Initialize parameter services based on node options (#46)

Signed-off-by: Ivan Santiago Paunovic <[email protected]>

Author: ivanpauno

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

@@ -43,7 +43,7 @@
 import org.ros2.rcljava.timer.Timer;
 
 /**
- * Entry point for the ROS2 Java API, similar to the rclcpp API.
+ * Entry point for the ROS 2 Java API, similar to the rclcpp API.
  */
 public final class RCLJava {
   private static final Logger logger = LoggerFactory.getLogger(RCLJava.class);
@@ -132,7 +132,7 @@ public static boolean isInitialized() {
 
   /**
    * Initialize the RCLJava API. If successful, a valid RMW implementation will
-   *   be loaded and accessible, enabling the creating of ROS2 entities
+   *   be loaded and accessible, enabling the creating of ROS 2 entities
    *   (@{link Node}s, @{link Publisher}s and @{link Subscription}s.
    *   This also initializes the default context.
    */
@@ -163,18 +163,18 @@ public static synchronized void rclJavaInit(String args[]) {
   private static native long nativeCreateContextHandle();
 
   /**
-   * Create a ROS2 node (rcl_node_t) and return a pointer to it as an integer.
+   * Create a ROS 2 node (rcl_node_t) and return a pointer to it as an integer.
    *
-   * @param nodeName The name that will identify this node in a ROS2 graph.
+   * @param nodeName The name that will identify this node in a ROS 2 graph.
    * @param namespace The namespace of the node.
    * @param contextHandle Pointer to a context (rcl_context_t) with which to associated the node.
-   * @return A pointer to the underlying ROS2 node structure.
+   * @return A pointer to the underlying ROS 2 node structure.
    */
   private static native long nativeCreateNodeHandle(String nodeName, String namespace, long contextHandle, ArrayList<String> arguments, boolean useGlobalArguments, boolean enableRosout);
 
   /**
    * @return The identifier of the currently active RMW implementation via the
-   *     native ROS2 API.
+   *     native ROS 2 API.
    */
   private static native String nativeGetRMWIdentifier();
 
@@ -186,7 +186,7 @@ public static String getRMWIdentifier() {
   }
 
   /**
-   * Call the underlying ROS2 rcl mechanism to check if ROS2 has been shut
+   * Call the underlying ROS 2 rcl mechanism to check if ROS 2 has been shut
    *   down.
    *
    * @return true if RCLJava hasn't been shut down, false otherwise.
@@ -222,29 +222,50 @@ public static Context createContext() {
   /**
    * Create a @{link Node}.
    *
-   * @param nodeName The name that will identify this node in a ROS2 graph.
-   * @return A @{link Node} that represents the underlying ROS2 node
-   *     structure.
+   * @param nodeName The name that will identify this node in a ROS 2 graph.
+   * @return A @{link Node} that represents the underlying ROS 2 node structure.
    */
   public static Node createNode(final String nodeName) {
-    return createNode(nodeName, "", RCLJava.getDefaultContext(), new NodeOptions());
+    return createNode(nodeName, "", new NodeOptions());
   }
 
   /**
    * Create a @{link Node}.
    *
-   * @param nodeName The name that will identify this node in a ROS2 graph.
+   * @param nodeName The name that will identify this node in a ROS 2 graph.
    * @param namespace The namespace of the node.
-   * @return A @{link Node} that represents the underlying ROS2 node
-   *     structure.
+   * @return A @{link Node} that represents the underlying ROS 2 node structure.
    */
+  public static Node createNode(final String nodeName, final String namespace) {
+    return createNode(nodeName, namespace, new NodeOptions());
+  }
+
+  /**
+   * Create a @{link Node}.
+   *
+   * @deprecated Use `RCLJava.createNode(nodeName, namespace, new NodeOptions.setContext(context))` instead.
+   * @param nodeName The name that will identify this node in a ROS 2 graph.
+   * @param namespace The namespace of the node.
+   * @param context Context used for creating the node, @link{RCLJava.getDefaultContext()} will be used if `null`.
+   * @return A @{link Node} that represents the underlying ROS 2 node structure.
+   */
+  @Deprecated
   public static Node createNode(final String nodeName, final String namespace, final Context context) {
-    return createNode(nodeName, namespace, context, new NodeOptions());
+    return createNode(nodeName, namespace, new NodeOptions().setContext(context));
   }
 
