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Use array instead of List for ROS message types #55

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merged 8 commits into from
Jan 7, 2021
Merged

Use array instead of List for ROS message types #55

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e875658
change logic(list -> array) in msg.java.em
Nov 20, 2020
3cc7caa
change logic(list -> array) in msg.cpp.em
Nov 20, 2020
937d139
Support getting and setting as Lists in addition to arrays
jacobperron Dec 15, 2020
30f4cd6
Update rcljava to work with new methods for list types
jacobperron Dec 15, 2020
5753efc
Update tests to work with new methods for list types
jacobperron Dec 15, 2020
eb34b37
Fixes to template files
jacobperron Dec 18, 2020
69f4a96
Minor refactor
jacobperron Jan 5, 2021
2a7d9bc
A note about performance to *AsList docblocks
jacobperron Jan 6, 2021
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12 changes: 8 additions & 4 deletions rcljava/src/main/java/org/ros2/rcljava/node/NodeImpl.java
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Original file line number Diff line number Diff line change
Expand Up @@ -781,6 +781,8 @@ public rcl_interfaces.msg.ListParametersResult listParameters(
rcl_interfaces.msg.ListParametersResult result =
new rcl_interfaces.msg.ListParametersResult();

List<String> resultNames = new ArrayList<String>();
List<String> resultPrefixes = new ArrayList<String>();
synchronized (parametersMutex) {
for (Map.Entry<String, ParameterAndDescriptor> entry : this.parameters.entrySet()) {
boolean getAll =
Expand All @@ -805,16 +807,18 @@ public rcl_interfaces.msg.ListParametersResult listParameters(
}

if (getAll || prefixMatches) {
result.getNames().add(entry.getKey());
resultNames.add(entry.getKey());
int lastSeparator = entry.getKey().lastIndexOf(separator);
if (-1 != lastSeparator) {
String prefix = entry.getKey().substring(0, lastSeparator);
if (!result.getPrefixes().contains(prefix)) {
result.getPrefixes().add(prefix);
if (!resultPrefixes.contains(prefix)) {
resultPrefixes.add(prefix);
}
}
}
}
result.setNames(resultNames);
result.setPrefixes(resultPrefixes);
return result;
}
}
Expand Down Expand Up @@ -853,7 +857,7 @@ public final Collection<EndpointInfo> getPublishersInfo(final String topicName)

private native static final void nativeGetPublishersInfo(
final long handle, final String topicName, ArrayList<EndpointInfo> endpointInfo);

public final Collection<EndpointInfo> getSubscriptionsInfo(final String topicName) {
ArrayList<EndpointInfo> returnValue = new ArrayList();
nativeGetSubscriptionsInfo(this.handle, topicName, returnValue);
Expand Down
46 changes: 23 additions & 23 deletions rcljava/src/main/java/org/ros2/rcljava/parameters/ParameterVariant.java
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Original file line number Diff line number Diff line change
Expand Up @@ -100,38 +100,38 @@ public ParameterVariant(final String name, final String stringValue) {
this.value.setType(ParameterType.PARAMETER_STRING.getValue());
}

public ParameterVariant(final String name, final Byte[] byteArrayValue) {
public ParameterVariant(final String name, final byte[] byteArrayValue) {
this.name = name;
this.value = new rcl_interfaces.msg.ParameterValue();
this.value.setByteArrayValue(Arrays.asList(byteArrayValue));
this.value.setByteArrayValue(byteArrayValue);
this.value.setType(ParameterType.PARAMETER_BYTE_ARRAY.getValue());
}

public ParameterVariant(final String name, final Boolean[] boolArrayValue) {
public ParameterVariant(final String name, final boolean[] boolArrayValue) {
this.name = name;
this.value = new rcl_interfaces.msg.ParameterValue();
this.value.setBoolArrayValue(Arrays.asList(boolArrayValue));
this.value.setBoolArrayValue(boolArrayValue);
this.value.setType(ParameterType.PARAMETER_BOOL_ARRAY.getValue());
}

public ParameterVariant(final String name, final Long[] integerArrayValue) {
public ParameterVariant(final String name, final long[] integerArrayValue) {
this.name = name;
this.value = new rcl_interfaces.msg.ParameterValue();
this.value.setIntegerArrayValue(Arrays.asList(integerArrayValue));
this.value.setIntegerArrayValue(integerArrayValue);
this.value.setType(ParameterType.PARAMETER_INTEGER_ARRAY.getValue());
}

public ParameterVariant(final String name, final Double[] doubleArrayValue) {
public ParameterVariant(final String name, final double[] doubleArrayValue) {
this.name = name;
this.value = new rcl_interfaces.msg.ParameterValue();
this.value.setDoubleArrayValue(Arrays.asList(doubleArrayValue));
this.value.setDoubleArrayValue(doubleArrayValue);
this.value.setType(ParameterType.PARAMETER_DOUBLE_ARRAY.getValue());
}

public ParameterVariant(final String name, final String[] stringArrayValue) {
this.name = name;
this.value = new rcl_interfaces.msg.ParameterValue();
this.value.setStringArrayValue(Arrays.asList(stringArrayValue));
this.value.setStringArrayValue(stringArrayValue);
this.value.setType(ParameterType.PARAMETER_STRING_ARRAY.getValue());
}

