@
 /bin/
 .classpath
+/.settings/

rcljava/include/rcljava/org_ros2_rcljava_RCLJava.h

@@ -187,10 +187,10 @@ JNIEXPORT jobject JNICALL Java_org_ros2_rcljava_RCLJava_nativeTakeResponse
 /*
  * Class:     org_ros2_rcljava_RCLJava
  * Method:    nativeConvertQoSProfileToHandle
- * Signature: (IIII)J
+ * Signature: (IIIIZ)J
  */
 JNIEXPORT jlong JNICALL Java_org_ros2_rcljava_RCLJava_nativeConvertQoSProfileToHandle
-  (JNIEnv *, jclass, jint, jint, jint, jint);
+  (JNIEnv *, jclass, jint, jint, jint, jint, jboolean);
 
 /*
  * Class:     org_ros2_rcljava_RCLJava

rcljava/include/rcljava/utils.h

@@ -325,7 +325,7 @@ template<typename T>
 T *
 makeInstance()
 {
-  return (T *)malloc(sizeof(T));
+  return static_cast<T *>(malloc(sizeof(T)));
 }
 
 /*

rcljava/src/main/cpp/org_ros2_rcljava_RCLJava.cpp

@@ -486,15 +486,18 @@ JNIEXPORT jlong JNICALL Java_org_ros2_rcljava_RCLJava_nativeConvertQoSProfileToH
   jint history,
   jint depth,
   jint reliability,
-  jint durability)
+  jint durability,
+  jboolean avoid_ros_namespace_conventions)
 {
-  rmw_qos_profile_t * qos_profile =
-    static_cast<rmw_qos_profile_t *>(malloc(sizeof(rmw_qos_profile_t)));
+  rmw_qos_profile_t * qos_profile = makeInstance<rmw_qos_profile_t>();
+
   qos_profile->history = static_cast<rmw_qos_history_policy_t>(history);
   qos_profile->depth = depth;
   qos_profile->reliability = static_cast<rmw_qos_reliability_policy_t>(reliability);
   qos_profile->durability = static_cast<rmw_qos_durability_policy_t>(durability);
-  return reinterpret_cast<jlong>(qos_profile);
+  qos_profile->avoid_ros_namespace_conventions = avoid_ros_namespace_conventions;
+
+  return instance2Handle(qos_profile);
 }
 
 JNIEXPORT void JNICALL Java_org_ros2_rcljava_RCLJava_nativeDisposeQoSProfile(

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

@@ -151,7 +151,7 @@ public static native Object nativeTakeResponse(
             long responseToJavaConverterHandle,
             Object responseMessage);
     private static native long nativeConvertQoSProfileToHandle(
-            int history, int depth, int reliability, int durability);
+            int history, int depth, int reliability, int durability, boolean avoidRos);
     private static native void nativeDisposeQoSProfile(
             long qosProfileHandle);
 
@@ -321,7 +321,7 @@ public static Node createNode(final String namespace, final String defaultName)
      *
      * @param node
      */
-    @SuppressWarnings({ "unchecked", "rawtypes", "resource" })
+    @SuppressWarnings({ "resource", "unchecked" })
     public static void spinOnce(final Node node) {
         if (!RCLJava.initialized) {
             throw new NotInitializedException();
@@ -363,7 +363,7 @@ public static void spinOnce(final Node node) {
             }
 
             for (Client<?> client : node.getClients()) {
-                NativeClient nativeClient = (NativeClient) client;
+                NativeClient<?> nativeClient = (NativeClient<?>) client;
                 RCLJava.nativeWaitSetAddClient(waitSetHandle, nativeClient.getClientHandle());
             }
 
@@ -372,13 +372,17 @@ public static void spinOnce(final Node node) {
             RCLJava.nativeWaitSetFini(waitSetHandle);
 
