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Add get subscription names and types by node method to Node class (#35)
Signed-off-by: Ivan Santiago Paunovic <[email protected]>
1 parent 7739871 commit d21707b

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‎rcljava/include/org_ros2_rcljava_node_NodeImpl.h‎

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@@ -146,6 +146,15 @@ JNIEXPORT void
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JNICALL Java_org_ros2_rcljava_node_NodeImpl_nativeGetPublisherNamesAndTypesByNode(
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JNIEnv *, jclass, jlong, jstring, jstring, jobject);
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/*
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* Class: org_ros2_rcljava_node_NodeImpl
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* Method: nativeGetSubscriptionNamesAndTypesByNode
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* Signature: (JLjava/lang/String;Ljava/lang/String;Ljava/util/Collection;)V
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*/
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JNIEXPORT void
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JNICALL Java_org_ros2_rcljava_node_NodeImpl_nativeGetSubscriptionNamesAndTypesByNode(
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JNIEnv *, jclass, jlong, jstring, jstring, jobject);
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#ifdef __cplusplus
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}
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#endif

‎rcljava/src/main/cpp/org_ros2_rcljava_node_NodeImpl.cpp‎

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Original file line numberDiff line numberDiff line change
@@ -525,3 +525,41 @@ Java_org_ros2_rcljava_node_NodeImpl_nativeGetPublisherNamesAndTypesByNode(
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RCLJAVA_COMMON_THROW_FROM_RCL(env, ret, "failed to get publisher names and types");
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fill_jnames_and_types(env, publisher_names_and_types, jnames_and_types);
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}
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JNIEXPORT void JNICALL
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Java_org_ros2_rcljava_node_NodeImpl_nativeGetSubscriptionNamesAndTypesByNode(
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JNIEnv * env, jclass, jlong handle, jstring jname, jstring jnamespace, jobject jnames_and_types)
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{
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rcl_node_t * node = reinterpret_cast<rcl_node_t *>(handle);
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if (!node) {
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rcljava_throw_exception(env, "java/lang/IllegalArgumentException", "node handle is NULL");
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return;
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}
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const char * name = env->GetStringUTFChars(jname, NULL);
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auto release_jname = rcpputils::make_scope_exit(
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[jname, name, env]() {env->ReleaseStringUTFChars(jname, name);});
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const char * namespace_ = env->GetStringUTFChars(jnamespace, NULL);
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auto release_jnamespace = rcpputils::make_scope_exit(
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[jnamespace, namespace_, env]() {env->ReleaseStringUTFChars(jnamespace, namespace_);});
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rcl_allocator_t allocator = rcl_get_default_allocator();
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rcl_names_and_types_t subscription_names_and_types = rcl_get_zero_initialized_names_and_types();
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auto fini_names_and_types = rcpputils::make_scope_exit(
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[pnames_and_types = &subscription_names_and_types, env]() {
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rcl_ret_t ret = rcl_names_and_types_fini(pnames_and_types);
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if (!env->ExceptionCheck() && RCL_RET_OK != ret) {
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rcljava_throw_rclexception(
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env, ret, "failed to fini subscription names and types structure");
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}
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});
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rcl_ret_t ret = rcl_get_subscriber_names_and_types_by_node(
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node,
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&allocator,
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false,
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name,
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namespace_,
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&subscription_names_and_types);
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RCLJAVA_COMMON_THROW_FROM_RCL(env, ret, "failed to get subscription names and types");
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fill_jnames_and_types(env, subscription_names_and_types, jnames_and_types);
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}

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

Lines changed: 12 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -637,4 +637,16 @@ <T extends ServiceDefinition> Client<T> createClient(final Class<T> serviceType,
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* @return the detected publisher names and types.
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*/
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Collection<NameAndTypes> getPublisherNamesAndTypesByNode(String nodeName, String nodeNamespace);
640+
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/**
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* Return the subscription names and types that were created from the node specified by the given
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* node name and namespace.
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* See @{link graph#NameAndTypes} for more information about the returned value.
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*
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* @param nodeName name of the node we want to know its subscriptions.
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* @param nodeNamespace namespace of the node we want to know its subscriptions.
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* @return the detected subscription names and types.
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*/
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Collection<NameAndTypes> getSubscriptionNamesAndTypesByNode(
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String nodeName, String nodeNamespace);
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}

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

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Original file line numberDiff line numberDiff line change
@@ -841,4 +841,15 @@ public final Collection<NameAndTypes> getPublisherNamesAndTypesByNode(
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842842
private static native final Collection<NameAndTypes> nativeGetPublisherNamesAndTypesByNode(
843843
long handle, String nodeName, String nodeNamespace, Collection<NameAndTypes> namesAndTypes);
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public final Collection<NameAndTypes> getSubscriptionNamesAndTypesByNode(
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String nodeName, String nodeNamespace)
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{
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Collection<NameAndTypes> namesAndTypes = new ArrayList();
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nativeGetSubscriptionNamesAndTypesByNode(this.handle, nodeName, nodeNamespace, namesAndTypes);
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return namesAndTypes;
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}
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private static native final Collection<NameAndTypes> nativeGetSubscriptionNamesAndTypesByNode(
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long handle, String nodeName, String nodeNamespace, Collection<NameAndTypes> namesAndTypes);
844855
}