Expand Down Expand Up @@ -203,39 +203,39 @@ public final boolean asBool() {
return this.value.getBoolValue();
}

public final Byte[] asByteArray() {
public final byte[] asByteArray() {
if (getType() != ParameterType.PARAMETER_BYTE_ARRAY) {
throw new IllegalArgumentException("Invalid type");
}
return this.value.getByteArrayValue().toArray(new Byte[0]);
return this.value.getByteArrayValue();
}

public final Boolean[] asBooleanArray() {
public final boolean[] asBooleanArray() {
if (getType() != ParameterType.PARAMETER_BOOL_ARRAY) {
throw new IllegalArgumentException("Invalid type");
}
return this.value.getBoolArrayValue().toArray(new Boolean[0]);
return this.value.getBoolArrayValue();
}

public final Long[] asIntegerArray() {
public final long[] asIntegerArray() {
if (getType() != ParameterType.PARAMETER_INTEGER_ARRAY) {
throw new IllegalArgumentException("Invalid type");
}
return this.value.getIntegerArrayValue().toArray(new Long[0]);
return this.value.getIntegerArrayValue();
}

public final Double[] asDoubleArray() {
public final double[] asDoubleArray() {
if (getType() != ParameterType.PARAMETER_DOUBLE_ARRAY) {
throw new IllegalArgumentException("Invalid type");
}
return this.value.getDoubleArrayValue().toArray(new Double[0]);
return this.value.getDoubleArrayValue();
}

public final String[] asStringArray() {
if (getType() != ParameterType.PARAMETER_STRING_ARRAY) {
throw new IllegalArgumentException("Invalid type");
}
return this.value.getStringArrayValue().toArray(new String[0]);
return this.value.getStringArrayValue();
}