             // Take all components.
-            for (Subscription subscription : node.getSubscriptions()) {
-                NativeSubscription<?> nativeSubscription = (NativeSubscription<?>) subscription;
+            for (Subscription<? extends Message> subscription : node.getSubscriptions()) {
+
+                Subscription<Message> safeSubscription = (Subscription<Message>) subscription;
+                NativeSubscription<Message> nativeSubscription = (NativeSubscription<Message>) subscription;
+
                 Message message = RCLJava.nativeTake(
                         nativeSubscription.getSubscriptionHandle(),
                         nativeSubscription.getMessageType());
+
                 if (message != null) {
-                    subscription.getCallback().dispatch(message);
+                    safeSubscription.getCallback().dispatch(message);
                 }
             }
 
@@ -389,7 +393,7 @@ public static void spinOnce(final Node node) {
                 }
             }
 
-            for (Service service : node.getServices()) {
+            for (@SuppressWarnings("rawtypes") Service service : node.getServices()) {
                 long requestFromJavaConverterHandle  = service.getRequestFromJavaConverterHandle();
                 long requestToJavaConverterHandle    = service.getRequestToJavaConverterHandle();
                 long responseFromJavaConverterHandle = service.getResponseFromJavaConverterHandle();
@@ -426,7 +430,7 @@ public static void spinOnce(final Node node) {
             }
 
             for (Client<?> client : node.getClients()) {
-                NativeClient nativeClient = (NativeClient) client;
+                NativeClient<?> nativeClient = (NativeClient<?>) client;
                 long responseFromJavaConverterHandle = nativeClient.getResponseFromJavaConverterHandle();
                 long responseToJavaConverterHandle = nativeClient.getResponseToJavaConverterHandle();
 
@@ -620,10 +624,11 @@ public static long convertQoSProfileToHandle(final QoSProfile qosProfile) {
       int depth = qosProfile.getDepth();
       int reliability = qosProfile.getReliability().getValue();
       int durability = qosProfile.getDurability().getValue();
+      boolean avoidRos = qosProfile.getAvoidRosNamespaceConventions();
 
       RCLJava.logger.debug("Convert QosProfile...");
 
-      return RCLJava.nativeConvertQoSProfileToHandle(history, depth, reliability, durability);
+      return RCLJava.nativeConvertQoSProfileToHandle(history, depth, reliability, durability, avoidRos);
     }
 
     /**

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

@@ -18,7 +18,6 @@
 import java.lang.ref.WeakReference;
 import java.lang.reflect.Method;
 import java.util.ArrayList;
-import java.util.Arrays;
 import java.util.HashMap;
 import java.util.List;
 import java.util.Map.Entry;
@@ -37,6 +36,7 @@
 import org.ros2.rcljava.RCLJava;
 import org.ros2.rcljava.exception.NotImplementedException;
 import org.ros2.rcljava.internal.message.Message;
+import org.ros2.rcljava.internal.service.MessageService;
 import org.ros2.rcljava.namespace.GraphName;
 import org.ros2.rcljava.node.parameter.ParameterCallback;
 import org.ros2.rcljava.node.parameter.ParameterService;
@@ -89,17 +89,17 @@ public class NativeNode implements Node, java.lang.AutoCloseable {
     /**
      * All the @{link Subscription}s that have been created through this instance.
      */
-    private final Queue<Subscription<? extends org.ros2.rcljava.internal.message.Message>> subscriptions;
+    private final Queue<Subscription<? extends Message>> subscriptions;
 
     /**
      * All the @{link Publisher}s that have been created through this instance.
      */
-    private final Queue<Publisher<? extends org.ros2.rcljava.internal.message.Message>> publishers;
+    private final Queue<Publisher<? extends Message>> publishers;
 
     /**
      * All the @{link Service}s that have been created through this instance.
      */
-    private final Queue<Service<? extends org.ros2.rcljava.internal.service.Service>> services;
+    private final Queue<Service<? extends MessageService>> services;
 