‎rcljava/src/test/java/org/ros2/rcljava/node/NodeTest.java‎

Lines changed: 94 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -1261,4 +1261,98 @@ public void accept(final Collection<NameAndTypes> local, Collection<NameAndTypes
12611261
subscription.dispose();
12621262
remoteNode.dispose();
12631263
}
1264+
1265+
@Test
1266+
public final void testGetSubscriptionNamesAndTypesByNode() throws Exception {
1267+
final Node remoteNode = RCLJava.createNode("test_get_subscription_names_and_types_remote_node");
1268+
Subscription<rcljava.msg.Empty> subscription1 = node.<rcljava.msg.Empty>createSubscription(
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rcljava.msg.Empty.class, "test_get_subscription_names_and_types_one",
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new Consumer<rcljava.msg.Empty>() {
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public void accept(final rcljava.msg.Empty msg) {}
1272+
});
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Subscription<rcljava.msg.Empty> subscription2 = node.<rcljava.msg.Empty>createSubscription(
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rcljava.msg.Empty.class, "test_get_subscription_names_and_types_two",
1275+
new Consumer<rcljava.msg.Empty>() {
1276+
public void accept(final rcljava.msg.Empty msg) {}
1277+
});
1278+
Subscription<rcljava.msg.Empty> subscription3 = remoteNode.<rcljava.msg.Empty>createSubscription(
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rcljava.msg.Empty.class, "test_get_subscription_names_and_types_two",
1280+
new Consumer<rcljava.msg.Empty>() {
1281+
public void accept(final rcljava.msg.Empty msg) {}
1282+
});
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Subscription<rcljava.msg.Empty> subscription4 = remoteNode.<rcljava.msg.Empty>createSubscription(
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rcljava.msg.Empty.class, "test_get_subscription_names_and_types_three",
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new Consumer<rcljava.msg.Empty>() {
1286+
public void accept(final rcljava.msg.Empty msg) {}
1287+
});
1288+
Publisher<rcljava.msg.UInt32> publisher = node.<rcljava.msg.UInt32>createPublisher(
1289+
rcljava.msg.UInt32.class, "test_get_topic_names_and_types_this_should_not_appear");
1290+
1291+
BiConsumer<Collection<NameAndTypes>, Collection<NameAndTypes>> validateNameAndTypes =
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new BiConsumer<Collection<NameAndTypes>, Collection<NameAndTypes>>() {
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public void accept(final Collection<NameAndTypes> local, Collection<NameAndTypes> remote) {
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// TODO(ivanpauno): Using assertj may help a lot here https://assertj.github.io/doc/.
1295+
assertEquals(local.size(), 2);
1296+
assertTrue(
1297+
"topic 'test_get_subscription_names_and_types_one' was not discovered for local node",
1298+
local.contains(
1299+
new NameAndTypes(
1300+
"/test_get_subscription_names_and_types_one",
1301+
new ArrayList(Arrays.asList("rcljava/msg/Empty")))));
1302+
assertTrue(
1303+
"topic 'test_get_subscription_names_and_types_two' was not discovered for local node",
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local.contains(
1305+
new NameAndTypes(
1306+
"/test_get_subscription_names_and_types_two",
1307+
new ArrayList(Arrays.asList("rcljava/msg/Empty")))));
1308+
1309+
assertEquals(remote.size(), 2);
1310+
assertTrue(
1311+
"topic 'test_get_subscription_names_and_types_two' was not discovered for remote node",
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remote.contains(
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new NameAndTypes(
1314+
"/test_get_subscription_names_and_types_two",
1315+
new ArrayList(Arrays.asList("rcljava/msg/Empty")))));
1316+
assertTrue(
1317+
"topic 'test_get_subscription_names_and_types_three' was not discovered for remote node",
1318+
remote.contains(
1319+
new NameAndTypes(
1320+
"/test_get_subscription_names_and_types_three",
1321+
new ArrayList(Arrays.asList("rcljava/msg/Empty")))));
1322+
}
1323+
};
1324+
1325+
long start = System.currentTimeMillis();
1326+
boolean ok = false;
1327+
Collection<NameAndTypes> local = null;
1328+
Collection<NameAndTypes> remote = null;
1329+
do {
1330+
local = this.node.getSubscriptionNamesAndTypesByNode("test_node", "/");
1331+
remote = this.node.getSubscriptionNamesAndTypesByNode(
1332+
"test_get_subscription_names_and_types_remote_node", "/");
1333+
try {
1334+
validateNameAndTypes.accept(local, remote);
1335+
ok = true;
1336+
} catch (AssertionError err) {
1337+
// ignore here, it's going to be validated again at the end.
1338+
}
1339+
// TODO(ivanpauno): We could wait for the graph guard condition to be triggered if that
1340+
// would be available.
1341+
try {
1342+
TimeUnit.MILLISECONDS.sleep(100);
1343+
} catch (InterruptedException err) {
1344+
// ignore
1345+
}
1346+
} while (!ok && System.currentTimeMillis() < start + 1000);
1347+
assertNotNull(local);
1348+
assertNotNull(remote);
1349+
validateNameAndTypes.accept(local, remote);
1350+
1351+
subscription1.dispose();
1352+
subscription2.dispose();
1353+
subscription3.dispose();
1354+
subscription4.dispose();
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publisher.dispose();
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remoteNode.dispose();
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}
12641358
}

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