Restructure Node Init

ros2java-alfred · Jul 1, 2017 · d3367d6 · d3367d6
1 parent 1e6047b
commit d3367d6
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Showing 3 changed files with 40 additions and 39 deletions.
diff --git a/rcljava/src/main/java/org/ros2/rcljava/RCLJava.java b/rcljava/src/main/java/org/ros2/rcljava/RCLJava.java
@@ -112,7 +112,7 @@ public abstract class RCLJava {
      * @param spaceName The name-space that will identify this node in a ROS2 graph.
      * @return A pointer to the underlying ROS2 node structure.
      */
-    private static native long nativeCreateNodeHandle(String nodeName, String spaceName);
+    public static native long nativeCreateNodeHandle(String nodeName, String spaceName);
 
     // Wait.h
     public static native long nativeGetZeroInitializedWaitSet();
@@ -273,44 +273,16 @@ public static Node createNode(final String defaultName) {
 
     /**
      * Create a @{link Node}.
+     * Take the value from argument app, if you pass null parameter on defaultName.
      *
      * @param namespace Name Space.
      * @param defaultName The name that will identify this node in a ROS2 graph.
      * @return A @{link Node} that represents the underlying ROS2 node
      *     structure.
      */
     public static Node createNode(final String namespace, final String defaultName) {
-        RCLJava.logger.debug("Create Node stack : " + defaultName);
-
-        if (!RCLJava.initialized) {
-            throw new NotInitializedException();
-        }
-
-        String prefix = namespace;
-        String nodeName = defaultName;
-
-        if (RCLJava.arguments != null) {
-            for (String arg : RCLJava.arguments) {
-                if (arg.contains("=")) {
-                    String[] item = arg.split("=");
-                    if ("-node".equals(item[0])) {
-                        nodeName = item[1];
-                    }
-
-                    if ("-prefix".equals(item[0])) {
-                        prefix = item[1];
-                    }
-                }
-            }
-        }
-
-        if (prefix == null) {
-            prefix = "";
-        }
-
 //        String fullName = GraphName.getFullName(ns, nodeName);
-        long nodeHandle = RCLJava.nativeCreateNodeHandle(nodeName, prefix);
-        Node node = new NativeNode(nodeHandle, prefix, nodeName, RCLJava.arguments);
+        Node node = new NativeNode(namespace, defaultName, RCLJava.arguments);
 
         return node;
     }

diff --git a/rcljava/src/main/java/org/ros2/rcljava/node/NativeNode.java b/rcljava/src/main/java/org/ros2/rcljava/node/NativeNode.java
@@ -35,6 +35,7 @@
 import org.ros2.rcljava.time.WallTimerCallback;
 import org.ros2.rcljava.RCLJava;
 import org.ros2.rcljava.exception.NotImplementedException;
+import org.ros2.rcljava.exception.NotInitializedException;
 import org.ros2.rcljava.internal.message.Message;
 import org.ros2.rcljava.internal.service.MessageService;
 import org.ros2.rcljava.namespace.GraphName;
@@ -198,24 +199,52 @@ private static native <T> long nativeCreateServiceHandle(
      *
      * @param nodeHandle A pointer to the underlying ROS2 node structure. Must not
      *     be zero.
-     * @param nameSpace prefix path of node.
-     * @param nodeName name of node.
+     * @param namespace prefix path of node.
+     * @param defaultName name of node.
      */
-    public NativeNode(final long nodeHandle,final String nameSpace, final String nodeName, final String[] args) {
+    public NativeNode(final String namespace, final String defaultName, final String[] args) {
+        NativeNode.logger.debug("Create Node stack : " + defaultName);
 
-        if (nodeHandle==0) throw new NullPointerException("Node Handle is not define !");
-        if (nodeName==null || nodeName.length() == 0) throw new NullPointerException("Node name is needed !");
+        if (!RCLJava.isInitialized()) {
+            throw new NotInitializedException();
+        }
 
-        this.nameSpace      = nameSpace;
+        String prefix = namespace;
+        String nodeName = defaultName;
+
+        if (args != null && defaultName == null) {
+            for (String arg : args) {
+                if (arg.contains("=")) {
+                    String[] item = arg.split("=");
+                    if ("-node".equals(item[0])) {
+                        nodeName = item[1];
+                    }
+
+                    if ("-prefix".equals(item[0])) {
+                        prefix = item[1];
+                    }
+                }
+            }
+        }
+
+        if (prefix == null) {
+            prefix = "";
+        }
+
+        if (nodeName==null || nodeName.length() == 0) throw new NullPointerException("Node name is needed !");
+        this.nameSpace      = prefix;
         this.name           = nodeName;
-        this.nodeHandle     = nodeHandle;
         this.subscriptions  = new LinkedBlockingQueue<Subscription<?>>();
         this.publishers     = new LinkedBlockingQueue<Publisher<?>>();
         this.clients        = new LinkedBlockingQueue<Client<?>>();
         this.services       = new LinkedBlockingQueue<Service<? extends MessageService>>();
         this.timers 		= new LinkedBlockingQueue<WallTimer>();
         this.parameters     = new HashMap<String, ParameterVariant<?>>();
 
+        long nodeHandle = RCLJava.nativeCreateNodeHandle(this.name, this.nameSpace);
+        if (nodeHandle==0) throw new NullPointerException("Node Handle is not define !");
+        this.nodeHandle     = nodeHandle;
+
         NativeNode.logger.debug("Create Node stack : " + GraphName.getFullName(this.nameSpace, this.name));
 
         if (args != null) {

diff --git a/rcljava/src/main/java/org/ros2/rcljava/node/Node.java b/rcljava/src/main/java/org/ros2/rcljava/node/Node.java
@@ -46,7 +46,7 @@
 public interface Node {
 
     /**
-     * Release all ressource.
+     * Release all resource.
      */
     void dispose();