     /**
      * All the @{link Client}s that have been created through this instance.
@@ -212,7 +212,7 @@ public NativeNode(final long nodeHandle,final String nameSpace, final String nod
         this.subscriptions  = new LinkedBlockingQueue<Subscription<?>>();
         this.publishers     = new LinkedBlockingQueue<Publisher<?>>();
         this.clients        = new LinkedBlockingQueue<Client<?>>();
-        this.services       = new LinkedBlockingQueue<Service<? extends org.ros2.rcljava.internal.service.Service>>();
+        this.services       = new LinkedBlockingQueue<Service<? extends MessageService>>();
         this.timers 		= new LinkedBlockingQueue<WallTimer>();
         this.parameters     = new HashMap<String, ParameterVariant<?>>();
 
@@ -484,7 +484,7 @@ public <T extends org.ros2.rcljava.internal.message.Message> Subscription<T> cre
      * @throws NoSuchMethodException
      */
     @Override
-    public <T extends org.ros2.rcljava.internal.service.Service> Client<T> createClient(
+    public <T extends MessageService> Client<T> createClient(
             final Class<T> serviceType,
             final String serviceName,
             final QoSProfile qosProfile) throws Exception {
@@ -551,7 +551,7 @@ public <T extends org.ros2.rcljava.internal.service.Service> Client<T> createCli
      * @throws Exception
      */
     @Override
-    public <T extends org.ros2.rcljava.internal.service.Service> Client<T> createClient(
+    public <T extends MessageService> Client<T> createClient(
             final Class<T> serviceType,
             final String serviceName) throws Exception {
         return this.createClient(serviceType, serviceName, QoSProfile.SERVICES_DEFAULT);
@@ -567,9 +567,8 @@ public <T extends org.ros2.rcljava.internal.service.Service> Client<T> createCli
      * @param qos The quality of service profile to pass on to the rmw implementation.
      * @return Service instance of the service.
      */
-    @SuppressWarnings("unchecked")
     @Override
-    public <T extends org.ros2.rcljava.internal.service.Service> Service<T> createService(
+    public <T extends MessageService> Service<T> createService(
             final Class<T> serviceType,
             final String serviceName,
             final ServiceCallback<?, ?> callback,
@@ -589,6 +588,7 @@ public <T extends org.ros2.rcljava.internal.service.Service> Service<T> createSe
 //            long serviceHandle = Node.nativeCreateServiceHandle(this.nodeHandle, message, service, qos);
 //            Service<T> srv = new Service<T>(this.nodeHandle, serviceHandle, service);
 
+            @SuppressWarnings("unchecked")
             Class<? extends Message> requestType = (Class<? extends Message>)serviceType.getField("RequestType").get(null);
 
             Method requestFromJavaConverterMethod = requestType.getDeclaredMethod("getFromJavaConverter", (Class<?> []) null);
@@ -597,6 +597,7 @@ public <T extends org.ros2.rcljava.internal.service.Service> Service<T> createSe
             Method requestToJavaConverterMethod = requestType.getDeclaredMethod("getToJavaConverter", (Class<?> []) null);
             long requestToJavaConverterHandle = (Long)requestToJavaConverterMethod.invoke(null, (Object []) null);
 
+            @SuppressWarnings("unchecked")
             Class<? extends Message> responseType = (Class<? extends Message>)serviceType.getField("ResponseType").get(null);
 
             Method responseFromJavaConverterMethod = responseType.getDeclaredMethod("getFromJavaConverter", (Class<?> []) null);
@@ -635,7 +636,7 @@ public <T extends org.ros2.rcljava.internal.service.Service> Service<T> createSe
      * @return Service instance of the service.
      */
     @Override
-    public <T extends org.ros2.rcljava.internal.service.Service> Service<T> createService(
+    public <T extends MessageService> Service<T> createService(
             final Class<T> serviceType,
             final String serviceName,
             final ServiceCallback<?, ?> callback) throws Exception {
@@ -647,8 +648,12 @@ public <T extends org.ros2.rcljava.internal.service.Service> Service<T> createSe
     public List<SetParametersResult> setParameters(final List<ParameterVariant<?>> parameters) {
         List<SetParametersResult> results = new ArrayList<SetParametersResult>();
 
