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Use the sequence number correctly when sending a request #63

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Merged
ivanpauno merged 1 commit into from
Apr 14, 2021
Merged

Use the sequence number correctly when sending a request #63

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4 changes: 2 additions & 2 deletions rcljava/include/org_ros2_rcljava_client_ClientImpl.h
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Original file line number Diff line number Diff line change
Expand Up @@ -25,9 +25,9 @@ extern "C" {
* Method: nativeSendClientRequest
* Signature: (JJJJJLorg/ros2/rcljava/interfaces/MessageDefinition;)V
*/
JNIEXPORT void
JNIEXPORT jlong
JNICALL Java_org_ros2_rcljava_client_ClientImpl_nativeSendClientRequest(
JNIEnv *, jclass, jlong, jlong, jlong, jlong, jlong, jobject);
JNIEnv *, jclass, jlong, jlong, jlong, jlong, jobject);

/*
* Class: org_ros2_rcljava_client_ClientImpl
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6 changes: 4 additions & 2 deletions rcljava/src/main/cpp/org_ros2_rcljava_client_ClientImpl.cpp
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Expand Up @@ -34,9 +34,9 @@ using rcljava_common::exceptions::rcljava_throw_rclexception;
using rcljava_common::signatures::convert_from_java_signature;
using rcljava_common::signatures::destroy_ros_message_signature;

JNIEXPORT void JNICALL
JNIEXPORT jlong JNICALL
Java_org_ros2_rcljava_client_ClientImpl_nativeSendClientRequest(
JNIEnv * env, jclass, jlong client_handle, jlong sequence_number,
JNIEnv * env, jclass, jlong client_handle,
jlong jrequest_from_java_converter_handle, jlong jrequest_to_java_converter_handle,
jlong jrequest_destructor_handle, jobject jrequest_msg)
{
Expand All @@ -53,6 +53,7 @@ Java_org_ros2_rcljava_client_ClientImpl_nativeSendClientRequest(

void * request_msg = convert_from_java(jrequest_msg, nullptr);

int64_t sequence_number;
rcl_ret_t ret = rcl_send_request(client, request_msg, &sequence_number);

destroy_ros_message_signature destroy_ros_message =
Expand All @@ -65,6 +66,7 @@ Java_org_ros2_rcljava_client_ClientImpl_nativeSendClientRequest(
rcl_reset_error();
rcljava_throw_rclexception(env, ret, msg);
}
return static_cast<jlong>(sequence_number);
}

JNIEXPORT void JNICALL
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23 changes: 14 additions & 9 deletions rcljava/src/main/java/org/ros2/rcljava/client/ClientImpl.java
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Expand Up @@ -17,6 +17,7 @@

import java.time.Duration;
import java.lang.ref.WeakReference;
import java.lang.IllegalStateException;
import java.lang.InterruptedException;
import java.lang.Long;
import java.util.AbstractMap;
Expand Down Expand Up @@ -52,7 +53,6 @@ public class ClientImpl<T extends ServiceDefinition> implements Client<T> {
private final WeakReference<Node> nodeReference;
private long handle;
private final String serviceName;
private long sequenceNumber = 0;
private Map<Long, Map.Entry<Consumer, RCLFuture>> pendingRequests;

private final Class<MessageDefinition> requestType;
Expand All @@ -79,8 +79,8 @@ public void accept(Future<V> input) {}
public final <U extends MessageDefinition, V extends MessageDefinition> Future<V>
asyncSendRequest(final U request, final Consumer<Future<V>> callback) {
synchronized (pendingRequests) {
sequenceNumber++;
nativeSendClientRequest(handle, sequenceNumber, request.getFromJavaConverterInstance(),
long sequenceNumber = nativeSendClientRequest(
handle, request.getFromJavaConverterInstance(),
request.getToJavaConverterInstance(), request.getDestructorInstance(), request);
RCLFuture<V> future = new RCLFuture<V>(this.nodeReference);

Expand All @@ -96,15 +96,20 @@ public final <U extends MessageDefinition> void handleResponse(
synchronized (pendingRequests) {
long sequenceNumber = header.sequenceNumber;
Map.Entry<Consumer, RCLFuture> entry = pendingRequests.remove(sequenceNumber);
Consumer<Future> callback = entry.getKey();
RCLFuture<U> future = entry.getValue();
future.set(response);
callback.accept(future);
if (entry != null) {
Consumer<Future> callback = entry.getKey();
RCLFuture<U> future = entry.getValue();
future.set(response);
callback.accept(future);
return;
}
throw new IllegalStateException(
"No request made with the given sequence number: " + sequenceNumber);
}
}

private static native void nativeSendClientRequest(long handle, long sequenceNumber,
long requestFromJavaConverterHandle, long requestToJavaConverterHandle,
private static native long nativeSendClientRequest(
long handle, long requestFromJavaConverterHandle, long requestToJavaConverterHandle,
long requestDestructorHandle, MessageDefinition requestMessage);

public final Class<MessageDefinition> getRequestType() {
Expand Down