fix OSX travis

.travis.yml

@@ -47,7 +47,6 @@ matrix:
       env:
         - PYTHON_PATH="/usr/local/opt/python3/bin/python3.6"
         - TRAVIS_OS_NAME="osx"
-        - PKG_EXCLUDE="$PKG_EXCLUDE console_bridge orocos_kdl class_loader rosidl_generator_py pendulum_msgs rttest rclcpp dummy_map_server tf2 tf2_msgs tf2_ros tf2_eigen urdfdom_headers urdfdom urdf kdl_parser robot_state_publisher dummy_robot_bringup common_interfaces test_msgs dummy_sensors image_geometry sros2 test_security tf2_geometry_msgs nav_msgs actionlib_msgs diagnostic_msgs rcljava_utils rcl_lifecycle"
       osx_image: xcode9.1
   allow_failures:
     - env: DOCKER_DIST="debian-stable"

ament_cmake_export_jars/package.xml

@@ -3,7 +3,7 @@
 
 <package format="3">
   <name>ament_cmake_export_jars</name>
-  <version>0.0.0</version>
+  <version>0.4.0</version>
   <description>The ability to export Java archives to downstream packages in the ament buildsystem in CMake.</description>
   <maintainer email="esteve@apache.org">Esteve Fernandez</maintainer>
   <license>Apache License 2.0</license>

rcljava/include/rcljava/org_ros2_rcljava_node_service_NativeClient.hpp

@@ -38,11 +38,11 @@ JNIEXPORT jlong JNICALL
 /*
  * Class:     org_ros2_rcljava_node_service_NativeClient
  * Method:    nativeSendClientRequest
- * Signature: (JJJJLjava/lang/Object;)V
+ * Signature: (JJJLjava/lang/Object;)J
  */
-JNIEXPORT void JNICALL
+JNIEXPORT jlong JNICALL
   Java_org_ros2_rcljava_node_service_NativeClient_nativeSendClientRequest
-  (JNIEnv *, jclass, jlong, jlong, jlong, jlong, jobject);
+  (JNIEnv *, jclass, jlong, jlong, jlong, jobject);
 
 /*
  * Class:     org_ros2_rcljava_node_service_NativeClient

rcljava/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>rcljava</name>
-  <version>0.0.2</version>
+  <version>0.4.0</version>
   <description>Package containing the Java client.</description>
   <maintainer email="mick.gaillard@gmail.com">Mickael Gaillard</maintainer>
   <license>Apache License 2.0</license>

rcljava/src/main/cpp/org_ros2_rcljava_node_NativeNode.cpp

@@ -81,7 +81,6 @@ Java_org_ros2_rcljava_node_NativeNode_nativeDispose(
   rcl_node_t * node = handle2Instance<rcl_node_t>(jnode_handle);
 
   rcl_ret_t ret = rcl_node_fini(node);
-  free(node);
   if (ret != RCL_RET_OK) {
     std::string message("Failed finish node: " +
       std::string(rcl_get_error_string_safe()));

rcljava/src/main/cpp/org_ros2_rcljava_node_service_NativeClient.cpp

@@ -88,12 +88,11 @@ Java_org_ros2_rcljava_node_service_NativeClient_nativeCreateClientHandle(
 /*
  * nativeSendClientRequest
  */
-JNIEXPORT void JNICALL
+JNIEXPORT jlong JNICALL
 Java_org_ros2_rcljava_node_service_NativeClient_nativeSendClientRequest(
   JNIEnv * env,
   jclass,
   jlong client_handle,
-  jlong sequence_number,
   jlong jrequest_from_java_converter_handle,
   jlong jrequest_to_java_converter_handle,
   jobject jrequest_msg)
@@ -109,15 +108,18 @@ Java_org_ros2_rcljava_node_service_NativeClient_nativeSendClientRequest(
     reinterpret_cast<convert_from_java_signature>(jrequest_from_java_converter_handle);
 
   void * request_msg = convert_from_java(jrequest_msg, nullptr);
+  int64_t seq_number;
 
-  rcl_ret_t ret = rcl_send_request(client, request_msg, &sequence_number);
+  rcl_ret_t ret = rcl_send_request(client, request_msg, &seq_number);
 
   if (ret != RCL_RET_OK) {
     std::string message("Failed to send request from a client: " +
       std::string(rcl_get_error_string_safe()));
     rcl_reset_error();
     throwException(env, message);
   }
+
+  return seq_number;
 }
 
