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Add get subscription names and types by node method to Node class (osrf#35)
Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
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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
@@ -842,4 +842,15 @@ public final Collection<NameAndTypes> getPublisherNamesAndTypesByNode(
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private static native final Collection<NameAndTypes> nativeGetPublisherNamesAndTypesByNode(
844844
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)
848+
{
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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);
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}

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

Lines changed: 94 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -1272,4 +1272,98 @@ public void accept(final Collection<NameAndTypes> local, Collection<NameAndTypes
12721272
subscription.dispose();
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remoteNode.dispose();
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}
1275+
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@Test
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public final void testGetSubscriptionNamesAndTypesByNode() throws Exception {
1278+
final Node remoteNode = RCLJava.createNode("test_get_subscription_names_and_types_remote_node");
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Subscription<rcljava.msg.Empty> subscription1 = node.<rcljava.msg.Empty>createSubscription(
1280+
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) {}
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});
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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",
1286+
new Consumer<rcljava.msg.Empty>() {
1287+
public void accept(final rcljava.msg.Empty msg) {}
1288+
});
1289+
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",
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new Consumer<rcljava.msg.Empty>() {
1292+
public void accept(final rcljava.msg.Empty msg) {}
1293+
});
1294+
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>() {
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public void accept(final rcljava.msg.Empty msg) {}
1298+
});
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Publisher<rcljava.msg.UInt32> publisher = node.<rcljava.msg.UInt32>createPublisher(
1300+
rcljava.msg.UInt32.class, "test_get_topic_names_and_types_this_should_not_appear");
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1302+
BiConsumer<Collection<NameAndTypes>, Collection<NameAndTypes>> validateNameAndTypes =
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new BiConsumer<Collection<NameAndTypes>, Collection<NameAndTypes>>() {
1304+
public void accept(final Collection<NameAndTypes> local, Collection<NameAndTypes> remote) {
1305+
// TODO(ivanpauno): Using assertj may help a lot here https://assertj.github.io/doc/.
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assertEquals(local.size(), 2);
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assertTrue(
1308+
"topic 'test_get_subscription_names_and_types_one' was not discovered for local node",
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local.contains(
1310+
new NameAndTypes(
1311+
"/test_get_subscription_names_and_types_one",
1312+
new ArrayList(Arrays.asList("rcljava/msg/Empty")))));
1313+
assertTrue(
1314+
"topic 'test_get_subscription_names_and_types_two' was not discovered for local node",
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local.contains(
1316+
new NameAndTypes(
1317+
"/test_get_subscription_names_and_types_two",
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new ArrayList(Arrays.asList("rcljava/msg/Empty")))));
1319+
1320+
assertEquals(remote.size(), 2);
1321+
assertTrue(
1322+
"topic 'test_get_subscription_names_and_types_two' was not discovered for remote node",
1323+
remote.contains(
1324+
new NameAndTypes(
1325+
"/test_get_subscription_names_and_types_two",
1326+
new ArrayList(Arrays.asList("rcljava/msg/Empty")))));
1327+
assertTrue(
1328+
"topic 'test_get_subscription_names_and_types_three' was not discovered for remote node",
1329+
remote.contains(
1330+
new NameAndTypes(
1331+
"/test_get_subscription_names_and_types_three",
1332+
new ArrayList(Arrays.asList("rcljava/msg/Empty")))));
1333+
}
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};
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long start = System.currentTimeMillis();
1337+
boolean ok = false;
1338+
Collection<NameAndTypes> local = null;
1339+
Collection<NameAndTypes> remote = null;
1340+
do {
1341+
local = this.node.getSubscriptionNamesAndTypesByNode("test_node", "/");
1342+
remote = this.node.getSubscriptionNamesAndTypesByNode(
1343+
"test_get_subscription_names_and_types_remote_node", "/");
1344+
try {
1345+
validateNameAndTypes.accept(local, remote);
1346+
ok = true;
1347+
} catch (AssertionError err) {
1348+
// ignore here, it's going to be validated again at the end.
1349+
}
1350+
// TODO(ivanpauno): We could wait for the graph guard condition to be triggered if that
1351+
// would be available.
1352+
try {
1353+
TimeUnit.MILLISECONDS.sleep(100);
1354+
} catch (InterruptedException err) {
1355+
// ignore
1356+
}
1357+
} while (!ok && System.currentTimeMillis() < start + 1000);
1358+
assertNotNull(local);
1359+
assertNotNull(remote);
1360+
validateNameAndTypes.accept(local, remote);
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1362+
subscription1.dispose();
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subscription2.dispose();
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subscription3.dispose();
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subscription4.dispose();
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publisher.dispose();
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remoteNode.dispose();
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}
12751369
}

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