Cleanup

rcljava/CMakeLists.txt

@@ -87,6 +87,13 @@ set(${PROJECT_NAME}_sources
   "src/main/java/org/ros2/rcljava/Publisher.java"
   "src/main/java/org/ros2/rcljava/Subscription.java"
   "src/main/java/org/ros2/rcljava/Consumer.java"
+  "src/main/java/org/ros2/rcljava/Log.java"
+  "src/main/java/org/ros2/rcljava/QoSProfile.java"
+  "src/main/java/org/ros2/rcljava/NativeUtils.java"
+  "src/main/java/org/ros2/rcljava/exception/ImplementationAlreadyImportedException.java"
+  "src/main/java/org/ros2/rcljava/exception/InvalidRCLJAVAImplementation.java"
+  "src/main/java/org/ros2/rcljava/exception/NoImplementationAvailableException.java"
+  "src/main/java/org/ros2/rcljava/exception/NotInitializedException.java"
 )
 
 add_jar("${PROJECT_NAME}_jar"

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

@@ -14,6 +14,11 @@
  */
 package org.ros2.rcljava;
 
+/**
+ *
+ *
+ * @author Esteve Fernandez <[email protected]>
+ */
 public interface Consumer<T> {
     void accept(T t);
 }

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

@@ -0,0 +1,36 @@
+/* Copyright 2016 Open Source Robotics Foundation, Inc.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package org.ros2.rcljava;
+
+import org.ros2.rcljava.exception.NoImplementationAvailableException;
+
+/**
+ * Not define in ROS2.
+ *
+ * @author Mickael Gaillard
+ */
+public class Log {
+
+    public Log() { }
+
+    public void fatal(Exception e) {
+        throw new NoImplementationAvailableException(e);
+    }
+
+    public void info(String string) {
+        throw new NoImplementationAvailableException(new Exception(string));
+    }
+
+}

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

@@ -0,0 +1,34 @@
+package org.ros2.rcljava;
+
+import java.util.Vector;
+
+public abstract class NativeUtils {
+
+    private static java.lang.reflect.Field LIBRARIES;
+
+    static {
+        try {
+            LIBRARIES = ClassLoader.class.getDeclaredField("loadedLibraryNames");
+            LIBRARIES.setAccessible(true);
+        } catch (NoSuchFieldException e) {
+            e.printStackTrace();
+        } catch (SecurityException e) {
+            e.printStackTrace();
+        }
+    }
+
+    @SuppressWarnings("unchecked")
+    public static String[] getLoadedLibraries(final ClassLoader loader) {
+        Vector<String> libraries = new Vector<String>();
+
+        try {
+            libraries = (Vector<String>) LIBRARIES.get(loader);
+        } catch (IllegalArgumentException e) {
+            e.printStackTrace();
+        } catch (IllegalAccessException e) {
+            e.printStackTrace();
+        }
+
+        return libraries.toArray(new String[] {});
+    }
+}

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

@@ -15,49 +15,105 @@
 package org.ros2.rcljava;
 
 import java.lang.ref.WeakReference;
-
 import java.util.ArrayList;
 import java.util.List;
+import java.util.logging.Logger;
 
+/**
+ * <h1>Node ROS2.</h1>
+ * <p></p>
+ * @author Esteve Fernandez <[email protected]>
+ * @author Mickael Gaillard <[email protected]>
+ */
 public class Node {
-   static {
-        try {
-            System.loadLibrary("rcljavaNode__" + RCLJava.getRMWIdentifier());
-        } catch (UnsatisfiedLinkError e) {
-            System.err.println("Native code library failed to load.\n" + e);
-            System.exit(1);
-        }
+    private static Logger logger = Logger.getLogger(RCLJava.LOG_NAME);
+
+    static {
+        RCLJava.loadLibrary("rcljavaNode__" + RCLJava.getRMWIdentifier());
     }
 
-    private long nodeHandle;
-    private List<Subscription> subscriptions = new ArrayList<Subscription>();
+    /** Node handler */
+    private final long nodeHandle;
+
+    /** List of subscriptions */
+    private final List<Subscription<?>> subscriptions;
+
+    // Native call.
+    private static native <T> long nativeCreatePublisherHandle(
+            long nodeHandle, Class<T> cls, String topic);
+
+    private static native <T> long nativeCreateSubscriptionHandle(
+            long nodeHandle, Class<T> cls, String topic);
 
+    /**
+     * Constructor of Node.
+     * @param nodeHandle Handler to the node.
+     */
     public Node(long nodeHandle) {
         this.nodeHandle = nodeHandle;
+        this.subscriptions = new ArrayList<Subscription<?>>();
     }
 
-    private static native <T> long nativeCreatePublisherHandle(
-        long nodeHandle, Class<T> cls, String topic);
+    /**
+     * <h1>Create a new publisher.</h1>
+     *
+     * @param <T> Message definition.
+     * @param message Message class.
+     * @param topic Topic to publish.
+     * @param qos QOS profile.
+     * @return Publisher instance.
+     */
+    public <T> Publisher<T> createPublisher(Class<T> message, String topic,  QoSProfile qos) {
+        logger.fine("Create Publisher : " + topic);
+        long publisherHandle = Node.nativeCreatePublisherHandle(this.nodeHandle, message, topic);
 