 /*
@@ -134,7 +136,6 @@ Java_org_ros2_rcljava_node_service_NativeClient_nativeDispose(
   rcl_client_t * client = handle2Instance<rcl_client_t>(jclient_handle);
 
   rcl_ret_t ret = rcl_client_fini(client, node);
-  free(client);
   if (ret != RCL_RET_OK) {
     std::string message("Failed to destroy client: " +
       std::string(rcl_get_error_string_safe()));

rcljava/src/main/cpp/org_ros2_rcljava_node_service_NativeService.cpp

@@ -86,7 +86,6 @@ Java_org_ros2_rcljava_node_service_NativeService_nativeDispose(
   rcl_service_t * service = handle2Instance<rcl_service_t>(jservice_handle);
 
   rcl_ret_t ret = rcl_service_fini(service, node);
-  free(service);
   if (ret != RCL_RET_OK) {
     std::string message("Failed to destroy service: " +
       std::string(rcl_get_error_string_safe()));

rcljava/src/main/cpp/org_ros2_rcljava_node_topic_NativePublisher.cpp

@@ -114,7 +114,6 @@ Java_org_ros2_rcljava_node_topic_NativePublisher_nativeDispose(
   rcl_publisher_t * publisher = handle2Instance<rcl_publisher_t>(jpublisher_handle);
 
   rcl_ret_t ret = rcl_publisher_fini(publisher, node);
-  free(publisher);
   if (ret != RCL_RET_OK) {
     std::string message("Failed to destroy publisher: " +
       std::string(rcl_get_error_string_safe()));

rcljava/src/main/cpp/org_ros2_rcljava_node_topic_NativeSubscription.cpp

@@ -87,7 +87,6 @@ Java_org_ros2_rcljava_node_topic_NativeSubscription_nativeDispose(
   rcl_subscription_t * subscription = handle2Instance<rcl_subscription_t>(jsubscription_handle);
 
   rcl_ret_t ret = rcl_subscription_fini(subscription, node);
-  free(subscription);
   if (ret != RCL_RET_OK) {
     std::string message("Failed to destroy subscription: " +
       std::string(rcl_get_error_string_safe()));

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

@@ -43,6 +43,9 @@ public final class RCLJava {
 
     private static final Logger logger = LoggerFactory.getLogger(RCLJava.class);
 
+    private static final String DISPLAY_SEPARATOR =
+            "===============================================================";
+
     /**
      * The identifier of the currently active RMW implementation.
      */
@@ -54,6 +57,8 @@ public final class RCLJava {
      */
     private static volatile boolean initialized = false;
 
+    private static String libExtention = ".unknow";
+
     private static String[] arguments;
 
     /**
@@ -129,16 +134,26 @@ private static String getRmwImplementationSuffix(final String rmwImplementation)
     }
 
     private static void displayContext() {
+        RCLJava.logger.debug(DISPLAY_SEPARATOR);
+        // https://docs.oracle.com/javase/7/docs/api/java/lang/System.html#getProperties
+        // http://lopica.sourceforge.net/os.html
         final String libpath = System.getProperty("java.library.path");
         final String arch    = System.getProperty("os.arch");
         final String os      = System.getProperty("os.name");
+        final String osVer   = System.getProperty("os.version");
 
         final String pidAndHost = ManagementFactory.getRuntimeMXBean().getName();
         final String pid = pidAndHost.substring(0, pidAndHost.indexOf('@'));
         // For JAVA9 : long pid = ProcessHandle.current().getPid();
 
+        final String user = System.getProperty("user.name");
+        final String pathSeparator = System.getProperty("path.separator");
+
         // Java Value
         RCLJava.logger.debug(String.format("Process ID : %s", pid));
+        RCLJava.logger.debug(String.format("Process User : %s", user));
+
+        RCLJava.logger.debug(String.format("Java Home : %s", System.getProperty("java.home")));
         RCLJava.logger.debug(String.format("Java JVM : %s %s %s",
                 System.getProperty("java.vm.vendor"),
                 System.getProperty("java.vm.name"),
@@ -151,9 +166,24 @@ private static void displayContext() {
                 System.getProperty("java.specification.version")));
 