public final rcl_interfaces.msg.Parameter toParameter() {
Expand All @@ -256,15 +256,15 @@ public static ParameterVariant fromParameter(final rcl_interfaces.msg.Parameter
case rcl_interfaces.msg.ParameterType.PARAMETER_STRING:
return new ParameterVariant(parameter.getName(), parameter.getValue().getStringValue());
case rcl_interfaces.msg.ParameterType.PARAMETER_BYTE_ARRAY:
return new ParameterVariant(parameter.getName(), parameter.getValue().getByteArrayValue().toArray(new Byte[0]));
return new ParameterVariant(parameter.getName(), parameter.getValue().getByteArrayValue());
case rcl_interfaces.msg.ParameterType.PARAMETER_BOOL_ARRAY:
return new ParameterVariant(parameter.getName(), parameter.getValue().getBoolArrayValue().toArray(new Boolean[0]));
return new ParameterVariant(parameter.getName(), parameter.getValue().getBoolArrayValue());
case rcl_interfaces.msg.ParameterType.PARAMETER_INTEGER_ARRAY:
return new ParameterVariant(parameter.getName(), parameter.getValue().getIntegerArrayValue().toArray(new Long[0]));
return new ParameterVariant(parameter.getName(), parameter.getValue().getIntegerArrayValue());
case rcl_interfaces.msg.ParameterType.PARAMETER_DOUBLE_ARRAY:
return new ParameterVariant(parameter.getName(), parameter.getValue().getDoubleArrayValue().toArray(new Double[0]));
return new ParameterVariant(parameter.getName(), parameter.getValue().getDoubleArrayValue());
case rcl_interfaces.msg.ParameterType.PARAMETER_STRING_ARRAY:
return new ParameterVariant(parameter.getName(), parameter.getValue().getStringArrayValue().toArray(new String[0]));
return new ParameterVariant(parameter.getName(), parameter.getValue().getStringArrayValue());
case rcl_interfaces.msg.ParameterType.PARAMETER_NOT_SET:
throw new IllegalArgumentException("Type from ParameterValue is not set");
default:
Expand Down
16 changes: 8 additions & 8 deletions rcljava/src/main/java/org/ros2/rcljava/parameters/client/AsyncParametersClientImpl.java
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Original file line number Diff line number Diff line change
Expand Up @@ -114,16 +114,16 @@ public Future<List<ParameterVariant>> getParameters(
request, new Consumer<Future<rcl_interfaces.srv.GetParameters_Response>>() {
public void accept(final Future<rcl_interfaces.srv.GetParameters_Response> future) {
List<ParameterVariant> parameterVariants = new ArrayList<ParameterVariant>();
List<rcl_interfaces.msg.ParameterValue> pvalues = null;
rcl_interfaces.msg.ParameterValue[] pvalues = new rcl_interfaces.msg.ParameterValue[0];
try {
pvalues = future.get().getValues();
} catch (Exception e) {
// TODO(esteve): do something
}
for (int i = 0; i < pvalues.size(); i++) {
for (int i = 0; i < pvalues.length; i++) {
rcl_interfaces.msg.Parameter parameter = new rcl_interfaces.msg.Parameter();
parameter.setName(request.getNames().get(i));
parameter.setValue(pvalues.get(i));
parameter.setName(request.getNames()[i]);
parameter.setValue(pvalues[i]);
parameterVariants.add(ParameterVariant.fromParameter(parameter));
}
futureResult.set(parameterVariants);
Expand Down Expand Up @@ -151,13 +151,13 @@ public Future<List<ParameterType>> getParameterTypes(
request, new Consumer<Future<rcl_interfaces.srv.GetParameterTypes_Response>>() {
public void accept(final Future<rcl_interfaces.srv.GetParameterTypes_Response> future) {
List<ParameterType> parameterTypes = new ArrayList<ParameterType>();
List<Byte> pts = null;
byte[] pts = new byte[0];
try {
pts = future.get().getTypes();
} catch (Exception e) {
// TODO(esteve): do something
}
for (Byte pt : pts) {
for (byte pt : pts) {
parameterTypes.add(ParameterType.fromByte(pt));
}
futureResult.set(parameterTypes);
Expand Down Expand Up @@ -194,7 +194,7 @@ public Future<List<rcl_interfaces.msg.SetParametersResult>> setParameters(
public void accept(final Future<rcl_interfaces.srv.SetParameters_Response> future) {
List<rcl_interfaces.msg.SetParametersResult> setParametersResult = null;
try {
setParametersResult = future.get().getResults();
setParametersResult = future.get().getResultsAsList();
} catch (Exception e) {
// TODO(esteve): do something
}
Expand Down Expand Up @@ -297,7 +297,7 @@ public Future<List<rcl_interfaces.msg.ParameterDescriptor>> describeParameters(
public void accept(final Future<rcl_interfaces.srv.DescribeParameters_Response> future) {
List<rcl_interfaces.msg.ParameterDescriptor> parameterDescriptors = null;
try {
parameterDescriptors = future.get().getDescriptors();
parameterDescriptors = future.get().getDescriptorsAsList();
} catch (Exception e) {
// TODO(esteve): do something
}
Expand Down
8 changes: 4 additions & 4 deletions rcljava/src/main/java/org/ros2/rcljava/parameters/service/ParameterServiceImpl.java
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Original file line number Diff line number Diff line change
Expand Up @@ -48,7 +48,7 @@ public ParameterServiceImpl(final Node node, final QoSProfile qosProfile)
public void accept(RMWRequestId rmwRequestId,
rcl_interfaces.srv.GetParameters_Request request,
rcl_interfaces.srv.GetParameters_Response response) {
List<ParameterVariant> values = node.getParameters(request.getNames());
List<ParameterVariant> values = node.getParameters(request.getNamesAsList());
List<rcl_interfaces.msg.ParameterValue> pvalues =
new ArrayList<rcl_interfaces.msg.ParameterValue>();
for (ParameterVariant pvariant : values) {
Expand All @@ -67,7 +67,7 @@ public void accept(RMWRequestId rmwRequestId,
public void accept(RMWRequestId rmwRequestId,
rcl_interfaces.srv.GetParameterTypes_Request request,
rcl_interfaces.srv.GetParameterTypes_Response response) {
List<ParameterType> types = node.getParameterTypes(request.getNames());
List<ParameterType> types = node.getParameterTypes(request.getNamesAsList());
List<Byte> ptypes = new ArrayList<Byte>();
for (ParameterType type : types) {
ptypes.add(type.getValue());
Expand Down Expand Up @@ -124,7 +124,7 @@ public void accept(RMWRequestId rmwRequestId,
rcl_interfaces.srv.DescribeParameters_Request request,
rcl_interfaces.srv.DescribeParameters_Response response) {
List<rcl_interfaces.msg.ParameterDescriptor> descriptors =
node.describeParameters(request.getNames());
node.describeParameters(request.getNamesAsList());
response.setDescriptors(descriptors);
}
},
Expand All @@ -139,7 +139,7 @@ public void accept(RMWRequestId rmwRequestId,
rcl_interfaces.srv.ListParameters_Request request,
rcl_interfaces.srv.ListParameters_Response response) {
rcl_interfaces.msg.ListParametersResult result =
node.listParameters(request.getPrefixes(), request.getDepth());
node.listParameters(request.getPrefixesAsList(), request.getDepth());
response.setResult(result);
}
},
Expand Down
2 changes: 1 addition & 1 deletion rcljava/src/test/java/org/ros2/rcljava/node/NodeParametersTest.java
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Original file line number Diff line number Diff line change
Expand Up @@ -338,7 +338,7 @@ public final void testListParameters() {

rcl_interfaces.msg.ListParametersResult result = node.listParameters(new ArrayList<String>(), rcl_interfaces.srv.ListParameters_Request.DEPTH_RECURSIVE);
// 2 we added above plus the implicit "use_sim_time"
assertEquals(3, result.getNames().size());
assertEquals(3, result.getNames().length);
}

@Test
Expand Down
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