Pass command line arguments in context init method (osrf#45)

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

Author: ivanpauno

rcljava/CMakeLists.txt

@@ -265,6 +265,7 @@ if(BUILD_TESTING)
     "src/test/java/org/ros2/rcljava/SpinTest.java"
     "src/test/java/org/ros2/rcljava/TimeTest.java"
     "src/test/java/org/ros2/rcljava/client/ClientTest.java"
+    "src/test/java/org/ros2/rcljava/contexts/ContextTest.java"
     "src/test/java/org/ros2/rcljava/node/NodeOptionsTest.java"
     "src/test/java/org/ros2/rcljava/node/NodeParametersTest.java"
     "src/test/java/org/ros2/rcljava/node/NodeUndeclaredParametersTest.java"
@@ -283,6 +284,7 @@ if(BUILD_TESTING)
     "org.ros2.rcljava.SpinTest"
     "org.ros2.rcljava.TimeTest"
     "org.ros2.rcljava.client.ClientTest"
+    "org.ros2.rcljava.contexts.ContextTest"
     "org.ros2.rcljava.node.NodeOptionsTest"
     "org.ros2.rcljava.node.NodeParametersTest"
     "org.ros2.rcljava.node.NodeUndeclaredParametersTest"

rcljava/include/org_ros2_rcljava_contexts_ContextImpl.h

@@ -27,7 +27,8 @@ extern "C" {
  * Signature: (J)V
  */
 JNIEXPORT void
-JNICALL Java_org_ros2_rcljava_contexts_ContextImpl_nativeInit(JNIEnv *, jclass, jlong);
+JNICALL Java_org_ros2_rcljava_contexts_ContextImpl_nativeInit(
+  JNIEnv *, jclass, jlong, jobjectArray);
 
 /*
  * Class:     org_ros2_rcljava_contexts_ContextImpl

rcljava/src/main/cpp/org_ros2_rcljava_contexts_ContextImpl.cpp

@@ -14,7 +14,9 @@
 
 #include <jni.h>
 
+#include <limits>
 #include <string>
+#include <sstream>
 
 #include "rcl/context.h"
 #include "rcl/error_handling.h"
@@ -25,6 +27,7 @@
 
 #include "org_ros2_rcljava_contexts_ContextImpl.h"
 
+using rcljava_common::exceptions::rcljava_throw_exception;
 using rcljava_common::exceptions::rcljava_throw_rclexception;
 
 JNIEXPORT jboolean JNICALL
@@ -36,7 +39,8 @@ Java_org_ros2_rcljava_contexts_ContextImpl_nativeIsValid(JNIEnv *, jclass, jlong
 }
 
 JNIEXPORT void JNICALL
-Java_org_ros2_rcljava_contexts_ContextImpl_nativeInit(JNIEnv * env, jclass, jlong context_handle)
+Java_org_ros2_rcljava_contexts_ContextImpl_nativeInit(
+  JNIEnv * env, jclass, jlong context_handle, jobjectArray jargs)
 {
   // TODO(jacobperron): Encapsulate init options into a Java class
   rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
@@ -49,8 +53,42 @@ Java_org_ros2_rcljava_contexts_ContextImpl_nativeInit(JNIEnv * env, jclass, jlon
   }
 
   rcl_context_t * context = reinterpret_cast<rcl_context_t *>(context_handle);
-  // TODO(esteve): parse args
-  ret = rcl_init(0, nullptr, &init_options, context);
+
+  // jsize should always fit in a size_t, so the following cast is safe.
+  const auto argc = static_cast<size_t>(env->GetArrayLength(jargs));
+  // rcl_init takes an int, check for overflow just in case
+  if (argc > static_cast<size_t>(std::numeric_limits<int>::max())) {
+    std::ostringstream oss(
+      "args length is longer than expected, maximum length is ", std::ios_base::ate);
+    oss << std::numeric_limits<int>::max();
+    rcljava_throw_exception(
+      env, "java/lang/IllegalArgumentException", oss.str().c_str());
+    return;
+  }
+  const char ** argv = nullptr;
+  if (argc) {
+    argv = static_cast<const char **>(malloc(argc * sizeof(char *)));
+    for (size_t i = 0; i < argc; ++i) {
+      auto item = static_cast<jstring>(env->GetObjectArrayElement(jargs, i));
+      // an exception here should never happen,
+      // as the only possible exception is array out of bounds
+      RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+      argv[i] = env->GetStringUTFChars(item, NULL);
+    }
+  }
+
+  ret = rcl_init(static_cast<int>(argc), argv, &init_options, context);
+  if (argc) {
+    for (size_t i = 0; i < argc; ++i) {
+      auto item = static_cast<jstring>(env->GetObjectArrayElement(jargs, i));
+      // an exception here should never happen,
+      // as the only possible exception is array out of bounds
+      RCLJAVA_COMMON_CHECK_FOR_EXCEPTION(env);
+      env->ReleaseStringUTFChars(item, argv[i]);
+      argv[i] = env->GetStringUTFChars(item, NULL);
+    }
+    free(argv);
+  }
   if (RCL_RET_OK != ret) {
     std::string msg = "Failed to init context: " + std::string(rcl_get_error_string().str);
     rcl_ret_t ignored_ret = rcl_init_options_fini(&init_options);
@@ -98,8 +136,15 @@ Java_org_ros2_rcljava_contexts_ContextImpl_nativeDispose(JNIEnv * env, jclass, j
 
   rcl_context_t * context = reinterpret_cast<rcl_context_t *>(context_handle);
 