         // Native Value
-        RCLJava.logger.debug(String.format("Native Library OS : %s", os));
+        RCLJava.logger.debug(String.format("Native Library OS : %s %s", os, osVer));
         RCLJava.logger.debug(String.format("Native Library Archi : %s", arch));
-        RCLJava.logger.debug(String.format("Native Library path : \n\t%s", libpath.replace(":", "\n\t")));
+        RCLJava.logger.debug(String.format("Native Library path : %n\t%s", libpath.replace(pathSeparator, System.lineSeparator() + "\t")));
+        RCLJava.logger.debug(DISPLAY_SEPARATOR);
+    }
+
+    private static void displayReport() {
+        RCLJava.logger.debug(DISPLAY_SEPARATOR);
+
+        // List loaded libraries.
+        final String[] list = NativeUtils.getLoadedLibraries(RCLJava.class.getClassLoader());
+        final StringBuilder msgLog = new StringBuilder();
+        for (final String key : list) {
+            msgLog.append(key);
+            msgLog.append(System.lineSeparator());
+        }
+        RCLJava.logger.debug(String.format("Native libraries Loaded: %n", msgLog.toString()));
+        RCLJava.logger.debug(DISPLAY_SEPARATOR);
     }
 
     /**
@@ -336,7 +366,7 @@ public static void setRMWImplementation(final String rmwImplementation)
             if (rmwImplementation != null && !rmwImplementation.isEmpty()) {
                 if (!rmwImplementation.equals(RCLJava.rmwImplementation)) {
                     final String file = "rcljava"+ RCLJava.getRmwImplementationSuffix(rmwImplementation);
-                    RCLJava.logger.debug("Load native RMW file : lib" + file + ".so");
+                    RCLJava.logger.debug("Load native RMW file : " + System.mapLibraryName(file));
 
                     try {
                         System.loadLibrary(file);
@@ -363,7 +393,7 @@ public static void setRMWImplementation(final String rmwImplementation)
      */
     @SuppressWarnings("PMD.AvoidUsingNativeCode")
     public static void loadLibrary(final String name) {
-        RCLJava.logger.debug("Load native file : lib" + name + ".so");
+        RCLJava.logger.debug("Load native file :" + System.mapLibraryName(name));
         RCLJava.lockAndCheckInitialized();
 
         try {
@@ -392,20 +422,12 @@ private static void autoLoadRmw() {
     }
 
     protected static void shutdownHook() {
-        RCLJava.shutdown(true);
-
         RCLJava.logger.debug("Final Shutdown...");
 
-        // List loaded libraries.
-        final String[] list = NativeUtils.getLoadedLibraries(RCLJava.class.getClassLoader());
-        final StringBuilder msgLog = new StringBuilder();
-        for (final String key : list) {
-            msgLog.append(key);
-            msgLog.append('\n');
-        }
-        RCLJava.logger.debug("Native libraries Loaded: \n" + msgLog.toString());
-
+        RCLJava.shutdown(true);
         GraphName.dispose();
+
+        RCLJava.displayReport();
     }
 
     private static void lockAndCheckInitialized() {

rcljava/src/main/java/org/ros2/rcljava/executor/MultiThreadedExecutor.java

@@ -58,7 +58,6 @@ public MultiThreadedExecutor(final int numberOfThreads) {
      * Pool-multiple threaded implementation of spin.
      * This function will block until work comes in, execute it, and keep blocking.
      * It will only be interrupt by a CTRL-C (managed by the global signal handler).
-     * @throws InterruptedException
      */
     @Override
     public void spin() {

rcljava/src/main/java/org/ros2/rcljava/executor/NativeExecutor.java

@@ -254,7 +254,7 @@ private static void executeService(final Service service) {
         }
 
         if (requestMessage != null && responseMessage != null) {
-            final RMWRequestId rmwRequestId = (RMWRequestId) NativeExecutor.nativeTakeRequest(
+            final RMWRequestId rmwRequestId = NativeExecutor.nativeTakeRequest(
                     nativeService.getServiceHandle(),
                     nativeService.getRequest().getFromJavaConverterHandle(),
                     nativeService.getRequest().getToJavaConverterHandle(),
@@ -301,7 +301,7 @@ public static native void nativeWaitSetInit(
     public static native void nativeWaitSetFini(long waitSetHandle);
 