-  public static Node createNode(final String nodeName, final String namespace, final Context context, final NodeOptions options) {
+  /**
+   * Create a @{link Node}.
+   *
+   * @param nodeName The name that will identify this node in a ROS 2 graph.
+   * @param namespace The namespace of the node.
+   * @param options Additional options to customize the Node creation. See @link{org.ros2.rcljava.node.NodeOptions}.
+   * @return A @{link Node} that represents the underlying ROS 2 node structure.
+   */
+  public static Node createNode(final String nodeName, final String namespace, final NodeOptions options) {
+    Context context = options.getContext() == null ? RCLJava.getDefaultContext() : options.getContext();
     long nodeHandle = nativeCreateNodeHandle(nodeName, namespace, context.getHandle(), options.getCliArgs(), options.getUseGlobalArguments(), options.getEnableRosout());
-    Node node = new NodeImpl(nodeHandle, context, options.getAllowUndeclaredParameters());
+    Node node = new NodeImpl(nodeHandle, options);
     nodes.add(node);
     return node;
   }

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

@@ -28,13 +28,16 @@
 import org.ros2.rcljava.graph.NameAndTypes;
 import org.ros2.rcljava.interfaces.MessageDefinition;
 import org.ros2.rcljava.interfaces.ServiceDefinition;
+import org.ros2.rcljava.node.NodeOptions;
 import org.ros2.rcljava.parameters.InvalidParametersException;
 import org.ros2.rcljava.parameters.InvalidParameterValueException;
 import org.ros2.rcljava.parameters.ParameterAlreadyDeclaredException;
 import org.ros2.rcljava.parameters.ParameterCallback;
 import org.ros2.rcljava.parameters.ParameterNotDeclaredException;
 import org.ros2.rcljava.parameters.ParameterType;
 import org.ros2.rcljava.parameters.ParameterVariant;
+import org.ros2.rcljava.parameters.service.ParameterService;
+import org.ros2.rcljava.parameters.service.ParameterServiceImpl;
 import org.ros2.rcljava.publisher.Publisher;
 import org.ros2.rcljava.publisher.PublisherImpl;
 import org.ros2.rcljava.qos.QoSProfile;
@@ -144,29 +147,44 @@ class ParameterAndDescriptor {
   private Object parameterCallbacksMutex;
   private List<ParameterCallback> parameterCallbacks;
 
+  private final ParameterService parameterService;
+
   /**
    * Constructor.
    *
    * @param handle A pointer to the underlying ROS2 node structure. Must not
    *     be zero.
    */
-  public NodeImpl(final long handle, final Context context, final boolean allowUndeclaredParameters) {
+  public NodeImpl(final long handle, final NodeOptions nodeOptions) {
     this.handle = handle;
-    this.context = context;
+    this.context = nodeOptions.getContext() == null ?
+      RCLJava.getDefaultContext() : nodeOptions.getContext();
     this.publishers = new LinkedBlockingQueue<Publisher>();
     this.subscriptions = new LinkedBlockingQueue<Subscription>();
     this.services = new LinkedBlockingQueue<Service>();
     this.clients = new LinkedBlockingQueue<Client>();
     this.timers = new LinkedBlockingQueue<Timer>();
     this.parametersMutex = new Object();
     this.parameters = new ConcurrentHashMap<String, ParameterAndDescriptor>();
-    this.allowUndeclaredParameters = allowUndeclaredParameters;
+    this.allowUndeclaredParameters = nodeOptions.getAllowUndeclaredParameters();
     this.parameterCallbacksMutex = new Object();
     this.parameterCallbacks = new ArrayList<ParameterCallback>();
     this.clock = new Clock(ClockType.ROS_TIME);
     this.wall_clock = new Clock(ClockType.STEADY_TIME);
     this.timeSource = new TimeSource(this);
     this.timeSource.attachClock(this.clock);
+    try {
+      this.parameterService = nodeOptions.getStartParameterServices() ?
+        new ParameterServiceImpl(this) : null;
+    // TODO(ivanpauno): Modify createService, createClient so they don't declare
+    // NoSuchFieldException and IllegalAccessException checked exceptions.
+    // That only happens if the user passed the wrong Class object, and the exception should
+    // be rethrown as an unchecked IllegalArgumentException.
+    } catch (NoSuchFieldException ex) {
+      throw new IllegalArgumentException(ex.getMessage());
+    } catch (IllegalAccessException ex) {
+      throw new IllegalArgumentException(ex.getMessage());
+    }
   }
 
   /**

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

@@ -17,18 +17,15 @@
 
 import java.util.ArrayList;
 
+import org.ros2.rcljava.contexts.Context;
+
 public class NodeOptions {
-  private boolean useGlobalArguments;
-  private boolean enableRosout;
-  private boolean allowUndeclaredParameters;
-  private ArrayList<String> cliArgs;
-
-  public NodeOptions() {
-    this.useGlobalArguments = true;
-    this.enableRosout = true;
-    this.allowUndeclaredParameters = false;
-    this.cliArgs = new ArrayList<String>();
-  }
+  private boolean useGlobalArguments = true;
+  private boolean enableRosout = true;
+  private boolean allowUndeclaredParameters = false;
+  private boolean startParameterServices = true;
+  private Context context = null;
+  private ArrayList<String> cliArgs = new ArrayList<String>();
 
   public final boolean getUseGlobalArguments() {
     return this.useGlobalArguments;
@@ -57,6 +54,24 @@ public NodeOptions setAllowUndeclaredParameters(boolean allow) {
     return this;
   }
 