-  rcl_ret_t ret = rcl_context_fini(context);
+  // TODO(ivanpauno): Currently, calling `rcl_context_fini` in a zero initialized context fails:
+  // That's incongruent with most other rcl objects.
+  // rcl issue: https://github.com/ros2/rcl/issues/814
 
+  if (!context->impl) {
+    return;
+  }
+
+  rcl_ret_t ret = rcl_context_fini(context);
   if (RCL_RET_OK != ret) {
     std::string msg = "Failed to destroy context: " + std::string(rcl_get_error_string().str);
     rcl_reset_error();

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

@@ -137,12 +137,20 @@ public static boolean isInitialized() {
    *   This also initializes the default context.
    */
   public static synchronized void rclJavaInit() {
+    String args[] = {};
+    rclJavaInit(args);
+  }
+
+  /**
+   * Initialize the RCLJava API, passing command line arguments.
+   */
+  public static synchronized void rclJavaInit(String args[]) {
     if (RCLJava.ok()) {
       return;
     }
 
     // Initialize default context
-    getDefaultContext().init();
+    getDefaultContext().init(args);
 
     logger.info("Using RMW implementation: {}", RCLJava.getRMWIdentifier());
   }

rcljava/src/main/java/org/ros2/rcljava/contexts/Context.java

@@ -32,11 +32,15 @@
 public interface Context extends Disposable {
   /**
    * Initialize the context.
-   * // TODO(jacobperron): Pass arguments for parsing
    * // TODO(jacobperron): Pass in InitOptions object
    */
   void init();
 
+  /**
+   * Initialize the context passing command line arguments.
+   */
+  void init(String args[]);
+
   /**
    * Shutdown the context.
    */

rcljava/src/main/java/org/ros2/rcljava/contexts/ContextImpl.java

@@ -61,10 +61,14 @@ public ContextImpl(final long handle) {
    * {@inheritDoc}
    */
   public final void dispose() {
-    // Ensure the context is shutdown first
-    shutdown();
-    nativeDispose(this.handle);
-    this.handle = 0;
+    if (0 != this.handle) {
+      // Ensure the context is shutdown first.
+      if (this.isValid()) {
+        shutdown();
+      }
+      nativeDispose(this.handle);
+      this.handle = 0;
+    }
   }
 
   /**
@@ -79,13 +83,21 @@ public final long getHandle() {
    *
    * @param contextHandle The pointer to the context structure.
    */
-  private static native void nativeInit(long contextHandle);
+  private static native void nativeInit(long contextHandle, String args[]);
 
   /**
    * {@inheritDoc}
    */
   public final void init() {
-    nativeInit(this.handle);
+    String args[] = {};
+    nativeInit(this.handle, args);
+  }
+
+  /**
+   * {@inheritDoc}
+   */
+  public final void init(String args[]) {
+    nativeInit(this.handle, args);
   }
 
   /**

rcljava/src/test/java/org/ros2/rcljava/contexts/ContextTest.java

@@ -0,0 +1,82 @@
+/* Copyright 2020 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.contexts;
+
+import static org.junit.Assert.assertEquals;
+
+import org.junit.After;
+import org.junit.AfterClass;
+import org.junit.BeforeClass;
+import org.junit.Before;
+import org.junit.Test;
+
+import org.ros2.rcljava.RCLJava;
+import org.ros2.rcljava.contexts.Context;
+
+public class ContextTest {
+  public Context context = null;
+
+  @BeforeClass
+  public static void setupOnce() throws Exception {
+    // Just to quiet down warnings
+    org.apache.log4j.BasicConfigurator.configure();
+
+    RCLJava.rclJavaInit();
+  }
+
+  @AfterClass
+  public static void tearDownOnce() {
+    RCLJava.shutdown();
+  }
+
+  @Before
+  public void setup() throws Exception {
+    this.context = RCLJava.createContext();
+  }
+
+  @After
+  public void tearDown() {
+    this.context.dispose();
+  }
+
+  @Test
+  public final void testCreateAndDispose() {
+    assertEquals(false, this.context.isValid());
+  }
+
+  @Test
+  public final void testInitShutdown() {
+    assertEquals(false, this.context.isValid());
+    this.context.init();
+    assertEquals(true, this.context.isValid());
+    this.context.shutdown();
+    assertEquals(false, this.context.isValid());
+  }
+
+  @Test
+  public final void testInitWithArgsAndShutdown() {
+    String args[] = {
+      "--user-arg-1", "user-arg-2", "-p,",
+      "--ros-args", "-r", "asd:=bsd"
+    };
+    assertEquals(false, this.context.isValid());
+    this.context.init(args);
+    assertEquals(true, this.context.isValid());
+    this.context.shutdown();
+    assertEquals(false, this.context.isValid());
+  }
+}
+