+        ArrayList<ParameterVariant<?>> container = new ArrayList<ParameterVariant<?>>(1);
         for (ParameterVariant<?> parameterVariantRequest : parameters) {
-            SetParametersResult result = this.setParametersAtomically(new ArrayList<ParameterVariant<?>>(Arrays.asList(parameterVariantRequest)));
+            container.clear();
+            container.add(parameterVariantRequest);
+
+            SetParametersResult result = this.setParametersAtomically(container);
             results.add(result);
         }
 
@@ -893,7 +898,7 @@ public final Queue<Client<?>> getClients() {
      * @return ArrayList of Services
      */
     @Override
-    public final Queue<Service<? extends org.ros2.rcljava.internal.service.Service>> getServices() {
+    public final Queue<Service<? extends MessageService>> getServices() {
         return this.services;
     }
 

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

@@ -27,6 +27,8 @@
 import builtin_interfaces.msg.Time;
 
 import org.ros2.rcljava.Log;
+import org.ros2.rcljava.internal.message.Message;
+import org.ros2.rcljava.internal.service.MessageService;
 import org.ros2.rcljava.node.parameter.ParameterVariant;
 import org.ros2.rcljava.node.service.Client;
 import org.ros2.rcljava.node.service.Service;
@@ -64,7 +66,7 @@ public interface Node {
      * @param qos The quality of service profile to pass on to the rmw implementation.
      * @return Publisher instance of the created publisher.
      */
-    <T extends org.ros2.rcljava.internal.message.Message> Publisher<T> createPublisher(Class<T> message, String topic, QoSProfile qos);
+    <T extends Message> Publisher<T> createPublisher(Class<T> message, String topic, QoSProfile qos);
 
     /**
      * Create and return a Publisher. (Retro-compatibility)
@@ -74,7 +76,7 @@ public interface Node {
      * @param topic The topic for this publisher to publish on.
      * @return Publisher instance of the created publisher.
      */
-    <T extends org.ros2.rcljava.internal.message.Message> Publisher<T> createPublisher(Class<T> message, String topic);
+    <T extends Message> Publisher<T> createPublisher(Class<T> message, String topic);
 
     /**
      * Create and return a Subscription.
@@ -86,7 +88,7 @@ public interface Node {
      * @param qos The quality of service profile to pass on to the rmw implementation.
      * @return Subscription instance of the created subscription.
      */
-    <T extends org.ros2.rcljava.internal.message.Message> Subscription<T> createSubscription(Class<T> message, String topic, SubscriptionCallback<T> callback, QoSProfile qos);
+    <T extends Message> Subscription<T> createSubscription(Class<T> message, String topic, SubscriptionCallback<T> callback, QoSProfile qos);
 
     /**
      * Create and return a Subscription. (Retro-compatibility)
@@ -97,7 +99,7 @@ public interface Node {
      * @param callback The user-defined callback function.
      * @return Subscription instance of the created subscription.
      */
-    <T extends org.ros2.rcljava.internal.message.Message> Subscription<T> createSubscription(Class<T> message, String topic, SubscriptionCallback<T> callback);
+    <T extends Message> Subscription<T> createSubscription(Class<T> message, String topic, SubscriptionCallback<T> callback);
 
     /**
      * Create and return a Client.
@@ -108,7 +110,7 @@ public interface Node {
      * @param qos The quality of service profile to pass on to the rmw implementation.
      * @return Client instance of the service.
      */
-    <T extends org.ros2.rcljava.internal.service.Service> Client<T> createClient(Class<T> message, String service, QoSProfile qos) throws Exception;
+    <T extends MessageService> Client<T> createClient(Class<T> message, String service, QoSProfile qos) throws Exception;
 