+  public final boolean getStartParameterServices() {
+    return this.startParameterServices;
+  }
+
+  public NodeOptions setStartParameterServices(boolean startParameterServices) {
+    this.startParameterServices = startParameterServices;
+    return this;
+  }
+
+  public final Context getContext() {
+    return this.context;
+  }
+
+  public NodeOptions setContext(Context context) {
+    this.context = context;
+    return this;
+  }
+
   public final ArrayList<String> getCliArgs() {
     return this.cliArgs;
   }

rcljava/src/main/java/org/ros2/rcljava/parameters/service/ParameterService.java

@@ -15,4 +15,4 @@
 
 package org.ros2.rcljava.parameters.service;
 
-public interface ParameterService {}
+public interface ParameterService {}

rcljava/src/main/java/org/ros2/rcljava/parameters/service/ParameterServiceImpl.java

@@ -149,4 +149,4 @@ public void accept(RMWRequestId rmwRequestId,
   public ParameterServiceImpl(final Node node) throws NoSuchFieldException, IllegalAccessException {
     this(node, QoSProfile.PARAMETERS);
   }
-}
+}

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

@@ -46,7 +46,7 @@ public static void tearDownOnce() {
   public final void testCreateNodeWithArgs() {
     NodeOptions options = new NodeOptions();
     options.setCliArgs(new ArrayList<String>(Arrays.asList("--ros-args", "-r", "__ns:=/foo")));
-    Node node = RCLJava.createNode("test_node", "", RCLJava.getDefaultContext(), options);
+    Node node = RCLJava.createNode("test_node", "", options);
     assertEquals("test_node", node.getName());
     assertEquals("/foo", node.getNamespace());
 

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

@@ -51,6 +51,7 @@
 import org.ros2.rcljava.graph.NameAndTypes;
 import org.ros2.rcljava.graph.NodeNameInfo;
 import org.ros2.rcljava.node.Node;
+import org.ros2.rcljava.node.NodeOptions;
 import org.ros2.rcljava.publisher.Publisher;
 import org.ros2.rcljava.qos.policies.Reliability;
 import org.ros2.rcljava.qos.QoSProfile;
@@ -125,7 +126,8 @@ public final void accept(final T msg) {
 
   @Before
   public void setUp() {
-    node = RCLJava.createNode("test_node");
+    node = RCLJava.createNode(
+      "test_node", "/", new NodeOptions().setStartParameterServices(false));
 
     primitives1 = new rcljava.msg.Primitives();
     primitives2 = new rcljava.msg.Primitives();
@@ -1358,7 +1360,9 @@ public void accept(final Collection<NameAndTypes> local, Collection<NameAndTypes
 
   @Test
   public final void testGetServiceNamesAndTypesByNode() throws Exception {
-    final Node remoteNode = RCLJava.createNode("test_get_service_names_and_types_remote_node");
+    final Node remoteNode = RCLJava.createNode(
+      "test_get_service_names_and_types_remote_node", "/",
+      new NodeOptions().setStartParameterServices(false));
     Service<rcljava.srv.AddTwoInts> service1 = node.<rcljava.srv.AddTwoInts>createService(
       rcljava.srv.AddTwoInts.class, "test_get_service_names_and_types_one",
       new TriConsumer<
@@ -1476,7 +1480,9 @@ public void accept(final Collection<NameAndTypes> local, Collection<NameAndTypes
 
   @Test
   public final void testGetClientNamesAndTypesByNode() throws Exception {
-    final Node remoteNode = RCLJava.createNode("test_get_client_names_and_types_remote_node");
+    final Node remoteNode = RCLJava.createNode(
+      "test_get_client_names_and_types_remote_node", "/",
+      new NodeOptions().setStartParameterServices(false));
     Client<rcljava.srv.AddTwoInts> client1 = node.<rcljava.srv.AddTwoInts>createClient(
       rcljava.srv.AddTwoInts.class, "test_get_client_names_and_types_one");
     Client<rcljava.srv.AddTwoInts> client2 = node.<rcljava.srv.AddTwoInts>createClient(

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

@@ -55,7 +55,7 @@ public static void tearDownOnce() {
   public void setUp() {
     NodeOptions options = new NodeOptions();
     options.setAllowUndeclaredParameters(true);
-    node = RCLJava.createNode("test_node", "", RCLJava.getDefaultContext(), options);
+    node = RCLJava.createNode("test_node", "", options);
   }
 
   @After