     public static native Message nativeTake(long SubscriptionHandle, Class<?> msgType);
-    public static native Object nativeTakeRequest(
+    public static native RMWRequestId nativeTakeRequest(
             long serviceHandle,
             long requestFromJavaConverterHandle,
             long requestToJavaConverterHandle,

rcljava/src/main/java/org/ros2/rcljava/namespace/GraphName.java

@@ -116,7 +116,7 @@ public static String getFullName(final String nameSpace, final String nodeName)
     /**
      *
      *
-     * <table>
+     * <table summary="Definition of rules.">
      * <tr><td>Input Name	</td><td>Node: my_node NS: none	</td><td>Node: my_node NS: /my_ns</td></tr>
      * <tr><td>ping			</td><td>/ping					</td><td>/my_ns/ping</td></tr>
      * <tr><td>/ping		</td><td>/ping					</td><td>/ping</td></tr>

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

@@ -248,11 +248,6 @@ public WallTimer createWallTimer(
      * @param serviceName The service to subscribe on.
      * @param qosProfile The quality of service profile to pass on to the rmw implementation.
      * @return Client instance of the service.
-     * @throws SecurityException
-     * @throws NoSuchFieldException
-     * @throws IllegalAccessException
-     * @throws IllegalArgumentException
-     * @throws NoSuchMethodException
      */
     @Override
     public <T extends MessageService> Client<T> createClient(
@@ -288,11 +283,6 @@ public <T extends MessageService> Client<T> createClient(
      * @param callback The user-defined callback function.
      * @param qosProfile The quality of service profile to pass on to the rmw implementation.
      * @return Service instance of the service.
-     * @throws SecurityException
-     * @throws NoSuchFieldException
-     * @throws IllegalAccessException
-     * @throws IllegalArgumentException
-     * @throws NoSuchMethodException
      */
     @Override
     public <T extends MessageService> Service<T> createService(
@@ -415,7 +405,7 @@ public int countSubscribers(final String topic) {
     /**
      * TODO REMOVE !!!
      * Return the rcl_node_t node handle (non-const version).
-     * @return
+     * @return Node handler.
      */
     public long getNodeHandle() {
         return this.nodeHandle;

rcljava/src/main/java/org/ros2/rcljava/node/internal/NodeGraph.java

@@ -25,13 +25,13 @@ public interface NodeGraph {
 
     /**
      * This is typically only used by the rclcpp::graph_listener::GraphListener.
-     * Return the number of on loan graph events, see get_graph_event().
+     * @return The number of on loan graph events, see get_graph_event().
      */
     int countGraphUsers();
 
     /**
      *
-     * @return
+     * @return Map of Services with list of type.
      */
     Map<String, List<String>> getServiceNamesAndTypes();
 
@@ -60,13 +60,13 @@ public interface NodeGraph {
     List<String> getNodeNames();
 
     /**
-     * @param topic
+     * @param topic Topic name filter.
      * @return Return the number of publishers that are advertised on a given topic.
      */
     int countPublishers(final String topic);
 
     /**
-     * @param topic
+     * @param topic Topic name filter.
      * @return Return the number of subscribers who have created a subscription for a given topic.
      */
     int countSubscribers(final String topic);
@@ -87,7 +87,7 @@ public interface NodeGraph {
      * This is typically only used by the rclcpp::graph_listener::GraphListener.
      *
      * return Return a graph event, which will be set anytime a graph change occurs.
-     * @throws RCLBaseError (a child of that exception) when an rcl error occurs
+     * throws RCLBaseError (a child of that exception) when an rcl error occurs
      */
     void notifyGraphChange();
 
@@ -108,9 +108,12 @@ public interface NodeGraph {
      *
      * The given Event must be acquire through the get_graph_event() method.
      *
-     * @throws InvalidEventError if the given event is nullptr
-     * @throws EventNotRegisteredError if the given event was not acquired with
+     * throws InvalidEventError if the given event is nullptr
+     * throws EventNotRegisteredError if the given event was not acquired with
      *   get_graph_event().
+     *
+     * @param event Event.
+     * @param timeout Timeout.
      */
     void waitForGraphChange(final Object event, final int timeout);