     /**
      * Create and return a Client. (Retro-compatibility)
@@ -118,7 +120,7 @@ public interface Node {
      * @param service The service to subscribe on.
      * @return Client instance of the service.
      */
-    <T extends org.ros2.rcljava.internal.service.Service> Client<T> createClient(Class<T> message, String service) throws Exception ;
+    <T extends MessageService> Client<T> createClient(Class<T> message, String service) throws Exception ;
 
     /**
      * Create and return a Service.
@@ -130,7 +132,7 @@ public interface Node {
      * @param qos The quality of service profile to pass on to the rmw implementation.
      * @return Service instance of the service.
      */
-    <T extends org.ros2.rcljava.internal.service.Service> Service<T> createService(final Class<T> serviceType,
+    <T extends MessageService> Service<T> createService(final Class<T> serviceType,
             final String serviceName,
             final ServiceCallback<?, ?> callback,
             final QoSProfile qos) throws Exception;
@@ -144,7 +146,7 @@ <T extends org.ros2.rcljava.internal.service.Service> Service<T> createService(f
      * @param callback The user-defined callback function.
      * @return Service instance of the service.
      */
-    <T extends org.ros2.rcljava.internal.service.Service> Service<T> createService(final Class<T> serviceType,
+    <T extends MessageService> Service<T> createService(final Class<T> serviceType,
             final String serviceName,
             final ServiceCallback<?, ?> callback) throws Exception;
 
@@ -246,13 +248,13 @@ <T extends org.ros2.rcljava.internal.service.Service> Service<T> createService(f
      * Get list of Clients.
      * @return ArrayList of Clients
      */
-    Queue<Client<? extends org.ros2.rcljava.internal.service.Service>> getClients();
+    Queue<Client<? extends MessageService>> getClients();
 
     /**
      * Get list of Services.
      * @return ArrayList of Services
      */
-    Queue<Service<? extends org.ros2.rcljava.internal.service.Service>> getServices();
+    Queue<Service<? extends MessageService>> getServices();
 
     /**
      * @return All the @{link WallTimer}s that were created by this instance.

rcljava/src/main/java/org/ros2/rcljava/node/service/Client.java

@@ -17,9 +17,9 @@
 import java.util.concurrent.Future;
 
 import org.ros2.rcljava.internal.message.Message;
-import org.ros2.rcljava.internal.service.Service;
+import org.ros2.rcljava.internal.service.MessageService;
 
-public interface Client<T extends Service> {
+public interface Client<T extends MessageService> {
 
     /**
      * Query Service.

rcljava/src/main/java/org/ros2/rcljava/node/service/NativeClient.java

@@ -23,14 +23,15 @@
 import org.ros2.rcljava.RCLJava;
 import org.ros2.rcljava.exception.NotImplementedException;
 import org.ros2.rcljava.internal.message.Message;
+import org.ros2.rcljava.internal.service.MessageService;
 import org.ros2.rcljava.node.Node;
 
 /**
  * Service Client.
  *
  * @param <T> Service Type.
  */
-public class NativeClient<T extends org.ros2.rcljava.internal.service.Service>
+public class NativeClient<T extends MessageService>
         implements Client<T>, java.lang.AutoCloseable {
 
     // Loading JNI library.
@@ -122,10 +123,10 @@ public final <U extends Message, V extends Message> Future<V> sendRequest(final
             }
     }
 
-    @SuppressWarnings("unchecked")
     public final <V extends Message> void handleResponse(final RMWRequestId header,final V response) {
         synchronized(pendingRequests) {
             long sequenceNumber = header.sequenceNumber;
+            @SuppressWarnings("unchecked")
             RCLFuture<V> future = (RCLFuture<V>) pendingRequests.remove(sequenceNumber);
             future.set(response);
         }