-    private static native <T> long nativeCreateSubscriptionHandle(
-        long nodeHandle, Class<T> cls, String topic);
+        Publisher<T> publisher = new Publisher<T>(this.nodeHandle, publisherHandle, message, topic, qos);
+        RCLJava.publisherReferences.add(new WeakReference<Publisher<?>>(publisher));
 
-    public <T> Publisher<T> createPublisher(Class<T> cls, String topic) {
-        long publisherHandle = nativeCreatePublisherHandle(this.nodeHandle, cls, topic);
-        Publisher<T> publisher = new Publisher<T>(this.nodeHandle, publisherHandle);
-        RCLJava.publisherReferences.add(new WeakReference<Publisher>(publisher));
         return publisher;
     }
 
-    public <T> Subscription<T> createSubscription(Class<T> cls, String topic, Consumer<T> callback) {
-        long subscriptionHandle = nativeCreateSubscriptionHandle(this.nodeHandle, cls, topic);
+    /**
+     * <h1>Create a new Subscriber with callback.</h1>
+     *
+     * @param <T> Message definition.
+     * @param message Message Class
+     * @param topic Topic to subscribe.
+     * @param callback Function to call on recieve.
+     * @param qos QOS profile.
+     * @return
+     */
+    public <T> Subscription<T> createSubscription(
+            Class<T> message,
+            String topic,
+            Consumer<T> callback,
+            QoSProfile qos) {
+        logger.fine("Create Subscription : " + topic);
+        long subscriptionHandle = Node.nativeCreateSubscriptionHandle(this.nodeHandle, message, topic);
 
-        Subscription<T> subscription = new Subscription<T>(this.nodeHandle, subscriptionHandle, cls, topic, callback);
+        Subscription<T> subscription = new Subscription<T>(
+                this.nodeHandle,
+                subscriptionHandle,
+                message,
+                topic,
+                callback,
+                qos);
         this.subscriptions.add(subscription);
         return subscription;
     }
 
-    public List<Subscription> getSubscriptions() {
+    /**
+     * Get list of Subscriptions.
+     * @return ArrayList of Subscriptions
+     */
+    public List<Subscription<?>> getSubscriptions() {
         return this.subscriptions;
     }
+
+    /**
+     * Release all Publisher ressource.
+     */
+    public void dispose() {
+        //TODO Implement on JNI
+    }
 }

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

@@ -14,34 +14,84 @@
  */
 package org.ros2.rcljava;
 
+/**
+ * <h1>Publisher of node.</h1>
+ * <p></p>
+ * @param <T> Message Type.
+ * @author Esteve Fernandez <[email protected]>
+ * @author Mickael Gaillard <[email protected]>
+ */
 public class Publisher<T> {
-   static {
-        try {
-            System.loadLibrary("rcljavaPublisher__" + RCLJava.getRMWIdentifier());
-        } catch (UnsatisfiedLinkError e) {
-            System.err.println("Native code library failed to load.\n" + e);
-            System.exit(1);
-        }
-    }
 
-    private long nodeHandle;
-    private long publisherHandle;
+    /** Node Handler. */
+    private final long nodeHandle;
+
+    /** Publisher Hander. */
+    private final long publisherHandle;
+
+    /** Message Type. */
+    private final Class<T> messageType;
+
+    /** Topic to publish. */
+    private final String topic;
+
+    /** Quality of Service profil. */
+    private final QoSProfile qosProfile;
+
+    // Native call.
+    private static native <T> void nativePublish(long publisherHandle, T msg);
+    private static native void nativeDispose(long nodeHandle, long publisherHandle);
 
-    public Publisher(long nodeHandle, long publisherHandle) {
+    static {
+        RCLJava.loadLibrary("rcljavaPublisher__" + RCLJava.getRMWIdentifier());
+    }
+
+    /**
+     * Constructor of Publisher.
+     *
+     * @param nodeHandle Node handler initialize.
+     * @param publisherHandle Publisher handler.
+     * @param messageType Message type.
+     * @param topic Topic to publish.
+     * @param qos Quality of Service profile.
+     */
+    public Publisher(long nodeHandle, long publisherHandle, Class<T> messageType, String topic, QoSProfile qosProfile) {
         this.nodeHandle = nodeHandle;
         this.publisherHandle = publisherHandle;
+        this.messageType = messageType;
+        this.topic = topic;
+        this.qosProfile = qosProfile;
     }
 
-    private static native <T> void nativePublish(long publisherHandle, T msg);
-
+    /**
+     * Publish a message.
+     * @param msg Message to publish.
+     */
     public void publish(T msg) {
-        nativePublish(this.publisherHandle, msg);
+        Publisher.nativePublish(this.publisherHandle, msg); //TODO(theos) add qosProfile
     }
 
-    private static native void nativeDispose(
-        long nodeHandle, long publisherHandle);
+    /**
+     * Get message type.
+     * @return
+     */
+    public Class<T> getMsgType() {
+        return this.messageType;
+    }
+
+    /**
+     * Get topic name.
+     * @return
+     */
+    public String getTopic() {
+        return this.topic;
+    }
 
+    /**
+     * Release all Publisher ressource.
+     */
     public void dispose() {
-        nativeDispose(this.nodeHandle, this.publisherHandle);
+        //TODO implement to JNI
+        //Publisher.nativeDispose(this.nodeHandle, this.publisherHandle);
     }
 }